Testing device and method for driver braking intention recognition function

Abstract

The invention discloses a testing device and method for a driver braking intention recognition function, and solves the problems that the testing efficiency is too low and the testing result is unreliable when the driver braking intention in an electric control braking system is tested through driver experience in the prior art. The device specifically comprises an adjusting support, a fixing plate slidably arranged on the adjusting support, a lead screw arranged on the fixing plate, a driving mechanism, a guide wheel assembly arranged at the acting end of the lead screw, a mounting support used for mounting a brake pedal assembly to be tested, and an upper computer. The upper computer is electrically connected with the driving mechanism through an external vehicle PLC and is used for controlling the driving mechanism to drive the lead screw to work through the external vehicle PLC, so that the guide wheel assembly simulates various different braking actions, the braking main valve and the controller collect related variables under the various braking actions and calculate and output corresponding marker quantities to the upper computer, and the upper computer controls the driving mechanism to drive the lead screw to work through the external vehicle PLC. And the upper computer obtains a test result of the driver braking intention recognition function according to the marker quantity.

Description

Technical Field

[0001] The present invention relates to a test device, and more particularly to a test device and method for identifying a driver's braking intention function. Background Art

[0002] The electronically controlled braking system is one of the mainstream development directions of commercial vehicle intelligentization. It realizes braking control by replacing traditional pneumatic signals with electrical signals. In addition to having a faster braking response speed, it also has functions such as tractor-trailer coordination, braking assistance, anti-lock braking, and vehicle stability control, which can reduce the braking distance, keep the vehicle body stable, and effectively improve the driving safety of the vehicle.

[0003] The identification of the driver's braking intention is one of the important functions in the electronically controlled braking system. This function identifies the current braking condition through the displacement, speed, and acceleration information of the piston in the master brake valve when the brake pedal is actuated, so as to accurately control the braking air pressure of each wheel end of the whole vehicle. In addition to bringing a more comfortable braking feeling to the driver, it can also provide braking assistance in emergency braking conditions, increase the braking force, and shorten the braking distance. However, at present, the identification function of the driver's braking intention in the electronically controlled braking system is only tested through the driver's experience, with low test efficiency, large randomness of test results, and insufficient accuracy.

[0004] Chinese Patent No. CN104760586A discloses a dual-motor-driven electro-hydraulic braking system capable of actively simulating pedal feeling. After the motor of the first electronically controlled linear motion module receives the signal sent by the electronic control unit ECU, it controls the motion adjustment mechanism, which can apply a force to the push rod connected to the brake pedal to achieve active control of the pedal force, ensuring the driver's braking pedal feeling and eliminating the complicated pedal simulator. However, its structure is complex and it is difficult to adapt to the detection of different types of vehicles. Summary of the Invention

[0005] In order to solve the technical problems that the existing technology tests the driver's braking intention in the electronically controlled braking system through the driver's experience, with too low test efficiency and unreliable test results, or the structure of the existing wire-controlled braking system is too complex and it is difficult to adapt to the detection of different types of vehicles, the present invention provides a test device and method for identifying a driver's braking intention function.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A test device for a driver's braking intention recognition function, characterized in that it includes an adjustment bracket, a fixed plate slidably arranged on the adjustment bracket, a lead screw arranged on the fixed plate, a driving mechanism for driving the lead screw, a guide wheel assembly arranged at the acting end of the lead screw, a mounting bracket for mounting the braking pedal assembly to be tested, and a host computer; the braking pedal assembly to be tested includes a pedal, a master brake valve and a controller;

[0008] The host computer is electrically connected to the driving mechanism through an external vehicle PLC, and is used to control the driving mechanism to drive the lead screw to work through the external vehicle PLC, so that the guide wheel assembly simulates various different braking actions acting on the pedal, so that the master brake valve and the controller can collect relevant variables under various braking actions, and calculate and output corresponding flag quantities to the host computer according to the relevant variables, and the host computer then obtains the test results of the driver's braking intention recognition function according to the flag quantities.

[0009] Furthermore, it also includes a tension / compression sensor and a displacement sensor;

[0010] The tension / compression sensor is installed between the acting end of the lead screw and the guide wheel assembly and is connected to the external vehicle PLC;

[0011] The displacement sensor is installed on the lead screw and is connected to the external vehicle PLC.

