Brake control method and system based on driver intention analysis

Abstract

The invention discloses a brake control method and system based on driver intention analysis, and the method comprises the steps: receiving an instruction of a driver, and judging whether to start a vehicle passive recognition mode or an active recognition mode according to the instruction of the driver; and in the passive recognition mode or the active recognition mode, according to preset recognition logic, through pedal signal sensing and analysis, passive recognition or active recognition of the braking intention of the driver is conducted, and a corresponding braking signal is output according to the recognition result. The braking intention of the driver can be accurately recognized, braking of the vehicle can be controlled, therefore, the auxiliary braking requirement of the driver is met, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent assisted driving, and particularly to a braking control method and system based on driver intention analysis. Background Art

[0002] At present, there are two different systems for intelligent vehicle control: autonomous driving and intelligent driving. Autonomous Driving means that the vehicle can completely independently perform driving tasks without human intervention, while Intelligent Driving focuses more on the intelligent assistance during the driving process of the vehicle, such as the Hydraulic Brake Assist (HBA), Roll Mitigation (RMI), Adaptive Cruise Control (ACC), Curve Brake Control (CBC), etc. related to the braking system.

[0003] Since autonomous driving is still generally in low-level applications (L3 and below) and high-level applications (L4 / L5) are less common, the actual use scenarios of autonomous driving by users are limited. In more scenarios, users are still accustomed to and trust manual driving. At this time, intelligent driving, as an auxiliary function, can play a greater role during the active operation of users. However, to further improve the utilization rate, intelligence level, and comfort in daily use, it still requires technological upgrades and innovations.

[0004] Currently, manual driving still occupies the vast majority of users' usage scenarios. However, during daily braking and parking, the driver needs to keep stepping on the brake pedal and continuously adjust the braking force during the deceleration process. Over time, the driver's feet are more likely to become fatigued or even sore. Against this background, users hope to have a more intelligent and comfortable braking system that can automatically adjust the braking force at appropriate times even in non-autonomous driving modes, without the driver having to keep stepping on the brake pedal. This can improve the intelligence level of the vehicle braking system, simplify the driver's braking operation, greatly improve the driving experience, and enhance the comfort.

[0005] However, how to identify the driver's intention is the core of assisted braking. The existing technologies cannot accurately identify the driver's intention in braking control based on driver intention recognition, and the logical analysis of driver intention recognition is too simple. It cannot be applied to the whole vehicle and cannot meet the needs of the driver's assisted braking. Summary of the Invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a braking control method and system based on driver intention analysis, which can accurately identify the driver's braking intention and control the braking of the vehicle, thereby meeting the needs of the driver's assisted braking and improving the user experience.

[0007] To achieve the above object, the technical solution adopted by the present invention is as follows: A braking control method based on driver intention analysis, which includes receiving a driver's instruction and judging whether to activate the vehicle passive recognition mode or the active recognition mode according to the driver's instruction; in the passive recognition mode or the active recognition mode, passively recognize or actively recognize the driver's braking intention according to the preset recognition logic, and output a corresponding braking signal according to the recognition result.

[0008] Obtain the driver's instruction through a function start button to control the opening and closing of the passive recognition mode or the active recognition mode.

[0009] After the passive recognition mode is activated, real-time detect the triggering state of the accelerator pedal or the brake pedal during the vehicle driving process, judge the driver's braking intention according to the triggering states of the accelerator pedal and the brake pedal, and output a braking signal based on the braking intention.

[0010] In the passive recognition mode, if it is detected that the accelerator pedal changes from the depressed state to the non-depressed state, and it is detected that the brake pedal is depressed once and the displacement of the brake pedal depression reaches the displacement S2 for activating intention recognition and then is released again, and the time of the brake pedal depression is lower than the set time threshold, it is judged that there is a braking intention. At this time, a braking signal is sent to the vehicle braking system control module, and the vehicle braking system control module executes the braking signal to achieve braking deceleration.

[0011] In the active recognition mode, real-time detect the states of the accelerator pedal and the brake pedal to judge whether there is a braking intention and output a braking signal based on the braking intention.

[0012] In the active recognition mode, if it is detected that the accelerator pedal is depressed or the brake pedal is not depressed and it is detected that the driver's foot is on the accelerator pedal and the accelerator pedal travel is 0 at this time, it is judged that there is no braking intention; when it is detected that the driver's foot is on the brake pedal and the time exceeds the set time threshold, it is judged that the driver has a braking intention at this time. At this time, a braking signal is sent to the vehicle braking system control module, and the vehicle braking system control module executes the braking signal to achieve braking deceleration.

