Braking intention recognition method, system, vehicle and related device

Abstract

The application relates to a braking intention recognition method, system, vehicle and related device, and the method comprises the following steps: determining the braking intention according to the collection signals of a plurality of first sensors and the collection signals of a second sensor, the first sensors and the second sensor are arranged at different positions on a brake pedal; the signal types of the collection signals of the first sensors and the collection signals of the second sensor are different. The method can more accurately determine the real braking intention of a driver through a plurality of sensors arranged at different positions and having different types, and can avoid reducing the accuracy of braking intention recognition due to misreading the data of a single sensor.

Description

[0001] This application claims priority to Chinese Application No. 202510112549.8, filed on January 22, 2025, entitled "Braving Intent Recognition Method, System, Vehicle and Related Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of vehicle braking technology, and in particular to a braking intention recognition method, system, vehicle, and related device. Background Technology

[0003] Brake-by-wire systems eliminate the direct mechanical connection between the brake pedal and the brake, instead using electronic sensors to detect the driver's braking intentions and controlling the brake actuator to output braking force via an electronic control unit. Related technologies rely on a single brake pedal sensor, resulting in lower accuracy in detecting braking intentions. Summary of the Invention

[0004] This application provides a braking intent recognition method, system, vehicle, and related devices to solve the problem of low accuracy in braking intent recognition.

[0005] To achieve the above objectives, according to a first aspect of this application, a braking intention recognition method is provided, the method comprising:

[0006] The braking intention is determined based on the signals collected by multiple first sensors and second sensors, which are respectively located at different positions on the brake pedal; the signal types of the signals collected by the first sensors and the second sensors are different.

[0007] Optionally, determining the braking intention based on the signals acquired by the multiple first sensors and the second sensor includes:

[0008] By using the signals acquired by the plurality of first sensors and the signals acquired by the second sensors, the first state detection result of each sensor is determined, thereby determining the braking intention.

[0009] Optionally, determining the first state detection result of each sensor by using the acquisition signals from the plurality of first sensors and the acquisition signals from the second sensors to determine the braking intention includes:

[0010] Based on the control strategy corresponding to the first state detection result, multiple acquired signals are compared to determine the second state detection results of at least some sensors.

[0011] Based on the second state detection result, the braking intention is determined.

[0012] Optionally, the step of comparing multiple acquired signals based on a control strategy corresponding to the first state detection result to determine the second state detection results of at least some sensors includes:

[0013] Based on the target sensor identified as being in a normal state by the first state detection result, the acquired signals of the target sensor are compared to determine the second state detection results of at least a portion of the target sensor.

[0014] Optionally, the step of comparing the acquired signals of the target sensor identified as being in a normal state based on the first state detection result includes:

[0015] If the number of target sensors is greater than or equal to a preset threshold, the acquired signals of the target sensors are compared.

[0016] Optionally, the target sensor includes a first target sensor and a second target sensor, and the comparison of the acquired signals of the target sensor to determine at least a portion of the second state detection results of the target sensor includes:

[0017] Based on the deviation between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor, the second state detection result of the first target sensor and / or the second target sensor is determined.

[0018] Optionally, determining the second state detection result of the first target sensor and / or the second target sensor based on the deviation between the acquired signal of the first target sensor and the acquired signal of the second target sensor includes:

[0019] If the deviation between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor is within a first preset range, then it is determined that the second state detection results of both the first target sensor and the second target sensor are in a normal state.

[0020] Optionally, the method further includes:

[0021] If the deviation between the signal acquired by the first target sensor and the signal acquired by the second target sensor is not within a first preset range, then the brake pedal is determined to be faulty.

[0022] Optionally, the target sensor includes a first target sensor, a second target sensor, and a third target sensor, and the comparison of the acquired signals from the target sensors to determine the second state detection results of at least a portion of the target sensors includes:

[0023] Based on the signals acquired by the first target sensor, the second target sensor, and the third target sensor, the deviation values ​​between each pair of acquired signals are determined to determine the second state detection results of at least some of the target sensors.

[0024] Optionally, determining the deviation value between each pair of acquired signals to determine at least a portion of the second state detection results of the target sensor includes:

[0025] Determine a first deviation value between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor, and a second deviation value between the acquisition signal of the first target sensor and the acquisition signal of the third target sensor;

[0026] Based on the first deviation value and the second deviation value, the second state detection result of at least a portion of the target sensor is determined.

[0027] Optionally, determining the second state detection result of at least a portion of the target sensors based on the first deviation value and the second deviation value includes:

[0028] If both the first deviation value and the second deviation value are within the first preset range, then the second state detection result of the first target sensor is determined to be normal.

[0029] Optionally, determining the second state detection result of at least a portion of the target sensor based on the first deviation value and the second deviation value includes:

[0030] If the first deviation value is within the first preset range and the second deviation value is not within the first preset range, then based on the acquisition signal of the third target sensor, the acquisition signal of the first target sensor, and the first preset condition, the second state detection result of the first target sensor and / or the third target sensor is determined.

[0031] Optionally, determining the second state detection result of the first target sensor and / or the third target sensor based on the acquisition signal of the third target sensor, the acquisition signal of the first target sensor, and the first preset condition includes:

[0032] If the acquisition signal of the third target sensor and the acquisition signal of the first target sensor meet the first preset condition, then the second state detection result of the third target sensor is determined to be an abnormal state, and the second state detection result of the first target sensor is determined to be a normal state.

[0033] Optionally, the first preset condition includes:

[0034] The signal acquired by the third target sensor is less than or equal to a first preset threshold, and / or the rate of change of the relationship curve between the signal acquired by the third target sensor and the signal acquired by the first target sensor is less than the minimum value of the rate of change threshold range.

