A brake deceleration intelligent adjusting system based on driver preview information

Abstract

The application discloses a brake deceleration intelligent adjustment system based on driver preview information, which comprises a driving information acquisition module, a driver preview influence factor calculation module, a brake deceleration mode selection module, a brake deceleration mode feedback module and an intelligent adjustment system forced exit module. The driving information acquisition module is used for acquiring data of a vehicle and surrounding environment; the driver preview influence factor calculation module is used for calculating various influence sub-factors and an influence total factor; the brake deceleration mode selection module is used for selecting a corresponding brake deceleration mode in combination with a driving condition of the vehicle and a will of a driver; the brake deceleration feedback module is used for adjusting the mode of brake deceleration according to vehicle driving condition feedback and driver feedback; and the intelligent adjustment system forced exit module is used for forcibly exiting the brake deceleration intelligent adjustment system based on driver preview information.

Description

Technical Field

[0001] This invention relates to an intelligent braking deceleration adjustment system based on driver pre-aiming information. Background Technology

[0002] Braking deceleration refers to the rate at which a vehicle reduces its speed during braking. It is one of the important indicators for evaluating braking performance and driving safety. In modern automobiles, braking deceleration relies on the braking system. A larger braking deceleration means that the vehicle can slow down or stop more quickly. Most researchers focus on the impact of the braking system on braking deceleration, but neglect the influence of driver's pre-aiming information. Moreover, the factors considered regarding the influencing driver's pre-aiming information are relatively singular. However, for vehicle braking safety and driver comfort, driver's pre-aiming information is affected by many factors such as road conditions, traffic conditions, and the driver's own condition, thus affecting the driver's choice of braking deceleration. Therefore, how to effectively ensure the accurate application of braking deceleration has become a technical problem that the applicant urgently needs to solve. To improve these problems, this invention proposes an intelligent braking deceleration adjustment system based on driver pre-aiming information. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent braking deceleration adjustment system based on driver pre-aiming information to solve the problems encountered in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a braking deceleration intelligent adjustment system based on driver pre-aiming information includes a driving information acquisition module, a driver pre-aiming influence factor calculation module, a braking deceleration mode selection module, a braking deceleration mode feedback module, and an intelligent adjustment system forced exit module.

[0005] The driver preview information acquisition module is used to obtain the distance d from the front bumper of the vehicle to the taillight of the vehicle in front, and the external noise level in decibels n. d The vehicle's speed, v;

[0006] The driver anti-aiming influence factor calculation module includes:

[0007] S1. Establish a braking deceleration model for the vehicle during braking. The vehicle braking deceleration satisfies the following formula:

[0008]

[0009] Where 'a' represents the vehicle's current acceleration, and 'F' represents the acceleration of the vehicle. b1 F represents the braking force of one front wheel. b2 This represents the braking force of one rear wheel, and m represents the current mass of the vehicle.

[0010] S2. Calculate the sub-factors affecting the driver's aiming result according to the following formulas, including:

[0011] S2.1 Calculate the driving road environment preview influence factor K1 according to the following formula.

[0012]

[0013] Where w1, w2, and w3 represent weighting coefficients, and k 11 This represents the vehicle travel delay coefficient, the value of which depends on the vehicle's waiting time T on the road. w And the degree of slowdown in traffic, when driver waiting time and the degree of slowdown in traffic characterize road congestion, k 11 =1.2, in other cases, k 11 =1.0, k 12 This represents the driving lane number coefficient, which is equal to the total number of lanes on the road where the vehicle is located, i.e., the sum of the number of lanes traveling in the same direction and the number of lanes traveling in the opposite direction, k. 13 k represents the road obstacle coefficient, which is the coefficient of perception of an obstacle when the driver observes it ahead. 13 =1.3, in other cases, k 13 =1.0, k 14 This represents the traffic sign type coefficient, the value of which depends on the type of traffic sign. When the traffic sign is a warning sign or a prohibitory sign, k... 14 =0.9, when the traffic sign is an instruction sign or a guide sign, k 14 =0.7, in other cases, k 14 =0.8, k 15 This represents the road type coefficient, the value of which depends on the type of road being driven on. When the road is a highway, k... 15 =0.7, when the driving road is an urban road, k 15 =0.8, when the driving road is a rural road, k 15 =0.9, when the driving road is a mountain road, k 15 =1.0, otherwise, k 15 =1.0, k 16 This represents the lane width coefficient, whose value is equal to the width of the lane in which the vehicle is located, k. 17 k represents the road geometry coefficient, whose value depends on the lane's gradient. When the lane is uphill, k... 17 =1.1, when the lane is a downhill lane, k 17 =0.9;

[0014] S2.2 Calculate the driving weather environment forecast influence factor K2 according to the following formula.

[0015]

[0016] Where w4, w5, and w6 represent weighting coefficients, and k 21 This represents the weather visibility coefficient, whose value depends on the weather conditions at the time of vehicle travel. When any of the following weather conditions occur: fog, heavy rain, or sandstorm, then k... 21 =1.3, in other cases, k 21 =1.0, k 22 The coefficient of slipperiness (k) is determined by the amount of snowfall and rainfall observed by the driver. When rain or snowfall makes the road surface slippery, k... 22 =1.3, in other cases, k 22 =1.0, k 23 This represents the airflow data coefficient, the value of which depends on the airflow speed and direction. When the airflow interferes with the driver's operation, k... 23 =1.3, when no interference occurs, k 23 =0.8, k 24 This represents the temperature perception coefficient, whose value depends on the driver's perception of the outside temperature. When the driver predicts that the road may freeze due to excessively low temperatures or that the engine may overheat due to excessively high temperatures, k... 24 =1.5, in other cases, k 24 =1.0;

[0017] S2.3 Calculate the forward traffic look-ahead impact factor K3 according to the following formula.

[0018]

[0019] Where w7, w8, and w9 represent weighting coefficients, and k 31 k represents the traffic condition coefficient ahead. When the traffic signs ahead indicate that the road is passable and there is no congestion, k is used. 31 =0.5, otherwise, k 31 =1.0, k 32 This represents the coefficient of the direction of travel of the vehicle ahead. Its value depends on whether the direction of travel of the vehicle ahead is the same as that of this vehicle. When the directions of travel are the same, k... 32 =0.8, when the driving directions are not consistent, k 32 =1.0, k 33 This represents the safe following distance coefficient, which depends on the minimum distance d that a following vehicle must maintain to avoid an accidental collision with the vehicle in front. When d is greater than 50 meters, k... 33 =1.2, in other cases, k 33 =0.8, k 34 k represents the color coefficient of the vehicle in front, and its value depends on the brightness and saturation of the color of the vehicle in front. When the color of the vehicle in front is bright and vivid, k... 34 =0.7, when the current car's exterior color is a neutral color, k34 =1.0, when the current car's exterior color is dark, k 34 =1.3, k 35 k represents the size coefficient of the preceding vehicle. When the preceding vehicle is a microcar or a small car, k represents the size coefficient. 35 =0.4, when the current vehicle is a compact car or a mid-size car, k 35 =0.8, in other cases, k 35 =1.2, k 36 This represents the braking intention coefficient of the vehicle ahead. Its value depends on whether the vehicle ahead intends to brake. When the vehicle ahead does not intend to brake, k... 36 =0.7, when the vehicle in front intends to brake, k 36 =1.1, k 37 k represents the oncoming vehicle headlight usage coefficient. When an oncoming vehicle uses high beams, k 37 =1.0, otherwise, k 37 =0.6, k 38 k represents the headlight flare coefficient, which is the coefficient used when headlight flare interferes with the driver's vision. 38 =1.2, in other cases, k 38 =0.9;

[0020] S2.4 Calculate the driver's visual state preview influence factor K4 according to the following formula.