[0012] Furthermore, the adjustment bracket includes a mounting base, four upright columns vertically arranged on the mounting base, a first support rod arranged between two of the upright columns, and a second support rod arranged between the other two upright columns;

[0013] The first support rod and the second support rod are arranged in parallel; both the first support rod and the second support rod are adjustably connected to the corresponding upright columns through double-axis fixed pipe clamps;

[0014] The fixed plate is slidably connected to the first support rod and the second support rod.

[0015] Furthermore, the driving mechanism includes a driving motor and a sprocket assembly;

[0016] The body of the driving motor is fixedly connected to the cylinder body of the lead screw, and its output end is connected to the input end of the sprocket assembly;

[0017] The output end of the sprocket assembly is connected to the input end of the lead screw.

[0018] Furthermore, the driving motor is a servo motor.

[0019] Furthermore, the guide wheel assembly includes a connecting column, a U-shaped bracket fixedly connected to one end of the connecting column, a rotating shaft fixedly connected to the opening of the U-shaped bracket, and a guide wheel rotatably sleeved in the middle of the rotating shaft;

[0020] The other end of the connecting column is connected to a pull / pressure sensor;

[0021] The guide wheel is used to step on the pedal of the brake pedal assembly to be tested.

[0022] Furthermore, the mounting bracket includes a mounting plate vertically arranged on the mounting base, trapezoidal plates vertically connected to both sides of the mounting plate, and connecting plates respectively vertically connected between each trapezoidal plate and the mounting plate;

[0023] A mounting hole is provided in the middle of the mounting plate. When installing the brake pedal assembly, the brake master valve and the controller are arranged on both sides of the mounting plate, and the pedal is located on the side close to the guide wheel assembly;

[0024] Both of the two connecting plates are detachably connected to the mounting base.

[0025] Furthermore, the mounting base includes a first cross plate, two vertical plates, and two second cross plates;

[0026] A plurality of parallel long holes are provided at one end of the top of the first cross plate for the detachable connection of the connecting plate; all four of the upright columns are arranged at the other end of the top of the first cross plate;

[0027] The upper ends of the two vertical plates are respectively vertically connected to the lower sides of both ends of the first cross plate;

[0028] The two second cross plates are respectively vertically connected to the lower ends of the two vertical plates, and the second cross plate and the first cross plate are respectively located on both sides of the vertical plate.

[0029] Furthermore, a plurality of reinforcing rib plates are arranged between the vertical plate and the corresponding second cross plate.

[0030] A test method for the driver's braking intention recognition function, using the above-mentioned test device for the driver's braking intention recognition function, is characterized in that it includes the following steps:

[0031] Step 1: The host computer sends drive instructions including different speeds or different accelerations to the drive mechanism through the external vehicle PLC, so that the drive mechanism drives the lead screw to work at different speeds or different accelerations, thereby enabling the guide wheel assembly connected to the acting end of the lead screw to simulate different braking actions;

[0032] Step 2: The brake master valve and the controller of the brake pedal assembly to be tested collect the relevant variables corresponding to different braking actions, calculate and output the corresponding flag quantities according to the relevant variables, and send them to the host computer;

[0033] Step 3: The host computer obtains the test result of the driver's braking intention recognition function according to the flag quantity.

[0034] The beneficial effects of the present invention:

[0035] 1. A test device for identifying a driver's braking intention provided by the present invention controls a driving mechanism to drive a lead screw through a host computer, so that a guide wheel assembly disposed at the acting end of the lead screw simulates various braking actions to brake the braking pedal assembly to be tested, realizing the automatic test of the braking pedal assembly, and further fully verifying the driver intention recognition function, improving the test efficiency of the braking pedal assembly, and shortening the R & D cycle of the braking pedal assembly.

[0036] 2. The present invention also provides a tension / compression sensor and a displacement sensor, which can collect the stepping speed and stepping force of the lead screw in real time, and can also monitor the driving mechanism and the lead screw through the host computer, thereby ensuring the stability of the entire test device.

[0037] 3. The adjusting bracket provided by the present invention can be used for braking pedal devices of different vehicle models by adjusting the position of the fixing plate on the first support rod and the second support rod, and has a wide application range.