[0013] When sending a braking signal in the active recognition mode or the passive recognition mode, real-time monitor the triggering state of the driver on the accelerator pedal. If the accelerator pedal is depressed, immediately stop outputting the braking signal and respond to the acceleration signal of the accelerator pedal.

[0014] In the active recognition mode or the passive recognition mode, output a corresponding deceleration braking signal according to the preset standard deceleration braking force or output a braking signal according to the braking force corresponding to the travel of the brake pedal depressed during the driver intention recognition process.

[0015] In the active mode or the passive mode, if a braking signal is output according to the driver's intention, the obstacles in front of the vehicle are detected in real time while the braking signal is output. The collision risk under the current braking force is judged based on the distance between the vehicle and the obstacles, and a reminder is sent to the driver through the on-vehicle instrument or the in-vehicle system.

[0016] A braking control system based on driver intention analysis includes a braking pedal sensor, an accelerator pedal sensor, a braking intention analysis module, a braking system control module, and a function start button;

[0017] The braking intention analysis module is provided with an active recognition mode and a passive recognition mode. The braking intention analysis module is controlled by the function start button to execute the active recognition mode or the passive recognition mode. The braking intention analysis module judges the driver's braking intention based on the signals of the braking pedal and the accelerator pedal collected by the braking pedal sensor and the accelerator pedal sensor, and outputs a corresponding braking signal to the braking system control module. The braking system control module controls the braking of the vehicle according to the braking signal.

[0018] The advantages of the present invention are as follows: It can accurately recognize the driver's braking intention and control the braking of the vehicle, so as to meet the driver's auxiliary braking needs and improve the user experience.

[0019] Applying this solution to an automobile can analyze the driver's braking intention and complete the output of the braking intention signal, so that the automobile can recognize the driver's behavior, automatically adjust the braking force, and achieve automatic parking, without the driver having to keep stepping on the pedal when parking is required, achieving an effect similar to "mind braking" or "mind parking". The operation is simple and labor-saving, greatly improving the intelligence level and comfort experience of the automobile, and is the basis for future higher-level intelligent driving.

[0020] Furthermore, this patent focuses on the analysis process for realizing this function. Through analysis, in a simple road surface environment, it can be identified whether the driver has the intention of braking and parking, and a decision is made, and then the signal is input to the braking system. This analysis and decision-making process is the core and feature of the above function realization. Compared with most existing passive systems, it is more inclined to active recognition and feedforward control, and is a more advanced technology that can be gradually applied to more future scenarios to innovate the existing braking system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The following briefly describes the content expressed in each drawing of the specification of the present invention and the marks in the drawings:

[0022] Figure 1 It is a schematic diagram of automatically parking by recognizing the driver's braking intention in a simple and open test site in the present invention;

[0023] Figure 2Schematic diagram of automatically stopping when the roadside in front of the present invention has no obstacles to recognize the driver's braking intention;

[0024] Figure 3 Schematic diagram of the basic connection structure of the braking intention analysis system of the present invention;

[0025] Figure 4 Flowchart of the driver's braking intention analysis and decision-making method of the present invention. Detailed implementation manners

[0026] The following further describes the specific implementation manners of the present invention in detail by describing the optimal embodiments with reference to the accompanying drawings.

[0027] The braking control method based on the driver's intention provided by the present invention analyzes the driver's intention and controls the driver's braking intention in an active or passive mode, so as to realize the continuous automatic braking. When the auxiliary function is triggered, it can avoid the inconvenience of the driver always stepping on the brake pedal, assist the driver in braking, and can realize automatic braking control after the driver triggers the active and passive mode functions in the present solution in non-emergency situations. The specific solution is as follows:

[0028] A braking control method based on driver intention analysis provided in this embodiment includes receiving the driver's instruction, and judging whether to start the vehicle passive recognition mode or the active recognition mode according to the driver's instruction; in the passive recognition mode or the active recognition mode, passively recognize or actively recognize the driver's braking intention according to the preset recognition logic, and output a corresponding braking signal according to the recognition result.

[0029] The start and close of both the active recognition mode and the passive recognition mode are controlled by the driver's instruction. A function start button is set, and the driver's instruction is obtained through the function start button to control the opening and closing of the passive recognition mode or the active recognition mode.