[0021]

[0022] Among them, w 10 w 11 and w 12 k represents the weighting coefficient. 41 This represents the driver's cone cell coefficient. When the driver's three types of cone cells are normal—that is, the proportions of L-cone cells, M-cone cells, and S-cone cells are all normal and none are damaged—then k... 41 =0.8, in other cases, k 41 =1.1, k 42 The afterimage coefficient represents the driver's visual residual effect, which is equal to the duration of the afterimage effect. Specifically, it is the time it takes for the visual system to retain a persistent impression after staring at a bright color and light source for an extended period, then looking at other objects, and finally closing the eyes. k 43 This represents the driver's eye saccade velocity coefficient, whose value is equal to the speed at which the driver's eyes scan objects, k. 44 This represents the driver's eye saccade amplitude coefficient, whose value is equal to the amplitude of the driver's eye saccades, k. 45 This represents the driver's gaze duration distribution coefficient. Its value depends on the distribution of gaze duration when the driver gazes at different targets and environments. The specific value is determined based on the actual situation. 46This represents the noise decibel coefficient, the value of which depends on the decibel value n of the external noise. d When n d When the value is greater than or equal to 80 dB, k 46 =1.2, in other cases, k 46 =1.0, k 47 k represents the driver's emotional coefficient; when the driver's breathing rate increases and becomes irregular, k... 47 =1.4, when the driver's breathing is normal, k 47 =1.0;

[0023] S2.5 Calculate the driver's operation preview influence factor K5 according to the following formula.

[0024]

[0025] Among them, w 13 and w 14 k represents the weighting coefficient. 51 This represents the driver's years of driving experience coefficient. When the driver's years of driving experience are less than five years, k... 51 =1.3, when the number of years of driving experience is greater than or equal to five years and less than fifteen years, k 51 =1.0, when the driving experience is greater than or equal to fifteen years, k 51 =0.7, k 52 This represents the driving mileage coefficient. When the driver's driving mileage is less than 16,000 kilometers, k... 52 =1.3, when the driver's driving mileage is greater than or equal to 16,000 kilometers and less than 32,000 kilometers, k 52 =1.0, when the driver's driving mileage is greater than or equal to 32,000 kilometers, k 52 =0.8, k 53 k represents the driver's driving record coefficient. When a driver has a good driving record with no traffic violations, accidents, or demerit points, k is considered a coefficient. 53 =0.8, in other cases, k 53 =1.1, k 54 This represents the driving speed coefficient, whose value depends on the vehicle's speed v. When v is less than 30 kilometers per hour, k... 54 =1.0, when v is greater than or equal to 30 km / h and less than 60 km / h, k 54 =1.2, when v is greater than or equal to 60 km / h, k 54 =1.4, k 55 k represents the driver's hand-foot coordination coefficient. When the driver has good hand-foot coordination, k 55 =0.8, in other cases, k 55 =1.3;

[0026] S3. Calculate the total driver preview influence factor K according to the following formula:

[0027]

[0028] where α1, α2, α3, α4, and α5 are the weighted values calculated for individual indicators;

[0029] The braking deceleration mode selection module includes a first braking deceleration mode, a second braking deceleration mode, and a third braking deceleration mode. When the driver applies the same braking pedal force, the braking deceleration of the first braking deceleration mode is the smallest, the braking deceleration of the second braking deceleration mode is the second smallest, and the braking deceleration of the third braking deceleration mode is the largest. The selection of the braking deceleration mode is described by introducing a first decision threshold ζ1 and a second decision threshold ζ2, where 0 < ζ1 < ζ2 < 1;

[0030] The braking deceleration mode selection module includes: when the total driver preview influence factor K satisfies 0 < K ≤ ζ1, the braking deceleration mode selection module will execute the first braking deceleration mode, and the braking deceleration of the vehicle satisfies:

[0031]

[0032] where α and β respectively represent the proportion coefficients of the front and rear wheel braking forces, F b1 represents the braking force of one front wheel, F b2 represents the braking force of one rear wheel, η V represents the efficiency of the vacuum booster, d1 and d2 respectively represent the piston cylinder diameters of the front and rear brake calipers, and respectively represent the effectiveness factors of the front and rear brake friction pads, n1 and n2 respectively represent the number of piston cylinders of the front and rear brake calipers, r1 and r2 respectively represent the effective braking radii from the centers of the front and rear brake caliper pistons to the center of the brake disc, F P represents the braking pedal force, F s represents the resistance generated by the return spring on the braking pedal, F V represents the total reaction force generated by the control valve, air valve, and return spring in the vacuum booster, i P represents the lever ratio of the braking pedal, i V represents the boost ratio of the vacuum booster, m represents the current mass of the vehicle, R e represents the rolling radius of the tire, A m represents the piston area of the master cylinder;

[0033] where F s and F V are related to the pedal stroke, and the calculation formula is:

[0034] F s = k s (l0 + l1 + l2 + l3)

[0035] where k s represents the stiffness of the brake pedal return spring, l0 represents the clearance between the brake pedal and the push rod of the vacuum booster, l1 represents the dead stroke between the vacuum booster and the master cylinder, l2 represents the clearance between the brake caliper and the brake disc, and l3 represents the displacement of the master cylinder generated with the displacement of the brake pedal after the vehicle generates braking force;

[0036] F V = k V (l1 + l2 + l3)

[0037] where k V represents the total stiffness of the control valve, safety valve and return spring in the vacuum booster, l1 represents the dead stroke between the vacuum booster and the master cylinder, l2 represents the clearance between the brake caliper and the brake disc, and l3 represents the displacement of the master cylinder generated with the displacement of the brake pedal after the vehicle generates braking force.