[0038] 4. The present invention drives the lead screw through a servo motor and a sprocket assembly, and has a simple structure, high precision and is easy to implement.

[0039] 5. The present invention simulates the stepping action of the driver through a guide wheel assembly connected to the acting end of the lead screw. The curved surface structure and rotation function of the guide wheel are closer to the flexible stepping action of the driver, thereby improving the accuracy of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a side view of an embodiment of a test device for identifying a driver's braking intention of the present invention;

[0041] Figure 2 is a top view of an embodiment of a test device for identifying a driver's braking intention of the present invention;

[0042] Figure 3 is a schematic connection structure diagram of an adjusting bracket, a fixing plate and a mounting bracket in an embodiment of the present invention;

[0043] Figure 4 is a schematic connection structure diagram of a lead screw, a driving mechanism, a tension / compression sensor and a displacement sensor in an embodiment of the present invention;

[0044] Figure 5 is a schematic structure diagram of a guide wheel assembly in an embodiment of the present invention;

[0045] Figure 6 is a schematic structure diagram of a mounting bracket in an embodiment of the present invention;

[0046] Figure 7It is the schematic diagram of the test device control system of the test device in the embodiment of the present invention;

[0047] Figure 8 It is the test schematic diagram with a load in the embodiment of the present invention.

[0048] Reference numerals in the drawings:

[0049] 1 - Brake pedal assembly to be tested, 11 - Pedal, 12 - Master brake valve and controller, 2 - Adjusting bracket, 21 - Mounting base, 211 - First horizontal plate, 212 - Vertical plate, 213 - Second horizontal plate, 214 - Long slot, 215 - Reinforcing rib plate, 22 - Column, 23 - First support rod, 24 - Second support rod, 25 - Biaxial fixed pipe clamp, 3 - Fixed plate, 4 - Lead screw, 5 - Driving mechanism, 51 - Driving motor, 52 - Sprocket assembly, 6 - Guide wheel assembly, 61 - Connecting column, 62 - U-shaped bracket, 63 - Rotating shaft, 64 - Guide wheel, 7 - Tension / compression sensor, 8 - Displacement sensor, 9 - Mounting bracket, 91 - Mounting plate, 92 - Trapezoidal plate, 93 - Connecting plate. Detailed implementation manners

[0050] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0051] A test device for the driver's braking intention recognition function provided by the embodiment of the present invention, in combination with Figure 1 and Figure 2 as shown, includes an adjusting bracket 2, a fixed plate 3 slidably arranged on the adjusting bracket 2, a lead screw 4 arranged on the fixed plate 3, a driving mechanism 5 for driving the lead screw 4, a guide wheel assembly 6 arranged at the acting end of the lead screw 4, a tension / compression sensor 7 arranged between the acting end of the lead screw 4 and the guide wheel assembly 6, a displacement sensor 8 arranged on the lead screw 4, a mounting bracket 9 for mounting the brake pedal assembly 1 to be tested, and a host computer.

[0052] The brake pedal assembly 1 to be tested includes a pedal 11, a master brake valve and controller 12 and a push rod. The master brake valve and controller 12 is a part of the electronic braking system. The displacement of the pedal 11 can drive the push rod to push the piston in the master brake valve body to generate a braking signal; the controller in the master brake valve and controller 12 is mainly used to obtain the electrical signal of the built-in displacement sensor; the central control unit in the vehicle of the electronic braking system is also a part of the electronic braking system, and it analyzes and calculates the displacement electrical signal transmitted by the master brake valve and controller 12 to realize the function of driver braking intention recognition.

[0053] As Figure 3 shown, the adjusting bracket 2 includes a mounting base 21, four columns 22 vertically arranged on the mounting base 21, a first support rod 23 arranged between two of the columns 22, and a second support rod 24 arranged between the other two columns 22; the first support rod 23 and the second support rod 24 are arranged in parallel; both the first support rod 23 and the second support rod 24 are adjustably connected to the corresponding columns 22 through a double-axis fixed pipe clamp 25. Relying on the double-axis fixed pipe clamp 25, the first support rod 23 and the second support rod 24 can be adjusted up and down, left and right, and at the working angle. And the up-and-down height and height difference of the first support rod 23 and the second support rod 24 can be adjusted to facilitate adapting to the sizes and positions of brake pedal assemblies of different vehicle models; the double-axis fixed pipe clamp 25 increases the clamping force through bolts, thereby realizing the function of fixing the shaft by clamping.