[0030] After the passive recognition mode is turned on, the triggering states of the accelerator pedal or the brake pedal during the vehicle driving process are detected in real time. The driver's braking intention is judged according to the triggering states of the accelerator pedal and the brake pedal, and a braking signal is output based on the braking intention. In the passive recognition mode, if it is detected that the accelerator pedal changes from the depressed state to the non-depressed state, and it is detected that the brake pedal is depressed once and the displacement of the brake pedal depression reaches the displacement S2 for activating intention recognition and then is released again, and the time for which the brake pedal is depressed is lower than the set time threshold, it is judged that there is a braking intention. At this time, a braking signal is sent to the vehicle braking system control module, and the vehicle braking system control module executes the braking signal to realize braking deceleration.

[0031] In the active recognition mode, the states of the accelerator pedal and the brake pedal are detected in real time to determine whether there is a braking intention, and a braking signal is output based on the braking intention. In the active recognition mode, if it is detected that the accelerator pedal is depressed or the brake pedal is not depressed, and it is detected that the driver's foot is on the accelerator pedal and the accelerator pedal travel is 0 at this time, it is determined that there is no braking intention; when it is detected that the driver's foot is on the brake pedal and the time exceeds the set time threshold, it is determined at this time that the driver has a braking intention, and a braking signal is sent to the vehicle braking system control module at this time, and the vehicle braking system control module executes the braking signal to achieve braking deceleration.

[0032] In this embodiment, the braking in both the active and passive modes belongs to an auxiliary function to assist the driver in driving. Therefore, when sending a braking signal in the active recognition mode or the passive recognition mode, the triggering state of the driver on the accelerator pedal or is monitored in real time. If the accelerator pedal or the brake pedal is depressed, the braking signal output is immediately stopped, the acceleration signal of the accelerator pedal is responded to, and the auxiliary braking function is ended, or the braking force when the brake pedal is depressed is responded to, and braking continues, so as to meet the normal response of the vehicle to the driver's operation while meeting the braking requirements.

[0033] In the active recognition mode or the passive recognition mode, a corresponding deceleration braking signal is output according to the preset standard deceleration braking force, or a braking signal is output according to the braking force corresponding to the travel of the brake pedal depressed during the driver intention recognition process. A standard braking force is set, and braking is performed according to this standard braking force in both the active recognition and passive recognition modes, so as to achieve functional consistency and facilitate the driver's grasp of this function. Because the braking force is always linear, the driver can actively intervene according to the actual situation of braking, thus preventing the driver from being unable to grasp the braking force of the auxiliary braking. This standardized braking meets the user's empirical judgment of the vehicle performance and is beneficial to the vehicle's driving; or the depth of the brake pedal in the driver's passive recognition mode can be directly used to judge the braking force, and the braking force corresponding to the travel of the depth of the brake pedal depressed when judging the driving intention is calculated, and the braking control is maintained with this braking force, so as to meet the driver's needs when triggering the braking intention and meet the driver's immediate needs.

[0034] In the active mode or the passive mode, if a braking signal is output according to the driver's intention, the obstacles in front of the vehicle are detected in real time while the braking signal is output. The collision risk under the current braking force is judged according to the distance between the vehicle and the obstacles, and a reminder is sent to the driver through the on-vehicle instrument or the in-vehicle system. If there are obstacles in front of the vehicle, in order to avoid insufficient braking force to stop before colliding with the obstacles, the auxiliary function should remind the driver to avoid the driver's over-reliance on the auxiliary braking function. Therefore, when an obstacle is detected during braking, a reminder should be given in time through the instrument or the in-vehicle large screen, so that the driver can pay attention to the current braking force in time. The driver will intervene in the braking according to experience. For example, if the driver steps on the brake again and the brake is continuously triggered to a deeper stroke, the deceleration control will be performed according to the driver's triggered pedal stroke, so as to meet the safety requirements of the vehicle's auxiliary braking function.

[0035] As Figure 3 shown, a braking control system based on driver intention analysis includes a brake pedal sensor, an accelerator pedal sensor, a braking intention analysis module, a braking system control module, and a function start button;

[0036] The braking intention analysis module is provided with an active recognition mode and a passive recognition mode. The braking intention analysis module is controlled by the function start button to execute the active recognition mode or the passive recognition mode. The braking intention analysis module judges the driver's braking intention according to the signals of the brake pedal and the accelerator pedal collected by the brake pedal sensor and the accelerator pedal sensor, and outputs a corresponding braking signal to the braking system control module. The braking system control module controls the braking of the vehicle according to the braking signal.