[0038] The braking deceleration mode selection module includes: when the driver preview influence total factor K satisfies ζ1 < K ≤ ζ2, the braking deceleration mode selection module will execute the second braking deceleration mode, and the braking deceleration of the vehicle satisfies:

[0039]

[0040] where α and β respectively represent the proportion coefficients of the front and rear wheel braking forces, F b1 represents the braking force of one front wheel, F b2 represents the braking force of one rear wheel, η V represents the efficiency of the vacuum booster, d1 and d2 respectively represent the piston cylinder diameters of the front and rear brake calipers, and respectively represent the effectiveness factors of the front wheel brake friction pads and the rear wheel brake friction pads, n1 and n2 respectively represent the number of piston cylinders of the front and rear brake calipers, r1 and r2 respectively represent the effective braking radii from the centers of the front and rear brake caliper pistons to the center of the brake disc, F P represents the brake pedal force, F s represents the resistance generated by the return spring on the brake pedal, F V represents the total reaction force generated by the control valve, air valve and return spring in the vacuum booster, i P represents the lever ratio of the brake pedal, i V represents the boost ratio of the vacuum booster, m represents the current mass of the vehicle, Re represents the rolling radius of the tire, A m represents the piston area of the master cylinder;

[0041] where, F s and F V are related to the pedal stroke, and the calculation formula is:

[0042] F s = k s (l0 + l1 + l2 + l3)

[0043] where, k s represents the stiffness of the brake pedal return spring, l0 represents the gap between the brake pedal and the push rod of the vacuum booster, l1 represents the free travel between the vacuum booster and the master cylinder, l2 represents the gap between the brake caliper and the brake disc, and l3 represents the displacement of the master cylinder generated by the displacement of the brake pedal after the vehicle generates braking force;

[0044] F s V s = k V (l1 + l2 + l3)

[0045] where, k V represents the total stiffness of the control valve, safety valve and return spring in the vacuum booster, l1 represents the free travel between the vacuum booster and the master cylinder, l2 represents the gap between the brake caliper and the brake disc, and l3 represents the displacement of the master cylinder generated by the displacement of the brake pedal after the vehicle generates braking force.

[0046] The braking deceleration mode selection module includes: when the total preview influence factor K satisfied by the driver satisfies ζ2 < K < 1, the braking deceleration mode selection module will execute the third braking deceleration mode, and the braking deceleration of the vehicle satisfies:

[0047]

[0048] where, α and β respectively represent the proportion coefficients of the front and rear wheel braking forces, F b1 represents the braking force of a front wheel, F b2 represents the braking force of a rear wheel, η V represents the efficiency of the vacuum booster, d1 and d2 respectively represent the piston cylinder diameters of the front and rear brake calipers, B F1 and BF2 respectively represent the effectiveness factors of the front wheel brake friction pads and the rear wheel brake friction pads, n1 and n2 respectively represent the number of piston cylinders of the front and rear brake calipers, r1 and r2 respectively represent the effective braking radii from the centers of the front and rear brake caliper pistons to the center of the brake disc, F P represents the brake pedal force, F sF represents the resistance generated by the return spring on the brake pedal. V This represents the total reaction force generated by the control valve, air valve, and return spring inside the vacuum booster, i P Indicates the lever ratio of the brake pedal, i V R represents the boost ratio of the vacuum booster, m represents the current mass of the car, and R represents the boost ratio of the vacuum booster. e A represents the rolling radius of the tire. m This indicates the piston area of ​​the brake master cylinder;

[0049] Among them, F s and F V Related to pedal travel, the calculation formula is:

[0050] F s =k s (l0+l1+l2+l3)

[0051] Where, k s The values ​​represent the stiffness of the brake pedal return spring, l0 represents the clearance between the brake pedal and the vacuum booster push rod, l1 represents the free travel between the vacuum booster and the brake master cylinder, l2 represents the clearance between the brake caliper and the brake disc, and l3 represents the displacement of the brake master cylinder as the brake pedal moves after the vehicle generates braking force.

[0052] F V =k V (l1+l2+l3)

[0053] Where, k V L1 represents the total stiffness of the control valve, safety valve, and return spring inside the vacuum booster; L2 represents the free travel between the vacuum booster and the brake master cylinder; L3 represents the clearance between the brake caliper and the brake disc; and L4 represents the displacement of the brake master cylinder as the brake pedal moves after the vehicle generates braking force.

[0054] The braking deceleration mode feedback module includes a braking performance evaluation index calculation module, a driver comfort feedback module, and a braking deceleration adjustment module.

[0055] The calculation of the braking performance evaluation index includes: calculating the braking performance evaluation index A by comparing the actual braking physical quantity obtained when the vehicle uses the intelligent braking deceleration adjustment system based on driver pre-aiming information with the braking physical quantity expected by the driver when the system is not used. cc ,

[0056]

[0057] Wherein, X represents the actual braking distance obtained by the driver when using the aforementioned intelligent braking deceleration adjustment system based on driver pre-aiming information.

[0058] X1 represents the braking distance the driver expects when the system is not in use.

[0059] T represents the actual braking time obtained when the driver uses the aforementioned intelligent braking deceleration adjustment system based on driver preview information.

[0060] T1 represents the braking time the driver expects when the system is not in use.

[0061] 'a' represents the actual braking deceleration obtained when the driver uses the aforementioned intelligent braking deceleration adjustment system based on driver preview information.

[0062] a1 represents the braking deceleration that the driver expects when the system is not in use;

[0063] The driver comfort feedback module is used for the driver's comfort evaluation when using the intelligent braking deceleration adjustment system based on driver pre-aiming information, and has two options, comfortable and uncomfortable, for the driver to choose from.

[0064] The braking deceleration adjustment module includes: when braking performance evaluation index A cc Satisfying 0<|A cc When |≤0.08 and the driver comfort feedback module outputs a comfort option, the vehicle will continue to maintain this braking deceleration mode;

[0065] When one of the following three situations occurs:

[0066] A、0<|A cc |≤0.08 and the driver comfort feedback module outputs an uncomfortable option;

[0067] B、0.08<|A cc |≤0.25 and the driver comfort feedback module outputs a comfort option;

[0068] C、0.08<|A cc |≤0.25 and the driver comfort feedback module outputs an uncomfortable option;

[0069] The vehicle is continuously adjusted to obtain a new total factor K for the driver's pre-aiming influence. new To replace the previous driver aiming influence factor K, the adjustment method is as follows: K new =(1+A) cc K, thereby continuously adjusting the braking deceleration mode to meet the required braking requirements, achieving 0 < |A cc |≤0.08 and the driver comfort feedback module outputs comfort options.

[0070] The intelligent adjustment system forced exit module is used to force the vehicle to exit the intelligent braking deceleration adjustment system based on driver pre-aiming information. This module is executed when one of the following conditions occurs, and not executed in other conditions:

[0071] When|A cc When |>0.25, the intelligent braking deceleration adjustment system based on driver pre-aiming information is determined to be malfunctioning;

[0072] The driver can actively choose to forcibly exit the intelligent braking deceleration adjustment system based on driver pre-aiming information.

[0073] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0074] 1. A braking deceleration intelligent adjustment system based on driver anticipation information obtains the total driver anticipation influence factor by considering factors such as anticipation influence factors of driving road environment, anticipation influence factors of driving weather environment, anticipation influence factors of traffic ahead, anticipation influence factors of driver visual state, and anticipation influence factors of driver operation.