[0035] Optionally, the method further includes:

[0036] If the acquisition signal of the third target sensor is greater than the first preset threshold, and the rate of change of the relationship curve between the acquisition signal of the third target sensor and the acquisition signal of the first target sensor is within the range of the rate of change threshold, it is determined that there is emergency braking, and the second state detection results of the third target sensor and the first target sensor are both in normal state.

[0037] Optionally, determining the braking intention based on the second state detection result includes:

[0038] In the event of emergency braking, the braking intention is determined based on the signals collected by the third target sensor.

[0039] Optionally, the method further includes:

[0040] If the signal acquired by the third target sensor is greater than the first preset threshold, and the rate of change of the relationship curve between the signal acquired by the third target sensor and the signal acquired by the first target sensor is greater than the maximum value of the rate of change threshold range, then it is determined that the brake pedal has a mechanical structural abnormality, the second state detection result of the third target sensor is normal, and the second state detection result of the first target sensor is abnormal.

[0041] Optionally, determining the second state detection result of at least a portion of the target sensor based on the first deviation value and the second deviation value includes:

[0042] If the first deviation value is not within the first preset range and the second deviation value is within the first preset range, then the second state detection result of the second target sensor is determined to be an abnormal state, and the second state detection result of the first target sensor is determined to be a normal state.

[0043] Optionally, determining the second state detection result of at least a portion of the target sensors based on the first deviation value and the second deviation value includes:

[0044] If the first deviation value is not within the first preset range, and the second deviation value is not within the first preset range, then the second state detection result of at least some of the target sensors is determined based on the third deviation value between the acquisition signal of the second target sensor and the acquisition signal of the third target sensor.

[0045] Optionally, determining the second state detection result of at least a portion of the target sensors based on the third deviation value between the acquired signal from the second target sensor and the acquired signal from the third target sensor includes:

[0046] If the third deviation value is within the second preset range, then based on the acquisition signal of the first target sensor and the second preset conditions, the second state detection result of the first target sensor and the second target sensor is determined.

[0047] Optionally, determining the second state detection results of the first target sensor and the second target sensor based on the acquired signal of the first target sensor and the second preset conditions includes:

[0048] If the acquisition signal of the first target sensor meets the second preset condition, then the second state detection result of the second target sensor is determined to be an abnormal state, and the second state detection result of the first target sensor is determined to be a normal state.

[0049] Optionally, determining the second state detection results of the first target sensor and the second target sensor based on the acquired signal of the first target sensor and the second preset conditions includes:

[0050] If the acquisition signal of the first target sensor does not meet the second preset condition, then the second state detection result of the first target sensor is determined to be an abnormal state, and the second state detection result of the second target sensor is determined to be a normal state.

[0051] Optionally, the second preset condition includes:

[0052] The rate of change of the signal acquired by the first target sensor is greater than zero, and the signal acquired by the first target sensor is greater than the second preset threshold.

[0053] Optionally, the method further includes:

[0054] If the third deviation value is not within the second preset range, then the brake pedal is determined to be faulty.

[0055] Optionally, the first target sensor is an angle sensor, the second target sensor is a pressure sensor installed in the pedal simulator, and the third target sensor is a pressure sensor installed inside the pedal pad.

[0056] Optionally, the method further includes:

[0057] If the number of target sensors is less than a preset threshold, then the brake pedal is determined to be faulty.

[0058] Optionally, the first state detection result is obtained in the following way:

[0059] If the collected signal is within the preset value range, the first state detection result is determined to be a normal state;

[0060] If the acquired signal is outside the preset value range, the first state detection result is determined to be an abnormal state.

[0061] Optionally, the number of sensors whose second state detection result is normal is 1.

[0062] Determining the braking intention based on the second state detection result includes:

[0063] The braking intention is determined based on the sensor's acquisition signal when the second state detection result is normal.

[0064] Optionally, the number of sensors whose second state detection result is normal is multiple.

[0065] Determining the braking intention based on the second state detection result includes:

[0066] The braking intention is determined based on the angle sensor's acquisition signal in the sensor where the second state detection result is normal, or the pressure sensor's acquisition signal in the pedal simulator, or the pressure sensor's acquisition signal in the pedal pad.

[0067] Optionally, the plurality of first sensors are pressure sensors.

[0068] Optionally, the plurality of first sensors are used to collect the force of stepping on the pedal pad and the force fed back by the pedal simulator, respectively.

[0069] Optionally, the plurality of first sensors are respectively disposed in the pedal pad, pedal arm, or pedal simulator.

[0070] Optionally, the first sensor disposed within the pedal simulator is located between the spring and the transmission rod within the pedal simulator, and the first sensor disposed within the pedal pad is located within the pedal pad.

[0071] Optionally, the second sensor is an angle sensor, which is used to sense the angle through which the pedal arm rotates and generate an angle signal.

[0072] Optionally, the second sensor is mounted on the pedal arm or in a structure linked to the pedal arm.

[0073] Optionally, the second sensor is located at the position where the pedal arm is pivotally connected to the mounting base.

[0074] According to a second aspect of this application, embodiments of this application also provide a braking intention recognition system, applied to any of the braking intention recognition methods provided in the embodiments of this application, the system comprising at least three sensors and a controller, wherein:

[0075] The controller is communicatively connected to the at least three sensors, which include a plurality of first sensors and second sensors; the controller is used for:

[0076] The braking intention is determined based on the signals collected by the plurality of first sensors and the second sensors, wherein the first sensors and the second sensors are respectively located at different positions on the brake pedal; the signal types of the signals collected by the first sensors and the second sensors are different.

[0077] According to a third aspect of this application, embodiments of this application also provide a brake pedal, the brake pedal comprising:

[0078] pedal mat;

[0079] A pedal arm, one end of which is connected to the pedal pad, and the other end of which is pivotally connected to the mounting base. The pedal arm swings around the pivoting position.