[0037] The braking intention analysis module includes a signal storage unit, a signal confirmation unit, a signal analysis unit, an analysis signal confirmation unit, and a signal output unit. The signal storage unit is used to temporarily store the collected signals, and the signal confirmation unit confirms the collected signals. The signals without faults or errors are sent to the signal analysis unit. The signal analysis unit analyzes the driver's braking intention, and the analysis result of the braking intention is sent to the analysis signal confirmation unit. After the confirmation unit confirms that the current state of the signal meets the braking conditions, the signal output unit outputs a corresponding braking signal to the braking system control module.

[0038] This patent invents a method and system structure for analyzing and making decisions on the driver's braking intention based on pedal signals. This is an innovation and invention that mainly uses vehicle pedal signals to judge whether the driver has a braking intention. It will help the realization of high-order intelligent braking technology - that is, the vehicle can judge the driver's braking intention, and then only need the driver to step on the brake pedal once, or even do not need to step on the brake pedal, and the vehicle can actively and stably decelerate and stop without the driver having to keep stepping on the brake pedal and continuously adjusting, so as to achieve the effect of "mind parking" or "mind braking".

[0039] The role of this patent in facilitating the implementation of advanced intelligent braking technology is to provide a deceleration and stop signal after identifying the driver's braking intention. Then, after receiving this signal, a vehicle with advanced intelligent driving functions will perform corresponding deceleration and stop operations.

[0040] For the convenience of application and promotion, based on user operation habits, two analysis modes are established to meet the system design objectives and control methods. Mode one is the vehicle passive recognition mode. In this mode, the driver needs to step on the brake pedal once to input a braking signal, and then the vehicle will identify the braking intention and output a signal. Mode two is the active recognition mode, that is, without the driver stepping on the brake pedal, the vehicle actively identifies the driver's braking intention throughout the process and outputs a signal. Whether it is mode one or mode two, the vehicle can automatically stop without the driver constantly stepping on the brake pedal.

[0041] As a basic analysis and decision-making method and system structure, this patent first considers implementing this function on a simple road surface without obstacles in order to quickly achieve basic functions and demonstration applications.

[0042] For example, in an empty test site or the roadside of a road without obstacles, identify the driver's braking intention and decelerate to stop. Subsequently, complex environmental factors such as intersections, surrounding vehicles, and pedestrians will be considered. It will identify the driver's braking intention on a simple road surface and then output a deceleration and stop signal to assist the vehicle in achieving intelligent automatic parking. Specific scenarios are as Figure 1 、 2 shown.

[0043] Based on the above conditions, the system connection structure of this patent includes a function start button, a vehicle brake pedal sensor, an accelerator pedal sensor, a wheel speed sensor, a brake system control module, and a braking intention analysis unit. The connection structure of the necessary parts and units of this intention recognition system is as Figure 3 shown.

[0044] For the convenience of understanding, the analysis principle of this system can be summarized into the following four situations:

[0045] 1. After starting mode one, during the normal driving process of the vehicle, if the driver steps on the accelerator pedal, or has their foot on the accelerator pedal but does not apply force, and the brake pedal is not stepped on, this type of situation will be recognized as the driver having no intention of braking and stopping;

[0046] 2. After starting in Mode 1, during normal vehicle driving, if the driver completely removes their foot from the accelerator pedal and presses the brake pedal once, releases it after reaching the displacement s2 for activating intention recognition, and the operation time does not exceed 2 seconds, such a situation will be recognized as the driver having a braking intention, and a deceleration and stop signal will be output to the vehicle braking system control module. The vehicle control module will recognize this signal and then decelerate and stop;

[0047] 3. After starting in Mode 2, during normal vehicle driving, if the driver presses the accelerator pedal or places their foot on the accelerator pedal without applying force, and the brake pedal is not pressed, such a situation will be recognized as the driver having no intention of braking and stopping;

[0048] 4. After starting in Mode 2, during normal vehicle driving, if the driver does not press the accelerator pedal, does not place their foot on the accelerator pedal, but places it on the brake pedal, regardless of whether they press it forcefully or not, when the time exceeds 2 seconds, it is determined that the driver has a braking intention, and a deceleration and stop signal will be output to the vehicle braking system control module. The vehicle control module will recognize this signal and then decelerate and stop;

[0049] For the convenience of analysis, the pressure of the brake pedal sensor is set as N1, and the displacement of the brake pedal is set as S1; the pressure of the accelerator pedal sensor is set as N2, and the displacement of the accelerator pedal is set as S2.