[0075] 2. The braking deceleration mode selection module includes a first braking deceleration mode, a second braking deceleration mode, and a third braking deceleration mode. When the driver applies the same brake pedal force, the braking deceleration of the first braking deceleration mode is the smallest, the braking deceleration of the second braking deceleration mode is the second smallest, and the braking deceleration of the third braking deceleration mode is the largest. The selection of the braking deceleration mode is described by introducing a first decision threshold and a second decision threshold.

[0076] 3. The braking performance evaluation index calculation module, driver comfort feedback module, and braking deceleration adjustment module in the braking deceleration mode feedback module continuously adjust the braking deceleration mode according to the actual situation to meet the driver's braking needs. Attached Figure Description

[0077] The present invention will be further described below with reference to the accompanying drawings:

[0078] Figure 1 This is a framework diagram of a braking deceleration intelligent adjustment system based on driver pre-aiming information proposed in this invention. Detailed Implementation

[0079] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0080] like Figure 1As shown, the present invention is a braking deceleration intelligent adjustment system based on driver pre-aiming information, including a driving information acquisition module, a driver pre-aiming influencing factor calculation module, a braking deceleration mode selection module, a braking deceleration mode feedback module, and an intelligent adjustment system forced exit module.

[0081] The driver preview information acquisition module is used to obtain the distance d from the front bumper of the vehicle to the taillight of the vehicle in front, and the external noise level in decibels n. d The vehicle's speed, v;

[0082] The driver anti-aiming influence factor calculation module includes:

[0083] S1. Establish a braking deceleration model for the vehicle during braking. The vehicle braking deceleration satisfies the following formula:

[0084]

[0085] Where 'a' represents the vehicle's current acceleration, and 'F' represents the acceleration of the vehicle. b1 F represents the braking force of one front wheel. b2 This represents the braking force of one rear wheel, and m represents the current mass of the vehicle.

[0086] S2. Calculate the sub-factors affecting the driver's aiming result according to the following formulas, including:

[0087] S2.1 Calculate the driving road environment preview influence factor K1 according to the following formula.

[0088]

[0089] Where w1, w2, and w3 represent weighting coefficients, and k 11 This represents the vehicle travel delay coefficient, the value of which depends on the vehicle's waiting time T on the road. w And the degree of slowdown in traffic, when driver waiting time and the degree of slowdown in traffic characterize road congestion, k 11 =1.2, in other cases, k 11 =1.0, k 12 This represents the driving lane number coefficient, which is equal to the total number of lanes on the road where the vehicle is located, i.e., the sum of the number of lanes traveling in the same direction and the number of lanes traveling in the opposite direction, k. 13 k represents the road obstacle coefficient, which is the coefficient of perception of an obstacle when the driver observes it ahead. 13 =1.3, in other cases, k 13 =1.0, k 14 This represents the traffic sign type coefficient, the value of which depends on the type of traffic sign. When the traffic sign is a warning sign or a prohibitory sign, k... 14 =0.9, when the traffic sign is an instruction sign or a guide sign, k 14=0.7, in other cases, k 14 =0.8, k 15 This represents the road type coefficient, the value of which depends on the type of road being driven on. When the road is a highway, k... 15 =0.7, when the driving road is an urban road, k 15 =0.8, when the driving road is a rural road, k 15 =0.9, when the driving road is a mountain road, k 15 =1.0, otherwise, k 15 =1.0, k 16 This represents the lane width coefficient, whose value is equal to the width of the lane in which the vehicle is located, k. 17 k represents the road geometry coefficient, whose value depends on the lane's gradient. When the lane is uphill, k... 17 =1.1, when the lane is a downhill lane, k 17 =0.9;

[0090] S2.2 Calculate the driving weather environment forecast influence factor K2 according to the following formula.

[0091]

[0092] Where w4, w5, and w6 represent weighting coefficients, and k 21 This represents the weather visibility coefficient, whose value depends on the weather conditions at the time of vehicle travel. When any of the following weather conditions occur: fog, heavy rain, or sandstorm, then k... 21 =1.3, in other cases, k 21 =1.0, k 22 The coefficient of slipperiness (k) is determined by the amount of snowfall and rainfall observed by the driver. When rain or snowfall makes the road surface slippery, k... 22 =1.3, in other cases, k 22 =1.0, k 23 This represents the airflow data coefficient, the value of which depends on the airflow speed and direction. When the airflow interferes with the driver's operation, k... 23 =1.3, when no interference occurs, k 23 =0.8, k 24 This represents the temperature perception coefficient, whose value depends on the driver's perception of the outside temperature. When the driver predicts that the road may freeze due to excessively low temperatures or that the engine may overheat due to excessively high temperatures, k... 24 =1.5, in other cases, k 24 =1.0;

[0093] S2.3 Calculate the forward traffic look-ahead impact factor K3 according to the following formula.

[0094]

[0095] Where w7, w8, and w9 represent weighting coefficients, and k 31 k represents the traffic condition coefficient ahead. When the traffic signs ahead indicate that the road is passable and there is no congestion, k is used. 31 =0.5, otherwise, k 31 =1.0, k 32 This represents the coefficient of the direction of travel of the vehicle ahead. Its value depends on whether the direction of travel of the vehicle ahead is the same as that of this vehicle. When the directions of travel are the same, k... 32 =0.8, when the driving directions are not consistent, k 32 =1.0, k 33 This represents the safe following distance coefficient, which depends on the minimum distance d that a following vehicle must maintain to avoid an accidental collision with the vehicle in front. When d is greater than 50 meters, k... 33 =1.2, in other cases, k 33 =0.8, k 34 k represents the color coefficient of the vehicle in front, and its value depends on the brightness and saturation of the color of the vehicle in front. When the color of the vehicle in front is bright and vivid, k... 34 =0.7, when the current car's exterior color is a neutral color, k 34 =1.0, when the current car's exterior color is dark, k 34 =1.3, k 35 k represents the size coefficient of the preceding vehicle. When the preceding vehicle is a microcar or a small car, k represents the size coefficient. 35 =0.4, when the current vehicle is a compact car or a mid-size car, k 35 =0.8, in other cases, k 35 =1.2, k 36 This represents the braking intention coefficient of the vehicle ahead. Its value depends on whether the vehicle ahead intends to brake. When the vehicle ahead does not intend to brake, k... 36 =0.7, when the vehicle in front intends to brake, k 36 =1.1, k 37 k represents the oncoming vehicle headlight usage coefficient. When an oncoming vehicle uses high beams, k 37 =1.0, otherwise, k 37 =0.6, k 38 k represents the headlight flare coefficient, which is the coefficient used when headlight flare interferes with the driver's vision. 38 =1.2, in other cases, k 38 =0.9;

[0096] S2.4 Calculate the driver's visual state preview influence factor K4 according to the following formula.