[0080] Multiple first sensors and second sensors are installed at different positions on the brake pedal, and the signals collected by the multiple first sensors and second sensors are used to determine the braking intention.

[0081] According to a fourth aspect of this application, embodiments of this application also provide a computer program product storing instructions that, when executed by a computer, cause the computer to implement any of the braking intent recognition methods provided in the embodiments of this application.

[0082] According to a fifth aspect of this application, embodiments of this application also provide an electronic device, comprising:

[0083] A memory on which computer programs are stored;

[0084] A processor is configured to execute a computer program in memory to implement any of the braking intent recognition methods provided in the embodiments of this application.

[0085] According to a sixth aspect of this application, embodiments of this application also provide a vehicle including the aforementioned electronic device, or the aforementioned braking intention recognition system, or the aforementioned brake pedal, or performing any of the braking intention recognition methods provided in embodiments of this application.

[0086] Some embodiments of this specification include at least the following beneficial effects: by using multiple sensors, which are respectively arranged at different positions on the pedal mechanism, the first sensor and the second sensor are different, and the signals collected by the first sensor and the second sensor are different, the risk of different sensors failing simultaneously in the same environment is relatively small, thereby increasing the reliability of determining braking intention through the collected signals detected by the sensors, improving vehicle braking safety, and more accurately judging the driver's true braking intention, avoiding the reduction in the accuracy of braking intention recognition due to misreading data from a single sensor, and thus avoiding incorrect braking operations.

[0087] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0088] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0089] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0090] Figure 1 This is a schematic diagram of the brake pedal structure according to some embodiments of this specification;

[0091] Figure 2 This is a schematic diagram of the braking intent recognition system according to some embodiments of this specification;

[0092] Figure 3 This is an exemplary flowchart of a braking intent recognition method according to some embodiments of this specification;

[0093] Figure 4 This is an exemplary flowchart illustrating the determination of braking intent according to some embodiments of this specification;

[0094] Figure 5 This is an exemplary schematic diagram illustrating the determination of a first state detection result according to some embodiments of this specification;

[0095] Figure 6 This is an exemplary schematic diagram of yet another motion intention recognition method according to some embodiments of this specification;

[0096] Figure 7 This is a schematic diagram of the structure of an electronic device according to some embodiments of this specification;

[0097] Figure 8 This is a block diagram of a vehicle provided in an exemplary embodiment of this application. Detailed Implementation

[0098] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0099] To facilitate understanding of the implementation schemes provided in this application, the relevant application background of the braking intention recognition method provided in this application will be explained first.

[0100] Currently, brake-by-wire systems use electronic signals to replace traditional mechanical and hydraulic connections to transmit the driver's braking intentions. To ensure the safety and reliability of brake-by-wire systems, redundancy is incorporated into the sensing modules.

[0101] Related technologies typically employ a single type of sensor to detect the driver's braking intention. However, these sensors may simultaneously fail under certain malfunction conditions (such as shaft jamming or sensor malfunction), resulting in an inaccurate assessment of the driver's braking intention. Furthermore, these technologies lack detection capabilities for abnormal states not caused by sensor malfunctions, failing to reduce the possibility of simultaneous sensor failure due to mechanical failures of the brake pedal, thus hindering accurate determination of braking intention and increasing driving hazards.

[0102] Therefore, some embodiments of this specification provide a braking intention recognition method and system that uses at least three sensors, each located in a different position. The risk of simultaneous failure of at least three sensors in the same environment is relatively low, thereby increasing sensor reliability and improving the accuracy of determined braking intentions, thus enhancing vehicle braking safety. Simultaneously, detecting abnormal states not caused by sensor malfunctions can effectively reduce the possibility of simultaneous sensor failure due to brake pedal mechanical structure failure.

[0103] Figure 1 This is a schematic diagram of the brake pedal according to some embodiments of this specification.

[0104] like Figure 1 As shown, the brake pedal may include:

[0105] Pedal mat 101;

[0106] The pedal arm 102 has one end connected to the pedal pad 101 and the other end pivotally connected to the mounting base. The pedal arm 102 swings around the pivot position.

[0107] Multiple first and second sensors are installed at different positions on the brake pedal, and the signals collected by the multiple first and second sensors are used to determine the braking intention.

[0108] In some embodiments, one end of the pedal arm 102 is fixedly connected to the pedal pad 101, and the other end of the pedal arm 102 is hinged to the mounting base through the pedal pivot 103. The pedal arm 102 swings around the pedal pivot 103.

[0109] In some embodiments, the plurality of first sensors include a first pressure sensor and a second pressure sensor.

[0110] In some embodiments, a first pressure sensor is disposed within a pedal simulator, and a second pressure sensor is disposed within a pedal pad 101.

[0111] In some embodiments, a second sensor is also included, which is used to sense the angle through which the pedal arm rotates to generate an angle signal.

[0112] In some embodiments, a controller disposed at the brake pedal is also included, the controller being communicatively connected to the first sensor and the second sensor.

[0113] In some embodiments, a push rod 104 is further included, one end of which is pivotally connected to a point between the two ends of the pedal arm 102. For example, one end of the push rod 104 is hinged to a point between the two ends of the pedal arm 102 via a connecting shaft.

[0114] In some embodiments, a pedal simulator 105 is also included, which is connected to the other end of the push rod 104.

[0115] One end of the push rod 104 is hinged to the pedal arm 102, and the other end of the push rod 104 is connected to the pedal simulator 105. The function of the push rod 104 is to transmit the movement of the pedal arm 102 to the pedal simulator 105, and at the same time, it serves as a medium for force transmission.