[0050] Several important critical values and 7 states are emphasized:

[0051] 1. When the driver's foot is not on the brake pedal or is on the brake pedal without applying force, at this moment, the pedal displacement S1 = 0 and the pressure N1 = 0;

[0052] 2. When the driver's foot is on the brake pedal but does not cause the brake pedal to deflect, at this moment, the pedal displacement S1 = 0 and the pressure N1 < n1;

[0053] 3. When the driver presses the brake pedal and does not reach the activation of one - time braking intention recognition after starting in Mode 1, at this time, the pedal displacement S1 < s2 and the pressure N1 < n2;

[0054] 4. When the driver presses the brake pedal and just activates one - time braking intention recognition after starting in Mode 1, at this time, the pedal displacement S1 > s2 and the pressure N1 > n2;

[0055] 5. When the driver's foot is not on the accelerator pedal or is on the accelerator pedal without applying force, the pedal displacement S2 = 0 and the pressure N2 = 0;

[0056] 6. When the driver steps on the accelerator pedal but does not cause the accelerator pedal to displace, the pedal displacement S2 = 0, and the pressure magnitude N2 < n3;

[0057] 7. When the driver steps on the accelerator pedal, at this time the pedal displacement S2 = s4, and the pressure magnitude N2 = n4 > n3.

[0058] Based on the above analysis principle and parameter settings, the operation process of the system is that the signals of each sensor will first be input into the signal storage unit in the braking intention analysis module, then transmitted to the signal confirmation unit to confirm the integrity and accuracy of the signals, and then sent to the signal analysis unit. The specific analysis and decision-making method of the analysis unit is as Figure 4 shown. If the analysis signal confirmation unit finds that the driver has no intention of decelerating or stopping, no subsequent operations will be performed. If it is confirmed through analysis that the driver has the intention of stopping, the braking intention analysis module will output the deceleration and stop signal to the braking system control module through the signal output unit, and it will perform the subsequent deceleration and stop operations to achieve automatic parking.

[0059] In this solution, the system structure mainly includes a function start button, a vehicle brake pedal sensor, an accelerator pedal sensor, a wheel speed sensor, a braking system control module, and a braking intention analysis unit; the vehicle brake pedal sensor and the accelerator pedal sensor generate the driver's foot stepping signal and transmit it to the braking intention analysis unit; the wheel speed sensor generates the vehicle speed signal and transmits it; the braking intention analysis unit processes the received signals, analyzes and transmits the driver's intention signal to the braking system control module; the braking system control module receives the signal from the braking intention analysis unit;

[0060] Among them, the braking intention analysis unit has the functions of receiving, analyzing, and outputting signals. More specifically, by analyzing the signals of the driver stepping on the brake pedal and the accelerator pedal, it can analyze whether the driver has the intention of decelerating and stopping; the braking intention analysis unit, if it is found through analysis that the driver has the intention of decelerating and stopping, will output this signal to the braking system control module of the vehicle;

[0061] The braking system control module is the braking system of the vehicle itself. It has the function of receiving signals and adjusting the braking force, and has a certain level of intelligence. If it is a lower-level braking system, the purpose cannot be achieved;

[0062] The braking intention analysis unit uses an analysis and decision-making method, and its characteristic is that it can analyze whether the driver has the braking intention by receiving the signals of the vehicle sensors, especially the signals of the brake pedal and the accelerator pedal;

[0063] The braking control strategy proposed in this solution is applicable to simple road surfaces, such as open spaces or the roadside of a road without obstacles ahead. Due to the limitations of the functions and analysis capabilities of the connected sensors, it is not sufficient to support more scenarios. When it is supported for in-vehicle use, in order to improve safety, in-vehicle obstacle sensors are required to detect obstacles ahead. While decelerating, the obstacle sensors should detect and issue corresponding reminders in a timely manner to alert the driver to avoid the obstacles ahead, so as to be better applicable to real road conditions.

[0064] The analysis and decision-making method in this solution includes two modes. Mode 1 is the passive recognition mode. The characteristic of this mode is that the driver needs to step on the brake pedal once to input a braking signal, and then the vehicle recognizes the braking intention and outputs a signal. Mode 2 is the active recognition mode. The characteristic of this mode is that the driver does not need to step on the brake pedal, and the vehicle actively recognizes the driver's braking intention throughout the process and outputs a signal. For both modes, ultimately, one of the two results of the driver having a braking intention and not having a braking intention will be generated. By analyzing the driver's braking intention, the output of the braking intention signal is completed, enabling the vehicle to recognize the driver's behavior, automatically adjust the braking force, and achieve automatic parking, without the driver having to keep stepping on the pedal when parking is required, achieving an effect similar to "mental braking" or "mental parking". The operation is simple and labor-saving, greatly improving the vehicle's intelligence level and comfort experience, and is the basis for higher-level intelligent driving in the future.