[0054] The mounting base 21 includes a first horizontal plate 211, two vertical plates 212, and two second horizontal plates 213; a plurality of parallel long holes 214 are provided at one end of the top of the first horizontal plate 211 for detachable connection of the connecting plate 93; the four columns are all arranged at the other end of the top of the first horizontal plate 211; the upper ends of the two vertical plates 212 are respectively vertically connected to the lower sides of both ends of the first horizontal plate 211; the two second horizontal plates 213 are respectively vertically connected to the lower ends of the two vertical plates 212, and the second horizontal plate 213 and the first horizontal plate 211 are respectively located on both sides of the vertical plate 212. A plurality of reinforcing rib plates 215 are arranged between the vertical plate 212 and the corresponding second horizontal plate 213.

[0055] The fixing plate 3 is provided with long countersunk holes and is slidably connected to the first support rod 23 and the second support rod 24 through a single-axis fixed pipe clamp, which can realize the position fixing of the fixing plate 3. By changing the position and rotation angle of the single-axis fixed pipe clamp on the first support rod 23 and the second support rod 24, and cooperating with the double-axis fixed pipe clamp 25 at the same time, the left-right distance, angle, and height of the fixing plate 3 are adjusted, and then the left-right distance and working angle of the driving motor and the lead screw 4 are adjusted to adapt to more vehicle models.

[0056] The tension / compression sensor 7 and the displacement sensor 8 are respectively used to connect with the external vehicle PLC to send the corresponding tension / compression (i.e., braking force) and the displacement of the lead screw 4 to the external vehicle PLC in real time;

[0057] As Figure 4 shown, the driving mechanism 5 includes a driving motor 51 and a sprocket assembly 52; the body of the driving motor 51 is fixedly connected to the cylinder body of the lead screw 4, and its output end is connected to the input end of the sprocket assembly 52; the output end of the sprocket assembly 52 is connected to the input end of the lead screw 4. The driving motor 51 is a servo motor, and by controlling the number of revolutions, speed, and speed slope of the servo motor, the control of the linear motion displacement, speed, and acceleration of the lead screw is realized.

[0058] As shown Figure 5 in FIG. 2, the guide wheel assembly 6 includes a connecting column 61, a U-shaped bracket 62 fixedly connected to one end of the connecting column 61, a rotating shaft 63 fixedly connected to the opening of the U-shaped bracket 62, and a guide wheel 64 rotatably sleeved in the middle of the rotating shaft 63; the other end of the connecting column 61 is connected to the pull / pressure sensor 7; the guide wheel 64 is used to step on the pedal 11 of the brake pedal assembly 1 to be measured, and can convert the linear motion of the lead screw into the arc motion of the brake pedal.

[0059] The upper computer is electrically connected to the drive motor 51 through the external vehicle PLC, and is used to control the drive motor 51 to drive the lead screw 4 to work through the external vehicle PLC, so that the guide wheel assembly 6 simulates various different braking actions, so that the brake master valve and the controller 12 can collect relevant variables under various braking actions, and calculate and output corresponding flag quantities to the upper computer according to the relevant variables. The upper computer then obtains the test results of the driver's braking intention recognition function according to the flag quantities and the corresponding pull / pressure and displacement quantities.

[0060] As shown Figure 6 in FIG. 3, the mounting bracket 9 includes a mounting plate 91 vertically arranged on the mounting base 21, trapezoidal plates 92 vertically connected to both sides of the mounting plate 91, and connecting plates 93 vertically connected between each trapezoidal plate 92 and the mounting plate 91; a mounting hole 94 is provided in the middle of the mounting plate 91. When installing the brake pedal assembly 1, the brake master valve and the controller 12 are arranged on both sides of the mounting plate 91 respectively, and the pedal 11 is located on the side close to the guide wheel assembly 6; both connecting plates 93 are detachably connected to the mounting base, realizing the front-back and left-right position adjustment of the mounting bracket 9, facilitating the cooperation with the position of the lead screw 4 and the angle of the guide wheel assembly, so as to adjust to the state closest to the braking action of the vehicle driver and adapt to the brake pedal assemblies of more vehicle models.