[0097]

[0098] Among them, w 10 w 11 and w 12 k represents the weighting coefficient. 41 This represents the driver's cone cell coefficient. When the driver's three types of cone cells are normal—that is, the proportions of L-cone cells, M-cone cells, and S-cone cells are all normal and none are damaged—then k... 41 =0.8, in other cases, k 41 =1.1, k 42 The afterimage coefficient represents the driver's visual residual effect, which is equal to the duration of the afterimage effect. Specifically, it is the time it takes for the visual system to retain a persistent impression after staring at a bright color and light source for an extended period, then looking at other objects, and finally closing the eyes. k 43 This represents the driver's eye saccade velocity coefficient, whose value is equal to the speed at which the driver's eyes scan objects, k. 44 This represents the driver's eye saccade amplitude coefficient, whose value is equal to the amplitude of the driver's eye saccades, k. 45 This represents the driver's gaze duration distribution coefficient. Its value depends on the distribution of gaze duration when the driver gazes at different targets and environments. The specific value is determined based on the actual situation. 46 This represents the noise decibel coefficient, the value of which depends on the decibel value n of the external noise. d When n d When the value is greater than or equal to 80 dB, k 46 =1.2, in other cases, k 46 =1.0, k 47 k represents the driver's emotional coefficient; when the driver's breathing rate increases and becomes irregular, k... 47 =1.4, when the driver's breathing is normal, k 47 =1.0;

[0099] S2.5 Calculate the driver's operation preview influence factor K5 according to the following formula.

[0100]

[0101] Among them, w 13 and w 14 k represents the weighting coefficient. 51 This represents the driver's years of driving experience coefficient. When the driver's years of driving experience are less than five years, k... 51 =1.3, when the number of years of driving experience is greater than or equal to five years and less than fifteen years, k 51 =1.0, when the driving experience is greater than or equal to fifteen years, k 51 =0.7, k 52 This represents the driving mileage coefficient. When the driver's driving mileage is less than 16,000 kilometers, k... 52= 1.3. When the driving mileage of the driver is greater than or equal to 16,000 km and less than 32,000 km, k 52 = 1.0. When the driving mileage of the driver is greater than or equal to 32,000 km, k 52 = 0.8, k 53 represents the driver's driving record coefficient. When the driver has a good driving record, without traffic violation records, accident records and point deduction records, k 53 = 0.8. In other cases, k 53 = 1.1, k 54 represents the driving speed coefficient, and its value depends on the driving speed v of the vehicle. When v is less than 30 km / h, k 54 = 1.0. When v is greater than or equal to 30 km / h and less than 60 km / h, k 54 = 1.2. When v is greater than or equal to 60 km / h, k 54 = 1.4, k 55 represents the driver's hand-foot coordination ability coefficient. When the driver has good hand-foot coordination ability, k 55 = 0.8. In other cases, k 55 = 1.3;

[0102] S3. Calculate the total factor K of the driver's preview influence according to the following formula

[0103]

[0104] where α1, α2, α3, α4, α5 are the weighted values calculated for individual indicators;

[0105] The braking deceleration mode selection module includes the first braking deceleration mode, the second braking deceleration mode, and the third braking deceleration mode. When the driver applies the same braking pedal force, the braking deceleration of the first braking deceleration mode is the smallest, the braking deceleration of the second braking deceleration mode is the second smallest, and the braking deceleration of the third braking deceleration mode is the largest. The selection of the braking deceleration mode is described by introducing the first decision threshold ζ1 and the second decision threshold ζ2, where 0 < ζ1 < ζ2 < 1;

[0106] The braking deceleration mode selection module includes: when the total factor K of the driver's preview influence satisfies 0 < K ≤ ζ1, the braking deceleration mode selection module will execute the first braking deceleration mode, and the braking deceleration of the vehicle satisfies:

[0107]

[0108] where α and β respectively represent the proportion coefficients of the front and rear wheel braking forces, F b1 represents the braking force of a front wheel, Fb2 represents the braking force of a rear wheel, η V represents the efficiency of the vacuum booster, d1 and d2 respectively represent the piston cylinder diameters of the front and rear brake calipers, and respectively represent the effectiveness factors of the front and rear brake friction pads, n1 and n2 respectively represent the numbers of piston cylinders of the front and rear brake calipers, r1 and r2 respectively represent the effective braking radii from the centers of the pistons of the front and rear brake calipers to the center of the brake disc, F P represents the brake pedal force, F s represents the resistance generated by the return spring on the brake pedal, F V represents the total reaction force generated by the control valve, air valve and return spring in the vacuum booster, i P represents the lever ratio of the brake pedal, i V represents the boosting ratio of the vacuum booster, m represents the current mass of the vehicle, R e represents the rolling radius of the tire, A m represents the piston area of the master cylinder;

[0109] wherein, F s and F V are related to the pedal stroke, and the calculation formula is:

[0110] F s = k s (l0 + l1 + l2 + l3)

[0111] wherein, k s represents the stiffness of the brake pedal return spring, l0 represents the gap between the brake pedal and the vacuum booster push rod, l1 represents the dead stroke between the vacuum booster and the master cylinder, l2 represents the gap between the brake caliper and the brake disc, l3 represents the displacement of the master cylinder generated with the displacement of the brake pedal after the vehicle generates braking force;

[0112] F V = k V (l1 + l2 + l3)

[0113] wherein, k V represents the total stiffness of the control valve, safety valve and return spring in the vacuum booster, l1 represents the dead stroke between the vacuum booster and the master cylinder, l2 represents the gap between the brake caliper and the brake disc, l3 represents the displacement of the master cylinder generated with the displacement of the brake pedal after the vehicle generates braking force.

[0114] The braking deceleration mode selection module includes: when the driver preview influence total factor K satisfies ζ1 < K ≤ ζ2, the braking deceleration mode selection module will execute the second braking deceleration mode, and the braking deceleration of the vehicle satisfies:

[0115]

[0116] Where α and β represent the proportion coefficients of the braking force of the front and rear wheels, respectively. F b1 F represents the braking force of one front wheel. b2 η represents the braking force of a rear wheel. V This indicates the efficiency of the vacuum booster, and d1 and d2 represent the piston cylinder diameters of the front and rear brake calipers, respectively. and Let n1 and n2 represent the efficiency factors of the front and rear brake pads, respectively; n1 and n2 represent the number of piston cylinders in the front and rear brake calipers, respectively; and r1 and r2 represent the effective braking radius from the center of the piston in the front and rear brake calipers to the center of the brake disc, respectively. P F represents the force applied to the brake pedal. s F represents the resistance generated by the return spring on the brake pedal. V This represents the total reaction force generated by the control valve, air valve, and return spring inside the vacuum booster, i P Indicates the lever ratio of the brake pedal, i V R represents the boost ratio of the vacuum booster, m represents the current mass of the car, and R represents the boost ratio of the vacuum booster. e A represents the rolling radius of the tire. m This indicates the piston area of ​​the brake master cylinder;

[0117] Among them, F s and F V Related to pedal travel, the calculation formula is:

[0118] F s =k s (l0+l1+l2+l3)

[0119] Where, k s The values ​​represent the stiffness of the brake pedal return spring, l0 represents the clearance between the brake pedal and the vacuum booster push rod, l1 represents the free travel between the vacuum booster and the brake master cylinder, l2 represents the clearance between the brake caliper and the brake disc, and l3 represents the displacement of the brake master cylinder as the brake pedal moves after the vehicle generates braking force.