[0065] Obviously, the specific implementation of the present invention is not limited by the above methods. As long as various non-substantive improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. A braking control method based on driver intention analysis, characterized in that: It includes receiving the driver's instruction and judging whether to activate the vehicle passive recognition mode or the active recognition mode according to the driver's instruction; In the passive recognition mode or the active recognition mode, passive recognition or active recognition of the driver's braking intention is carried out according to the preset recognition logic, and corresponding braking signals are output according to the recognition results.

2. The braking control method based on driver intention analysis according to claim 1, characterized in that: The driver's instruction is obtained through the function start button to control the opening and closing of the passive recognition mode or the active recognition mode.

3. The braking control method based on driver intention analysis according to claim 1, characterized in that: After the passive recognition mode is activated, the triggering states of the accelerator pedal or the brake pedal during the vehicle driving process are detected in real time, and the driver's braking intention is judged according to the triggering states of the accelerator pedal and the brake pedal, and a braking signal is output based on the braking intention.

4. The braking control method based on driver intention analysis according to claim 3, characterized in that: In the passive recognition mode, if it is detected that the accelerator pedal changes from the depressed state to the non-depressed state, and it is detected that the brake pedal is depressed once and the displacement of the brake pedal depression reaches the displacement S2 for activating intention recognition and then is released again, and the time when the brake pedal is depressed is lower than the set time threshold, it is judged that there is a braking intention. At this time, a braking signal is sent to the vehicle braking system control module, and the vehicle braking system control module executes the braking signal to achieve braking deceleration.

5. The braking control method based on driver intention analysis according to claim 1, characterized in that: In the active recognition mode, the states of the accelerator pedal and the brake pedal are detected in real time to judge whether there is a braking intention and a braking signal is output based on the braking intention.

6. The braking control method based on driver intention analysis according to claim 5, characterized in that: In the active recognition mode, if it is detected that the accelerator pedal is depressed or the brake pedal is not depressed and the driver's foot is placed on the accelerator pedal and the accelerator pedal travel is 0 at this time, it is judged that there is no braking intention; when it is detected that the driver's foot is placed on the brake pedal and the time exceeds the set time threshold, it is judged that the driver has a braking intention at this time. At this time, a braking signal is sent to the vehicle braking system control module, and the vehicle braking system control module executes the braking signal to achieve braking deceleration.

7. A braking control method based on driver intention analysis according to any one of claims 3-6, characterized in that: When sending a braking signal in the active recognition mode or the passive recognition mode, the triggering state of the driver on the accelerator pedal is monitored in real time. If the accelerator pedal is depressed, the output of the braking signal is immediately stopped to respond to the acceleration signal of the accelerator pedal.

8. A braking control method based on driver intention analysis according to any one of claims 1-6, characterized in that: In the active recognition mode or the passive recognition mode, the corresponding deceleration braking signal is output according to the preset standard deceleration braking force or the braking signal is output according to the braking force corresponding to the travel of the brake pedal depressed during the driver intention recognition process.

9. A braking control method based on driver intention analysis according to any one of claims 1-6, characterized in that: In the active mode or the passive mode, if a braking signal is output according to the driver's intention, the obstacles in front of the vehicle are detected in real time while the braking signal is output, the collision risk under the current braking force is judged according to the distance between the vehicle and the obstacles, and a reminder is sent to the driver through the on-vehicle instrument or the vehicle-mounted system.

10. A braking control system based on driver intention analysis, characterized in that: It includes a brake pedal sensor, an accelerator pedal sensor, a braking intention analysis module, a braking system control module and a function start button; The braking intention analysis module is provided with an active recognition mode and a passive recognition mode, and controls the braking intention analysis module to execute the active recognition mode or the passive recognition mode according to the function start button. The braking intention analysis module judges the driver's braking intention based on the signals of the brake pedal and the accelerator pedal collected by the brake pedal sensor and the accelerator pedal sensor, and outputs the corresponding braking signal to the braking system control module. The braking system control module controls the braking of the vehicle according to the braking signal.

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