[0116] The pedal simulator 105 is used to simulate the operation feel of a traditional brake pedal, providing the driver with a suitable pedal feel and improving driving safety.

[0117] In some embodiments, a sensor device (not shown) is also included to monitor the state of the brake pedal, thereby enabling the recognition of the driver's braking intention.

[0118] In some embodiments, the sensor device includes at least two pressure sensors (a first pressure sensor and a second pressure sensor) and a second sensor, wherein the second pressure sensor is disposed within the pedal pad 101 for measuring the force exerted by the driver on the pedal pad; the first pressure sensor is disposed within the pedal simulator 105 for measuring the pressure signal of the elastic component in the pedal simulator 105 when the driver presses the pedal pad; the second sensor is an angle sensor disposed on the pedal shaft 103 and rotates coaxially with the pedal shaft 103 for synchronously measuring the rotation angle of the pedal arm 102.

[0119] In some embodiments, the angle sensor is preferably an inductive position sensor, including a metal target, a coil assembly, and a processing circuit for a sensor chip. It utilizes the eddy current effect to detect the position of a metal target moving above a set of coils. The coil assembly consists of an excitation coil and two receiving coils. These three coils are typically printed on a printed circuit board as copper traces, causing the excitation coil to generate a secondary voltage in the two receiving coils. This voltage value depends on the position of the metal target above the coils. By demodulating and processing the secondary voltage from the receiving coils, the position signal of the metal target on the coil assembly can be obtained. The metal target can be any type of metal, such as aluminum, copper, or a printed circuit board (PCB) with a printed copper layer, but aluminum is generally preferred. The metal target is fixed to the axial side of the pedal shaft 103, so that when the pedal shaft 103 rotates, it drives the metal target to rotate synchronously, thereby changing the voltage value received by the receiving coils and allowing the angle sensor to synchronously detect the angle change of the pedal shaft 103. Other types of non-contact angle sensors, such as Hall effect angle sensors, can also be used.

[0120] An angle sensor is used to measure the angular position of a rotating or oscillating object. During braking, the angle sensor monitors the angular change of the pedal arm 102 relative to its initial position, thereby accurately capturing the driver's operating intention and converting the angular change information into an electrical signal that is transmitted to the controller.

[0121] In some embodiments, a pressure sensor is used to measure the pressure applied thereto and convert it into an electrical signal. During braking, the pressure sensor is primarily used to detect the force generated when the driver presses the pedal pad or to feel the pressure signal from the elastic components in the simulator, and converts this force information into an electrical signal to transmit to the controller to accurately identify the driver's braking intention.

[0122] In some embodiments, the pressure sensor may be one of a piezoresistive sensor, a capacitive sensor, a strain gauge sensor, etc.

[0123] Figure 2This is a schematic diagram of the braking intent recognition system according to some embodiments of this specification.

[0124] like Figure 2 As shown, the braking intent recognition system may include at least three sensors and a controller, wherein:

[0125] The controller is communicatively connected to at least three sensors, including multiple first and second sensors; the controller is used for:

[0126] The braking intention is determined based on the signals collected by multiple first sensors and second sensors. The first and second sensors are respectively located at different positions on the brake pedal; the signal types of the signals collected by the first sensors and the second sensors are different.

[0127] The controller can process data and / or information obtained from other devices or system components. Based on this data, information, and / or processing results, the controller can execute program instructions to perform one or more functions described in this application. In some embodiments, the controller may include one or more sub-processing devices (e.g., a single-core processing device or a multi-core multi-chip processing device). By way of example only, the controller may include a digital signal processor (DSP), a field-programmable gate array (FPGA), a programmable logic device (PLD), a controller, a microcontroller unit, a microprocessor, or any combination thereof.

[0128] A sensor is a device or equipment used to sense specific physical quantities (such as pressure, angle, displacement, etc.) and convert these physical quantities into electrical signals or other forms of data.

[0129] In some embodiments, the sensor may be a pressure sensor, an angle sensor, a displacement sensor, or any combination thereof.

[0130] In some embodiments, at least three sensors are used to sense signals when the brake pedal is pressed.

[0131] In some embodiments, at least three sensors are used to sense pressure signals and angle signals when the brake pedal is pressed.

[0132] In some embodiments, the at least three sensors include a plurality of first sensors and second sensors, wherein the first sensors and second sensors are sensors of different types, wherein the plurality of first sensors include pressure sensors disposed in the pedal simulator and / or pressure sensors disposed in the pedal pad, and the second sensors are angle sensors.

[0133] In some embodiments, the braking intent recognition system further includes a brake pedal and a brake actuator.

[0134] The controller can acquire data from the sensor device in the brake pedal, make a decision on the acquired data, and send the arbitration result to the brake actuator, which then controls the vehicle's braking.

[0135] When the driver presses the pedal, a pressure sensor inside the pedal detects the downward pressure applied and generates a pressure signal. Simultaneously, the connected pedal arm rotates the pedal shaft, causing a push rod to compress the elastic element in the pedal simulator, creating a pedal response consistent with braking conditions, which is then fed back to the driver. At this time, the pressure sensor in the pedal simulator measures the pressure signal generated within it. The rotation of the pedal shaft causes the sensing element of the angle sensor to rotate, allowing the angle sensor to detect changes in the pedal arm's angle and monitor the pedal rotation angle.

[0136] In some embodiments, the controller receives signals from multiple sensors and arbitrates these signals. Since the three sensors are individually connected to the controller, and the probability of simultaneous failure of their corresponding communication lines is low, it ensures that the controller receives signals from at least two of the sensors before further processing and judgment. By placing the sensors and controller within the brake pedal, the controller outputs the processed braking intent to the brake actuator for vehicle braking control, thus reducing wiring harness costs.