[0120] F V =k V (l1+l2+l3)

[0121] Where, k VIt represents the total stiffness of the control valve, safety valve and return spring inside the vacuum booster. l1 represents the free travel between the vacuum booster and the brake master cylinder. l2 represents the clearance between the brake caliper and the brake disc. l3 represents the displacement of the brake master cylinder generated by the displacement of the brake pedal after the vehicle generates braking force.

[0122] The braking deceleration mode selection module includes: when the driver preview influence total factor K satisfies ζ2 < K < 1, the braking deceleration mode selection module will execute the third braking deceleration mode, and the braking deceleration of the vehicle satisfies:

[0123]

[0124] Among them, α and β respectively represent the proportion coefficients of the braking forces of the front and rear wheels. F b1 represents the braking force of a front wheel, F b2 represents the braking force of a rear wheel, η V represents the efficiency of the vacuum booster, d1 and d2 respectively represent the piston cylinder diameters of the front and rear brake calipers. and respectively represent the effectiveness factors of the front wheel brake friction pads and the rear wheel brake friction pads, n1 and n2 respectively represent the number of piston cylinders of the front and rear brake calipers, r1 and r2 respectively represent the effective braking radii from the centers of the front and rear brake caliper pistons to the center of the brake disc, F P represents the brake pedal force, F s represents the resistance generated by the return spring on the brake pedal, F V represents the total reaction force generated by the control valve, air valve and return spring inside the vacuum booster, i P represents the lever ratio of the brake pedal, i V represents the boost ratio of the vacuum booster, m represents the current mass of the vehicle, R e represents the rolling radius of the tire, A m represents the piston area of the brake master cylinder;

[0125] Among them, F s and F V are related to the pedal stroke, and the calculation formula is:

[0126] F s =k s (l0 + l1 + l2 + l3)

[0127] Among them, k sThe values ​​represent the stiffness of the brake pedal return spring, l0 represents the clearance between the brake pedal and the vacuum booster push rod, l1 represents the free travel between the vacuum booster and the brake master cylinder, l2 represents the clearance between the brake caliper and the brake disc, and l3 represents the displacement of the brake master cylinder as the brake pedal moves after the vehicle generates braking force.

[0128] F V =k V (l1+l2+l3)

[0129] Where, k V L1 represents the total stiffness of the control valve, safety valve, and return spring inside the vacuum booster; L2 represents the free travel between the vacuum booster and the brake master cylinder; L3 represents the clearance between the brake caliper and the brake disc; and L4 represents the displacement of the brake master cylinder as the brake pedal moves after the vehicle generates braking force.

[0130] The braking deceleration mode feedback module includes a braking performance evaluation index calculation module, a driver comfort feedback module, and a braking deceleration adjustment module.

[0131] The calculation of the braking performance evaluation index includes: calculating the braking performance evaluation index A by comparing the actual braking physical quantity obtained when the vehicle uses the intelligent braking deceleration adjustment system based on driver pre-aiming information with the braking physical quantity expected by the driver when the system is not used. cc ,

[0132]

[0133] Wherein, X represents the actual braking distance obtained by the driver when using the aforementioned intelligent braking deceleration adjustment system based on driver pre-aiming information.

[0134] X1 represents the braking distance the driver expects when the system is not in use.

[0135] T represents the actual braking time obtained when the driver uses the aforementioned intelligent braking deceleration adjustment system based on driver preview information.

[0136] T1 represents the braking time the driver expects when the system is not in use.

[0137] 'a' represents the actual braking deceleration obtained when the driver uses the aforementioned intelligent braking deceleration adjustment system based on driver preview information.

[0138] a1 represents the braking deceleration that the driver expects when the system is not in use;

[0139] The driver comfort feedback module is used for the driver's comfort evaluation when using the intelligent braking deceleration adjustment system based on driver pre-aiming information, and has two options, comfortable and uncomfortable, for the driver to choose from.

[0140] The braking deceleration adjustment module includes: when braking performance evaluation index A cc Satisfying 0<|A cc When |≤0.08 and the driver comfort feedback module outputs a comfort option, the vehicle will continue to maintain this braking deceleration mode;

[0141] When one of the following three situations occurs:

[0142] A、0<|A cc |≤0.08 and the driver comfort feedback module outputs an uncomfortable option;

[0143] B、0.08<|A cc |≤0.25 and the driver comfort feedback module outputs a comfort option;

[0144] C、0.08<|A cc |≤0.25 and the driver comfort feedback module outputs an uncomfortable option;

[0145] The vehicle is continuously adjusted to obtain a new total factor K for the driver's pre-aiming influence. new To replace the previous driver aiming influence factor K, the adjustment method is as follows: K new =(1+A) cc K, thereby continuously adjusting the braking deceleration mode to meet the required braking requirements, achieving 0 < |A cc |≤0.08 and the driver comfort feedback module outputs comfort options.

[0146] The intelligent adjustment system forced exit module is used to force the vehicle to exit the intelligent braking deceleration adjustment system based on driver pre-aiming information. This module is executed when one of the following conditions occurs, and not executed in other conditions:

[0147] When|A cc When |>0.25, the intelligent braking deceleration adjustment system based on driver pre-aiming information is determined to be malfunctioning;

[0148] The driver can actively choose to forcibly exit the intelligent braking deceleration adjustment system based on driver pre-aiming information.