[0061] This test device can perform the functional test verification of the driver's braking intention in a no-load state, and can also perform tests in a loaded state. As shown Figure 8 in FIG. 4, the main components during the loaded test include an air source, a simulated vehicle air circuit, an EBS valve body and an actuator. Among them: the air source is compressed air close to the vehicle air pressure; the simulated vehicle air circuit mainly includes the air circuit components and air pipes covered in the vehicle braking system, and the air circuit components include air storage tanks, relay valves, brake hand valves, etc.; the EBS valve body is a valve body matched with the brake master valve and the controller 12, including front axle valves, rear axle valves, trailer valves, etc.; the actuator is mainly the spring brake air chamber used in the vehicle. Further, by connecting the brake master valve and the controller 12 to the air circuit, the functional verification test under the loaded state can be realized, and at the same time, the test environment is closer to the vehicle, so the test results can more accurately reflect the vehicle performance.

[0062] Using the above test device to test the brake pedal assembly 1 to be tested, specifically including the following steps:

[0063] Step 1: The host computer sends drive instructions including different speeds or different accelerations to the drive mechanism 5 through the external vehicle PLC, so that the drive mechanism 5 drives the lead screw 4 to work at different speeds or different accelerations, so that the guide wheel assembly 6 connected to the acting end of the lead screw 4 simulates different braking actions;

[0064] Step 2: The tension / compression sensor 7 and the displacement sensor 8 obtain the tension / compression and displacement amounts corresponding to different braking actions in real time, and send them to the external vehicle PLC. The host computer monitors the drive mechanism 5 based on the tension / compression and displacement amounts; at the same time, the brake master valve and the controller 12 of the brake pedal assembly 1 to be tested collect relevant variables corresponding to different braking actions in the monitoring state; and calculate and output corresponding flag amounts according to the relevant variables, and send them to the host computer;

[0065] Step 3: The host computer obtains the test results of the driver's braking intention recognition function according to the flag amounts obtained in Step 2 and the corresponding tension / compression and displacement amounts.

[0066] As Figure 7 shown, specifically, the host computer issues displacement instructions, speed instructions, acceleration instructions, etc. that need to be simulated by the actuator to the programmable logic controller, and transmits the position, speed, and torque instructions of the motor to the servo driver in the form of bus communication, and finally controls the stepping depth, stepping speed, and stepping acceleration of the brake actuator; the analog quantity is accessed through the I / O module to the programmable logic controller for parsing and displayed on the host computer. At the same time, according to the measured values of the tension / compression sensor and the displacement sensor, it plays a role of limit monitoring and optimization adjustment for the control system in the programmable logic controller. The host computer supports the script programming control of the actuator to realize the continuous braking operation and automated test operation of simulating the driver.

[0067] As described above, only the specific implementation manners of the present invention are concerned, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A test device for a driver's braking intention recognition function, characterized in that: It includes an adjustment bracket (2), a fixing plate (3) slidably arranged on the adjustment bracket (2), a lead screw (4) arranged on the fixing plate (3), a driving mechanism (5) for driving the lead screw (4), a guide wheel assembly (6) arranged at the acting end of the lead screw (4), a mounting bracket (9) for mounting the brake pedal assembly (1) to be measured, and a host computer; the brake pedal assembly (1) to be measured includes a pedal (11) and a master brake valve and controller (12). The host computer is electrically connected to the driving mechanism (5) through an external vehicle PLC, and is used to control the driving mechanism (5) through the external vehicle PLC to drive the lead screw (4) to work, so that the guide wheel assembly (6) simulates various different braking actions acting on the pedal (11), so that the master brake valve and controller (12) can collect relevant variables under various braking actions, and calculate and output corresponding flag quantities to the host computer according to the relevant variables, and the host computer then obtains the test results of the driver's braking intention recognition function according to the flag quantities.