[0137] In some embodiments, the controller outputs the processed braking intention to the vehicle's Electronic Control Unit (ECU) so that the ECU drives the brake actuator to perform braking control on the vehicle.

[0138] It should be noted that the above description of the braking intent recognition system and its modules is for convenience only and should not be construed as limiting this specification to the embodiments described. It is understood that those skilled in the art, after understanding the principles of the system, may arbitrarily combine the various modules or construct subsystems connected to other modules without departing from these principles. Such modifications are all within the scope of this specification.

[0139] Figure 3 This is an exemplary flowchart of a braking intent recognition method according to some embodiments of this specification. In some embodiments, process 300 may be executed based on a controller. Figure 3 As shown, process 300 includes the following steps.

[0140] Step 310: Determine the braking intention based on the signals collected by multiple first sensors and second sensors. The first and second sensors are respectively set at different positions on the brake pedal; the signal types of the signals collected by the first sensors and the signals collected by the second sensors are different.

[0141] The signal acquired by the first sensor is the signal obtained by the first sensor.

[0142] The signal acquired by the second sensor is the signal detected by the second sensor.

[0143] In some embodiments, the first sensor is a pressure sensor and the second sensor is an angle sensor. That is, the signal collected by the second sensor reflects the angle of rotation of the brake pedal when the driver presses it, and the signal collected by the first sensor reflects the force applied by the driver when pressing the pedal.

[0144] It should be noted that the first sensor and the second sensor are different types of sensors installed in different locations, and multiple first sensors are the same type of sensors installed in different locations. Under the premise of meeting the above conditions, the first sensor and the second sensor can also be other types of sensors, and this specification does not limit them.

[0145] In some embodiments, the controller may communicate with the first sensor to acquire the brake pedal acquisition signal output by the first sensor in real time and periodically (e.g., every 0.1 seconds, 0.2 seconds, etc.).

[0146] In some embodiments, the second controller may be communicatively connected to the second sensor to acquire the brake pedal acquisition signal output by the second sensor in real time and periodically (e.g., every 0.1 seconds, 0.2 seconds, etc.).

[0147] Braking intention is the degree to which a driver wishes to decelerate the vehicle. For example, braking intention can be expressed as a numerical value (e.g., brake travel, brake pressure, etc.) or a level (e.g., braking rating), which can be determined based on the brake pedal travel or the brake pedal pressure value.

[0148] In some embodiments, the controller can derive braking intent based on multiple acquired signals using a predefined algorithm. For example, linear regression, neural networks, or other mathematical models can be used to process the multiple acquired signals to obtain the braking intent.

[0149] In some embodiments of this specification, by comparing the consistency of the signals collected by two pressure sensors located at different positions on the brake pedal, the validity of the sensor data can be verified, and misjudgments caused by a single sensor failure or external interference can be eliminated. Moreover, based on the comprehensive analysis of multiple collected signals, the driver's braking intention can be identified more accurately, reducing unnecessary braking actions or delayed responses.

[0150] In some embodiments, the plurality of first sensors are pressure sensors.

[0151] In some embodiments, a plurality of first sensors are used to collect the force of stepping on the pedal pad and the force fed back by the pedal simulator, respectively.

[0152] In some embodiments, a plurality of first sensors are respectively disposed within the pedal pad, pedal arm, or pedal simulator.

[0153] In some embodiments, the plurality of first sensors include a second pressure sensor and a second pressure sensor. The second pressure sensor can be set at any position on the brake pedal pad or pedal arm, and the second pressure sensor can measure the pressure applied by the driver when pressing the pedal.

[0154] By measuring pedal pressure using pressure sensors located on the pedal pad or pedal arm, the system can identify the driver's braking intention and determine whether it is light, moderate, or emergency braking. For example, when the pressure signal is large and changes rapidly, it can be identified as an emergency braking demand, and the controller can control the vehicle to decelerate promptly and quickly, improving driving safety.

[0155] In some embodiments, a first pressure sensor may be disposed within a pedal simulator, and the first pressure sensor may measure the force output by the push rod or the reaction force of the pedal simulator as feedback.

[0156] In some embodiments, based on the measured force output by the push rod or the reaction force of the pedal simulator, the measured force output by the push rod or the reaction force can be converted into an equivalent pressure signal applied by the driver when pressing the pedal through a pre-calibrated force-pressure relationship curve, thereby determining the driver's braking intention.

[0157] By placing the first pressure sensor within the pedal simulator, the driver's braking intentions can be identified, and the pedal feel similar to that of a traditional braking system can be simulated more accurately. For example, when the brake pedal is lightly pressed, the pedal simulator can provide a small reaction force, allowing the driver to feel a slight braking feedback; while when the pedal is pressed hard, the reaction force will increase accordingly, enabling the driver to accurately perceive the magnitude of the braking force, thereby better controlling the vehicle's braking and improving the driving experience.

[0158] In some embodiments, a first sensor disposed within the pedal simulator is located between the spring and the transmission rod within the pedal simulator, and a first sensor disposed within the pedal pad is located within the pedal pad.

[0159] In some embodiments, when the pedal simulator is a spring-combination pedal simulator, the first sensor, i.e., the first pressure sensor, is located between the spring and the transmission rod within the pedal simulator; when the pedal simulator is a hydraulic pedal simulator, the first pressure sensor is a hydraulic sensor within the hydraulic pedal simulator.

[0160] In some embodiments, the first sensor, i.e. the second pressure sensor, is located inside the pedal pad, such as under the pedal pad. By placing the pressure sensor inside the brake pedal pad, the driver's braking intention can be identified more accurately, and wear or damage to the second pressure sensor can be avoided.