Claims

1. A braking deceleration intelligent adjustment system based on driver pre-aiming information, characterized in that, Includes the following: Driver anticipation information acquisition module, driver anticipation influencing factor calculation module, braking deceleration mode selection module, braking deceleration mode feedback module, intelligent adjustment system forced exit module; The driver preview information acquisition module is used to obtain the distance from the front bumper of the vehicle to the taillights of the vehicle in front. external noise decibels vehicle speed ; The driver anti-aiming influence factor calculation module includes: S1. Establish a braking deceleration model for the vehicle during braking. The vehicle braking deceleration satisfies the following formula: in, This indicates the vehicle's current acceleration. This indicates the braking force of one front wheel. This indicates the braking force of one rear wheel. Indicates the current mass of the vehicle; S2. Calculate the sub-factors affecting the driver's aiming result according to the following formulas, including: S2.1 Calculate the driving road environment preview influence factor according to the following formula. , in, Indicates the weighting coefficient. This represents the vehicle travel delay factor, the value of which depends on the vehicle's waiting time on the road. And the degree of slowdown in traffic, when driver waiting time and the degree of slowdown in traffic characterize road congestion, In other cases, , This represents the driving lane number coefficient, which is equal to the total number of lanes on the road where the vehicle is located, i.e., the sum of the number of lanes traveling in the same direction and the number of lanes traveling in the opposite direction. This represents the road obstacle coefficient, which is the threshold at which a driver observes an obstacle ahead. In other cases, , This represents the traffic sign type coefficient, the value of which depends on the type of traffic sign. When the traffic sign is a warning sign or a prohibitory sign... When traffic signs are both instruction signs and guide signs, In other cases, , This represents the road type coefficient, the value of which depends on the type of road being driven on. When the road being driven is a highway, When driving on urban roads, When driving on rural roads, When driving on mountain roads, In other cases, , This represents the lane width coefficient, whose value is equal to the width of the lane in which the vehicle is located. This represents the road geometry coefficient, the value of which depends on the lane's gradient. When the lane is an uphill lane, When the lane is a downhill lane, ; S2.2 Calculate the driving weather environment forecasting factor according to the following formula. , in, Indicates the weighting coefficient. This represents the weather visibility coefficient, whose value depends on the weather conditions at the time of vehicle travel. It varies depending on whether the weather is foggy, rainy, or dusty. In other cases, , This represents the road surface slipperiness coefficient, and its value depends on the amount of snowfall and rainfall observed by the driver. When rain or snowfall makes the road surface slippery, In other cases, , This represents the airflow data coefficient, the value of which depends on the airflow speed and direction. It is relevant when airflow interferes with the driver's operation. When no interference is caused, , This represents the temperature perception coefficient, whose value depends on the driver's perception of the outside temperature. It is used when the driver predicts that the road may freeze due to excessively low temperatures or that the engine may overheat due to excessively high temperatures. In other cases, ; S2.3 Calculate the forward traffic look-ahead impact factor according to the following formula. , in, Indicates the weighting coefficient. This indicates the traffic condition coefficient ahead; it is calculated when the traffic signs ahead indicate that the road is passable and there is no congestion. In other cases, , This indicates the coefficient representing the direction of travel of the vehicle ahead. Its value depends on whether the direction of travel of the vehicle ahead is the same as that of this vehicle. When the directions of travel are the same, When the driving directions are not the same, , This represents the safe following distance coefficient, which depends on the minimum distance that a following vehicle must maintain from the vehicle in front to avoid an accidental collision. ,when When it is greater than 50 meters, In other cases, , This indicates the color coefficient of the vehicle in front, and its value depends on the brightness and saturation of the color of the vehicle in front. When the color of the vehicle in front is bright and vivid, When the exterior color of the current car is a neutral color, When the exterior color of the current car is dark, , This indicates the size factor of the vehicle in front. When the vehicle in front is a microcar or a small car, When the current vehicle is a compact car or a mid-size car, In other cases, , This indicates the braking intention coefficient of the vehicle ahead. Its value depends on whether the vehicle ahead intends to brake. If the vehicle ahead does not intend to brake, then... When the vehicle in front intends to brake, , This indicates the oncoming vehicle headlight usage coefficient; it is used when an oncoming vehicle is using high beams. In other cases, , This indicates the headlight flare coefficient, which is used when headlight flare interferes with the driver's vision. In other cases, ; S2.4 Calculate the driver's visual state preview influence factor according to the following formula. , in, Indicates the weighting coefficient. This represents the driver's cone cell coefficient. When the driver's three types of cone cells are normal—that is, the proportions of L-cone cells, M-cone cells, and S-cone cells are all normal and none are damaged—then... In other cases, , This represents the afterimage effect coefficient for drivers, and its value is equal to the duration of the afterimage effect, that is, the time it takes for a persistent impression to form in the visual system after staring at a bright color and a bright light source for a long time, then looking at other objects, and finally closing the eyes. This represents the driver's eye saccade velocity coefficient, whose value is equal to the speed at which the driver's eyes scan objects. This represents the driver's eye saccade amplitude coefficient, whose value is equal to the amplitude of the driver's eye saccades. This represents the driver's gaze duration distribution coefficient. Its value depends on the distribution of gaze duration when the driver gazes at different targets and environments. The specific value is determined based on the actual situation. This represents the noise decibel coefficient, the value of which depends on the decibel value of the external noise. ,when When the volume is greater than or equal to 80 decibels, In other cases, , This indicates the driver's emotional state; when the driver's breathing rate increases or becomes irregular, When the driver's breathing is normal, ; S2.5 Calculate the driver's operation preview influence factor according to the following formula. , in, and Indicates the weighting coefficient. This represents the driver's years of driving experience coefficient. When a driver's years of driving experience are less than five years, When the number of years of driving experience is greater than or equal to five years but less than fifteen years, When the driving experience is greater than or equal to fifteen years, , This represents the driving mileage coefficient; when the driver's driving mileage is less than 16,000 kilometers, When the driver's driving mileage is greater than or equal to 16,000 kilometers and less than 32,000 kilometers, When the driver's driving mileage is greater than or equal to 32,000 kilometers, , This indicates the driver's driving record coefficient. A good driving record means the driver has no traffic violations, accidents, or demerit points. In other cases, , This represents the driving speed coefficient, the value of which depends on the vehicle's speed. ,when When the speed is less than 30 kilometers per hour, ,when When the speed is greater than or equal to 30 km / h and less than 60 km / h ,when When the speed is greater than or equal to 60 kilometers per hour, , This represents the driver's hand-foot coordination coefficient. When a driver has good hand-foot coordination... In other cases, ; S3. Calculate the total factor affecting driver's anti-aiming according to the following formula. , in, Calculate the weighted value for each individual indicator; The braking deceleration mode selection module includes a first braking deceleration mode, a second braking deceleration mode, and a third braking deceleration mode. When the driver applies the same brake pedal force, the first braking deceleration mode produces the smallest braking deceleration, followed by the second braking deceleration mode, and the third braking deceleration mode produces the largest braking deceleration. This is achieved by introducing a first decision threshold. Second decision critical value To describe the selection of braking deceleration mode, where, .

2. The intelligent braking deceleration adjustment system based on driver preview information according to claim 1, characterized in that: The braking deceleration mode selection module includes: when the driver anticipates the total factor of influence. satisfy When the braking deceleration mode selection module is in operation, it will execute the first braking deceleration mode, and the vehicle's braking deceleration will satisfy the following: in, and These represent the proportion coefficients of the braking force of the front and rear wheels, respectively. , , This indicates the braking force of one front wheel. This indicates the braking force of one rear wheel. This indicates the efficiency of the vacuum booster. and These represent the piston cylinder diameters of the front and rear brake calipers, respectively. and These represent the performance factors of the front wheel brake pads and the rear wheel brake pads, respectively. and These represent the number of piston cylinders in the front and rear brake calipers, respectively. and These represent the effective braking radii from the center of the front and rear brake caliper pistons to the center of the brake disc, respectively. Indicates the force applied to the brake pedal. This indicates the resistance generated by the return spring on the brake pedal. This indicates the total reaction force generated by the control valve, air valve, and return spring inside the vacuum booster. This indicates the lever ratio of the brake pedal. This indicates the boost ratio of the vacuum booster. This indicates the current quality of the car. Indicates the tire's rolling radius. This indicates the piston area of ​​the brake master cylinder; in, and Related to pedal travel, the calculation formula is: in, This indicates the stiffness of the brake pedal return spring. This indicates the gap between the brake pedal and the vacuum booster push rod. This indicates the free stroke between the vacuum booster and the brake master cylinder. This indicates the clearance between the brake caliper and the brake disc. This indicates the displacement of the master cylinder as the brake pedal moves after the vehicle generates braking force. in, This indicates the total stiffness of the control valve, safety valve, and return spring inside the vacuum booster. This indicates the free stroke between the vacuum booster and the brake master cylinder. This indicates the clearance between the brake caliper and the brake disc. This indicates the displacement of the master cylinder as the brake pedal moves after the vehicle generates braking force.