2. The test device for the driver braking intention recognition function according to claim 1, characterized in that: It further includes a tension / compression sensor (7) and a displacement sensor (8). The tension / compression sensor (7) is installed between the acting end of the lead screw (4) and the guide wheel assembly (6), and is connected to the external vehicle PLC. The displacement sensor (8) is installed on the lead screw (4) and is connected to the external vehicle PLC.

3. The test device for the driver's braking intention recognition function according to claim 1 or 2, characterized in that: The adjustment bracket (2) includes a mounting base (21), four upright columns (22) vertically arranged on the mounting base (21), a first support rod (23) arranged between two of the upright columns (22), and a second support rod (24) arranged between the other two upright columns (22). The first support rod (23) and the second support rod (24) are arranged in parallel; both the first support rod (23) and the second support rod (24) are adjustably connected to the corresponding upright columns (22) through double-axis fixed pipe clamps (25). The fixing plate (3) is slidably connected to the first support rod (23) and the second support rod (24).

4. The test device for the driver's braking intention recognition function according to claim 3, characterized in that: The driving mechanism (5) includes a driving motor (51) and a sprocket assembly (52). The body of the driving motor (51) is fixedly connected to the cylinder body of the lead screw (4), and its output end is connected to the input end of the sprocket assembly (52). The output end of the sprocket assembly (52) is connected to the input end of the lead screw (4).

5. The test device for the driver braking intention recognition function according to claim 4, characterized in that: The driving motor (51) is a servo motor.

6. The test device for the driver's braking intention recognition function according to claim 5, characterized in that: The guide wheel assembly (6) includes a connecting column (61), a U-shaped bracket (62) fixedly connected to one end of the connecting column (61), a rotating shaft (63) fixedly connected to the opening of the U-shaped bracket (62), and a guide wheel (64) rotatably sleeved in the middle of the rotating shaft (63). The other end of the connecting column (61) is connected to the tension / compression sensor (7). The guide wheel (64) is used to step on the pedal (11) of the brake pedal assembly (1) to be tested.

7. The test device for the driver braking intention recognition function according to claim 6, characterized in that: The mounting bracket (9) includes a mounting plate (91) vertically arranged on the mounting base (21), trapezoidal plates (92) vertically connected to both sides of the mounting plate (91), and connecting plates (93) respectively vertically connected between each trapezoidal plate (92) and the mounting plate (91); A mounting hole (94) is provided in the middle of the mounting plate (91). When installing the brake pedal assembly (1), the master brake valve and the controller (12) are arranged on both sides of the mounting plate (91) with the pedal (11), and the pedal (11) is located on the side close to the guide wheel assembly (6); Both of the two connecting plates (93) are detachably connected to the mounting base (21).

8. The test device for the driver's braking intention recognition function according to claim 7, characterized in that: The mounting base (21) includes a first cross plate (211), two vertical plates (212) and two second cross plates (213); A plurality of parallel long holes (214) are provided at one end of the top of the first cross plate (211) for the detachable connection of the connecting plate (93); all four of the upright columns are arranged at the other end of the top of the first cross plate (211); The upper ends of the two vertical plates (212) are respectively vertically connected to the lower sides of both ends of the first cross plate (211); The two second cross plates (213) are respectively vertically connected to the lower ends of the two vertical plates (212), and the second cross plate (213) and the first cross plate (211) are respectively located on both sides of the vertical plate (212).

9. The test device for the driver's braking intention recognition function according to claim 8, characterized in that: A plurality of reinforcing rib plates (215) are arranged between the vertical plate (212) and the corresponding second cross plate (213).

10. A test method for a driver braking intention recognition function, using the test device for a driver braking intention recognition function according to any one of claims 1-9, characterized in that, It includes the following steps: Step 1: The host computer sends drive instructions including different speeds or different accelerations to the drive mechanism (5) through an external vehicle PLC, so that the drive mechanism (5) drives the lead screw (4) to work at different speeds or different accelerations, so that the guide wheel assembly (6) connected to the acting end of the lead screw (4) simulates different braking actions; Step 2: The master brake valve and the controller (12) of the brake pedal assembly (1) to be tested collect the relevant variables corresponding to different braking actions, calculate and output the corresponding flag quantities according to the relevant variables, and send them to the host computer; Step 3: The host computer obtains the test result of the driver's braking intention recognition function according to the flag quantity.

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