[0161] By installing multiple first sensors inside the pedal simulator and the pedal pad respectively, it is possible to identify the force of the driver pressing the brake pedal and the force fed back by the pedal simulator, preventing situations such as pedal shaft jamming or pedal simulator failure, and further avoiding misidentification of braking intention.

[0162] In some embodiments, the second sensor is an angle sensor, which is used to sense the angle through which the pedal arm rotates and generate an angle signal.

[0163] In some embodiments, the second sensor is mounted on the pedal arm or on a structure linked to the pedal arm.

[0164] For example, the second sensor can be installed in the middle of the pedal arm or at any other location, or the second sensor can be mounted on a mounting base and linked to the pedal arm via a lever of the second sensor. When the pedal arm rotates, the lever of the second sensor drives the fork of the second sensor to rotate, thereby measuring the rotation angle of the pedal arm and generating an angle signal.

[0165] In some embodiments, the second sensor is located at the position where the pedal arm is pivotally connected to the mounting base.

[0166] In some embodiments, the second sensor includes a rotor and a stator. The rotor is fixedly connected to the pedal shaft and rotates with the pedal shaft. The stator is fixed to a fixed structure, such as a housing or bracket, that does not rotate with the pedal shaft to secure the stator. The stator does not rotate with the pedal shaft to detect the relative motion of the rotor.

[0167] In some embodiments, the second sensor may be a Hall effect sensor, a capacitive sensor, a voltage sensor, etc.

[0168] By placing the second sensor at the pivot point between the pedal arm and the mounting base, such as the pedal shaft, the angular signal measured by the second sensor can be more synchronized with the rotation angle of the pedal arm, thus reducing errors.

[0169] In some embodiments of this specification, the angle of rotation of the pedal shaft reflects the angle change of the pedal arm, thereby obtaining an angle signal directly related to the driver's braking intention. By setting the second sensor at the pivot position between the pedal arm and the mounting seat, the driver's braking demand can be captured most directly and accurately, reducing errors or delays that may be introduced by intermediate links, and helping to identify the effectiveness of the sensor in the future.

[0170] In some embodiments of this specification, by analyzing and fusing data from multiple different types of sensors, the driver's braking intentions can be more comprehensively identified, which helps to better meet the braking needs of users under different driving conditions.

[0171] Figure 4 This is an exemplary flowchart illustrating the determination of braking intent according to some embodiments of this specification. In some embodiments, process 400 may be executed based on a controller. Figure 4 As shown, process 400 includes the following steps.

[0172] In some embodiments, determining the braking intention based on signals acquired by a plurality of first sensors and signals acquired by a second sensor includes:

[0173] Step 410: Determine the first state detection result of each sensor by using the acquisition signals from multiple first sensors and the acquisition signals from the second sensor, so as to determine the braking intention.

[0174] The first state detection result refers to the initial detection result of the sensor's working state based on the sensor's output acquisition signal.

[0175] In some embodiments, the first state detection result may include a normal state and an abnormal state.

[0176] In some embodiments, the controller can determine the first state detection result of the sensor based on the time-series characteristics of the sensor's acquired signals, such as frequency and amplitude.

[0177] In some embodiments, the controller may determine the first state detection result of the sensor based on the difference between the sensor's acquired signal and the statistical values ​​of the acquired signal over a historical period.

[0178] Figure 5 This is an exemplary schematic diagram illustrating the determination of a first state detection result according to some embodiments of this specification.

[0179] In some embodiments, such as Figure 5 As shown, the first state detection result is obtained in the following way:

[0180] If the sensor's acquired signal is within a preset value range, the sensor's first state detection result is determined to be a normal state.

[0181] If the sensor's acquired signal is outside the preset value range, the sensor's first state detection result is determined to be an abnormal state.

[0182] A preset numerical range is a predefined range of values ​​used to evaluate whether the sensor data meets expectations. The preset numerical range can be determined based on experiments or experience.

[0183] In some embodiments, different sensors correspond to different preset value ranges.

[0184] In some embodiments, a preset numerical range is defined for each sensor, which reflects the reasonable output value of the sensor under normal operating conditions. If the sensor's acquired signal is within the preset numerical range, the sensor is considered to be in normal condition; if the sensor's acquired signal is outside the preset numerical range, the sensor is considered to be possibly faulty or abnormal.

[0185] In some embodiments, the first state detection result is obtained in the following manner:

[0186] Sa: Acquire sensor information;

[0187] Sb: Determines whether sensor information has been collected;

[0188] If sensor information or the sensor cannot be collected, it is determined that the sensor is in an abnormal state, and abnormal diagnostic information is generated.

[0189] Sc: Processes sensor information to obtain the sensor's acquired signals;

[0190] Sd: Determines whether the sensor's acquired signal is within the preset value range;

[0191] If yes, proceed to step Se; otherwise, proceed to step Sf.

[0192] Se: The sensor's first state detection result is determined to be a normal state;

[0193] If the acquired signal is within the preset value range, the sensor's first state detection result is preliminarily determined to be normal.

[0194] Sf: Determines that the sensor's first state detection result is an abnormal state;

[0195] If the acquired signal is outside the preset value range, the sensor's first state detection result is preliminarily determined to be an abnormal state.

[0196] In some embodiments, the acquired signal can be analyzed by a filtering chip to determine whether the sensor's acquired signal is within a preset theoretical value range. If the acquired signal is not within the preset value range, abnormal diagnostic information is generated.

[0197] In some embodiments of this specification, the working state of each sensor can be preliminarily determined through the first state detection results, which helps to identify braking failure and improve the system's recognition efficiency.

[0198] In some embodiments, determining the first state detection result of each sensor by using the acquisition signals from multiple first sensors and second sensors to determine the braking intention includes:

[0199] Based on the control strategy corresponding to the first state detection result, multiple acquired signals are compared to determine the second state detection results of at least some sensors;

[0200] Based on the second state detection results, the braking intention is determined.