3. The intelligent braking deceleration adjustment system based on driver preview information according to claim 1, characterized in that: The braking deceleration mode selection module includes: when the driver anticipates the total factor of influence. satisfy At that time, the braking deceleration mode selection module will execute the second braking deceleration mode, and the vehicle's braking deceleration will satisfy: in, and These represent the proportion coefficients of the braking force of the front and rear wheels, respectively. , , This indicates the braking force of one front wheel. This indicates the braking force of one rear wheel. This indicates the efficiency of the vacuum booster. and These represent the piston cylinder diameters of the front and rear brake calipers, respectively. and These represent the performance factors of the front wheel brake pads and the rear wheel brake pads, respectively. and These represent the number of piston cylinders in the front and rear brake calipers, respectively. and These represent the effective braking radii from the center of the front and rear brake caliper pistons to the center of the brake disc, respectively. Indicates the force applied to the brake pedal. This indicates the resistance generated by the return spring on the brake pedal. This indicates the total reaction force generated by the control valve, air valve, and return spring inside the vacuum booster. This indicates the lever ratio of the brake pedal. This indicates the boost ratio of the vacuum booster. This indicates the current quality of the car. Indicates the tire's rolling radius. This indicates the piston area of ​​the brake master cylinder; in, and Related to pedal travel, the calculation formula is: in, This indicates the stiffness of the brake pedal return spring. This indicates the gap between the brake pedal and the vacuum booster push rod. This indicates the free stroke between the vacuum booster and the brake master cylinder. This indicates the clearance between the brake caliper and the brake disc. This indicates the displacement of the master cylinder as the brake pedal moves after the vehicle generates braking force. in, This indicates the total stiffness of the control valve, safety valve, and return spring inside the vacuum booster. This indicates the free stroke between the vacuum booster and the brake master cylinder. This indicates the clearance between the brake caliper and the brake disc. This indicates the displacement of the master cylinder as the brake pedal moves after the vehicle generates braking force.

4. The intelligent braking deceleration adjustment system based on driver preview information according to claim 1, characterized in that: The braking deceleration mode selection module includes: when the driver anticipates the total factor of influence. satisfy At that time, the braking deceleration mode selection module will execute the third braking deceleration mode, and the vehicle's braking deceleration will satisfy: in, and These represent the proportion coefficients of the braking force of the front and rear wheels, respectively. , , This indicates the braking force of one front wheel. This indicates the braking force of one rear wheel. This indicates the efficiency of the vacuum booster. and These represent the piston cylinder diameters of the front and rear brake calipers, respectively. and These represent the performance factors of the front wheel brake pads and the rear wheel brake pads, respectively. and These represent the number of piston cylinders in the front and rear brake calipers, respectively. and These represent the effective braking radii from the center of the front and rear brake caliper pistons to the center of the brake disc, respectively. Indicates the force applied to the brake pedal. This indicates the resistance generated by the return spring on the brake pedal. This indicates the total reaction force generated by the control valve, air valve, and return spring inside the vacuum booster. This indicates the lever ratio of the brake pedal. This indicates the boost ratio of the vacuum booster. This indicates the current quality of the car. Indicates the tire's rolling radius. This indicates the piston area of ​​the brake master cylinder; in, and Related to pedal travel, the calculation formula is: in, This indicates the stiffness of the brake pedal return spring. This indicates the gap between the brake pedal and the vacuum booster push rod. This indicates the free stroke between the vacuum booster and the brake master cylinder. This indicates the clearance between the brake caliper and the brake disc. This indicates the displacement of the master cylinder as the brake pedal moves after the vehicle generates braking force. in, This indicates the total stiffness of the control valve, safety valve, and return spring inside the vacuum booster. This indicates the free stroke between the vacuum booster and the brake master cylinder. This indicates the clearance between the brake caliper and the brake disc. This indicates the displacement of the master cylinder as the brake pedal moves after the vehicle generates braking force.

5. The intelligent braking deceleration adjustment system based on driver preview information according to claim 1, characterized in that: The braking deceleration mode feedback module includes a braking performance evaluation index calculation module, a driver comfort feedback module, and a braking deceleration adjustment module. The braking performance evaluation index calculation module includes: deriving a braking performance evaluation index by comparing the actual braking physical quantity obtained when the vehicle uses the intelligent braking deceleration adjustment system based on driver pre-aiming information with the braking physical quantity expected by the driver when the system is not used. , in, This indicates the actual braking distance obtained when the driver uses the aforementioned intelligent braking deceleration adjustment system based on driver preview information. This indicates the braking distance the driver expects when the system is not in use. This indicates the actual braking time obtained when the driver uses the aforementioned intelligent braking deceleration adjustment system based on driver pre-aiming information. This indicates the braking time the driver expects when the system is not in use. This indicates the actual braking deceleration obtained when the driver uses the aforementioned intelligent braking deceleration adjustment system based on driver preview information. This indicates the braking deceleration the driver expects when the system is not in use; The driver comfort feedback module is used for the driver's comfort evaluation when using the intelligent braking deceleration adjustment system based on driver pre-aiming information, and has two options, comfortable and uncomfortable, for the driver to choose from. The braking deceleration adjustment module includes: when the braking performance evaluation index... satisfy Furthermore, when the driver comfort feedback module outputs a comfort option, the vehicle will continue to maintain this braking deceleration mode; When one of the following three situations occurs: A, Furthermore, the driver comfort feedback module outputs an option indicating discomfort; B The driver comfort feedback module also outputs comfort options. C At the same time, the driver comfort feedback module outputs an uncomfortable option; The vehicle is continuously adjusted to obtain a new total factor affecting driver anticipation. To replace the previous driver aiming influence factor The adjustment method is as follows: This allows for continuous adjustment of the braking deceleration mode to meet the required braking conditions, thereby achieving... Furthermore, the driver comfort feedback module outputs comfort options.

6. The intelligent braking deceleration adjustment system based on driver preview information according to claim 1, characterized in that: The intelligent adjustment system forced exit module is used to force the vehicle to exit the intelligent braking deceleration adjustment system based on driver pre-aiming information. This module is executed when one of the following conditions occurs, and not executed in other conditions: a. When When this occurs, the intelligent braking deceleration adjustment system based on driver pre-aiming information is determined to be malfunctioning. b. The driver actively chooses to forcibly exit the intelligent braking deceleration adjustment system based on driver pre-aiming information.

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