[0201] The second state detection result refers to the sensor's working state confirmed through further analysis and verification based on the first state detection result.

[0202] In some embodiments, the second state detection result may include a normal state and an abnormal state.

[0203] A control strategy refers to a set of pre-defined algorithms and logical rules.

[0204] In some embodiments, based on a control strategy corresponding to the first state detection result, multiple acquired signals are compared to determine the second state detection results of at least some sensors, including:

[0205] Based on the target sensor identified as being in a normal state by the first state detection result, the acquired signals of the target sensor are compared to determine the second state detection results of at least some of the target sensors.

[0206] In some embodiments, one or more thresholds can be set for each target sensor. When the sensor's acquired signal exceeds or falls below the corresponding threshold, the second state detection result of the sensor is considered to be an abnormal state.

[0207] In some embodiments, a pre-trained model is used to identify the second-state detection result of the sensor. The model can be a supervised learning algorithm (such as support vector machine, random forest) or an unsupervised learning algorithm (such as cluster analysis).

[0208] A model can be trained using historical data, and the second-state detection result corresponding to the sensor's acquired signal can be predicted based on the trained model.

[0209] In some embodiments of this specification, the working state of a sensor that was initially determined to be in a normal state is reconfirmed by the second state detection result, which helps to further verify the effectiveness of the sensor.

[0210] In some embodiments, based on the target sensor identified as being in a normal state by the first state detection result, the acquired signal of the target sensor is compared, including:

[0211] If the number of target sensors is greater than or equal to a preset threshold, the acquired signals of the target sensors are compared.

[0212] The preset quantity threshold refers to a predefined critical condition for the number of sensors, used to determine whether there are enough sensors in normal operation.

[0213] In some embodiments, the preset quantity threshold may be determined based on experiments or experience. For example, the preset quantity threshold is 2.

[0214] In some embodiments of this specification, when the number of target sensors in normal state meets a preset threshold, the acquired signals of the target sensors are compared to ensure that the data provided by each sensor is consistent and reasonable.

[0215] In some embodiments, the target sensor includes a first target sensor and a second target sensor. Comparing the acquired signals from the target sensors to determine the second state detection results of at least a portion of the target sensors includes:

[0216] Based on the deviation between the signals acquired by the first target sensor and the signals acquired by the second target sensor, the second state detection results of the first target sensor and the second target sensor are determined.

[0217] In some embodiments, the first target sensor and the second target sensor are one of an angle sensor, a first pressure sensor, and a second pressure sensor, respectively.

[0218] In some embodiments, when the first target sensor and the second target sensor are different types of sensors, the acquisition signals of the first target sensor and the second target sensor are closely related to the pedal travel, that is, the acquisition signals have corresponding pedal travel, and the correspondence can be calibrated based on actual application requirements.

[0219] In some embodiments, the controller can convert the acquired signal into the corresponding theoretical pedal stroke based on a pre-calibrated relationship.

[0220] The corresponding deviation value is the deviation between the theoretical pedal stroke corresponding to the acquisition signal of the first target sensor and the theoretical pedal stroke corresponding to the acquisition signal of the second target sensor.

[0221] In some embodiments, the difference between the theoretical pedal travel corresponding to the acquisition signal of the first target sensor at a certain moment within a certain period of time and the theoretical pedal travel corresponding to the acquisition signal of the second target sensor at the same moment can be calculated, and the deviation value can be determined based on the statistical value (e.g., average value) of the difference at different moments.

[0222] In some embodiments, the pedal travel can also be converted into a corresponding theoretical acquisition signal.

[0223] In some embodiments, the controller may convert the acquisition signal of the first target sensor into a signal equivalent to the acquisition signal of the second target sensor (e.g., converting the pressure signal into a corresponding angle signal) or convert the acquisition signal of the second target sensor into a signal equivalent to the acquisition signal of the first target sensor based on a preset relationship curve, and determine the deviation value between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor based on the deviation value between the acquisition signal of the first target sensor and the equivalent signal, or the deviation value between the acquisition signal of the second target sensor and the equivalent signal.

[0224] The preset relationship curve refers to the theoretical or expected correspondence between the signals collected by different sensors.

[0225] In some embodiments, a preset relationship curve can be established using experimental data or a physical model. The relationship curve describes the magnitude of the pressure that should be applied at different angles, or the magnitude of the angle that should be applied at different pressures, etc.

[0226] In some embodiments, the actual relationship curves corresponding to the acquisition signals of the first target sensor and the second target sensor can be determined based on the time series data of the acquisition signals of the first target sensor and the second target sensor.

[0227] The time series data of the first target sensor's acquired signal is a sequence composed of the first target sensor's acquired signal at multiple different times; the time series data of the second target sensor's acquired signal is a sequence composed of the second target sensor's acquired signal at multiple different times, and the timestamps of each signal in the two sequence data are consistent.

[0228] In some embodiments, the second controller can use a fitting algorithm to fit the acquisition signals of the first target sensor and the second target sensor at each time point to determine the actual relationship curve. The fitting algorithm may include the least squares method, the Levenberg-Marquardt algorithm, the genetic algorithm, etc.

[0229] In some embodiments, the actual relationship curve is plotted using data points obtained from real-time monitoring of the first and second target sensors. The actual relationship curve represents the actual relationship between the signals acquired by the first and second target sensors at different points in time over a period of time.

[0230] In some embodiments, when the first target sensor and the second target sensor are sensors of the same type, the difference between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor is calculated as the deviation value between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor.

[0231] In some embodiments of this specification, determining the deviation between the acquired signals of the first target sensor and the second target sensor helps to determine the operating status of the first target sensor and the second target sensor.

[0232] In some embodiments, determining the second state detection result of the first target sensor and the second target sensor based on the deviation between the acquired signal of the first target sensor and the acquired signal of the second target sensor includes:

[0233] If the deviation between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor is within a first preset range, then it is determined that the second state detection results of both the first target sensor and the second target sensor are in a normal state.

[0234] The first preset range refers to a predefined numerical interval used to evaluate the consistency of data from two sensors. If the deviation between the acquired signals from the two sensors is within the first preset range, then the data from the two sensors are determined to be consistent, and both sensors are in normal operation.

[0235] In some embodiments, the first preset range can be set according to the specific sensor type and application scenario.

[0236] In some embodiments, determining the second state detection result of the first target sensor and the second target sensor based on the deviation between the acquired signal of the first target sensor and the acquired signal of the second target sensor includes:

[0237] If the deviation between the signal acquired by the first target sensor and the signal acquired by the second target sensor is not within the first preset range, then the brake pedal is determined to be faulty.

[0238] In some embodiments of this specification, by comparing the deviation value with a first preset range, the validity and consistency of the data from the two sensors can be further verified, which helps to determine the working status of each sensor.

[0239] In some embodiments, the method further includes:

[0240] If the number of target sensors is less than a preset threshold, the brake pedal is determined to be faulty.

[0241] For example, the preset quantity threshold is 2, meaning that at least two sensors need to be working properly to ensure the reliability of the system.

[0242] When the vehicle is running, the controller can acquire the collected signals of each sensor and judge the working status of the sensors: if the number of target sensors with the first state detection result being in a normal state is 2, which is equal to the preset number threshold, then based on the deviation value of the collected signals of the target sensors in the normal state, the second state detection result of at least some target sensors is determined; if the number of target sensors with the first state detection result being in a normal state is 1, then the brake pedal is determined to be faulty, indicating that there may be a malfunction.

[0243] In the event of brake pedal failure, redundant braking schemes can be adopted to perform emergency braking in other ways, and this invention does not limit this.

[0244] In some embodiments of this specification, by determining the number of target sensors, the driver's braking intention can be misjudged due to an insufficient number of effective sensors, thereby further improving the safety and reliability of the braking process.

[0245] In some embodiments, the braking intention can be determined by arbitrarily selecting the acquisition signal from the sensors whose second state detection result is normal.

[0246] In some embodiments of this specification, by determining the sensor's operating state twice, the driver's true braking intention can be more accurately determined, avoiding reduced accuracy in braking intention recognition due to a single misread of sensor data and preventing erroneous braking operations. For example, if a sensor experiences a brief malfunction or is interfered with, data from other sensors can help the system make the correct decision.

[0247] In some embodiments, the number of sensors whose second state detection result is normal is one.

[0248] Based on the second state detection results, the braking intention is determined, including:

[0249] The braking intention is determined based on the signals collected by the sensors whose second-state detection result is normal.

[0250] In some embodiments, if the second state detection result of a certain sensor is a normal state, the braking intention is determined based on the acquired signal of that sensor. For example, if the second state detection result of the angle sensor is a normal state, the braking intention is determined using the acquired signal of the angle sensor.

[0251] In some embodiments of this specification, the accuracy of braking intention recognition is improved by using the signals collected by sensors in normal state as braking intentions, thereby further improving the safety and reliability of the braking process.

[0252] In some embodiments, the number of sensors whose second state detection result is normal is multiple.

[0253] Based on the second state detection results, the braking intention is determined, including:

[0254] The braking intention is determined based on the acquisition signal of the angle sensor in the sensor whose second state detection result is normal, or the acquisition signal of the pressure sensor installed in the pedal simulator, or the acquisition signal of the pressure sensor installed in the pedal pad.

[0255] In some embodiments, preliminary state detection can be performed on all sensors, and each sensor can be labeled as "normal state" or "abnormal state" to obtain a first state detection result for each sensor. By comparing the data consistency of different sensors and checking whether the deviation value is within a preset range, a second state detection result for at least some sensors can be determined. If the second state detection result of a certain sensor is normal, it means that the sensor's acquired signal can be used to determine the driver's braking intention. In some embodiments, the acquired signals of angle sensors or pressure sensors installed in the pedal simulator are preferentially selected to provide more direct and reliable information on braking intention.

[0256] In some embodiments of this specification, an angle sensor provides accurate pedal position detection and rapid response, while a pressure sensor directly reflects the force on the pedal, providing tactile feedback. Data from both sensors can further improve the system's accuracy, reliability, and driving experience.

[0257] In some embodiments, the target sensor includes a first target sensor, a second target sensor, and a third target sensor. Comparing the acquired signals from the target sensor to determine the second state detection results of at least a portion of the target sensor includes:

[0258] The deviation values ​​between each pair of acquired signals from the first target sensor, the second target sensor, and the third target sensor are determined to determine the second state detection results of at least some of the target sensors.

[0259] In some embodiments, the controller may determine a first deviation value between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor, a second deviation value between the acquisition signal of the first target sensor and the acquisition signal of the third target sensor, and a third deviation value between the acquisition signal of the second target sensor and the acquisition signal of the third target sensor, and determine a second state detection result of the target sensor based on the first deviation value, the second deviation value and the third deviation value.

[0260] In some embodiments, the types of the first target sensor, the second target sensor, and the third target sensor are not exactly the same. For example, the first target sensor may be an angle sensor, and the second and third target sensors may be pressure sensors, or the first target sensor may be a pressure sensor, and the second and third target sensors may be angle sensors, etc. The specific type can be determined according to the actual situation, and this specification does not limit it.

[0261] In some embodiments of this specification, by comparing data from three sensors in pairs, and considering that the three sensors are of different positions and types, the obtained sensor data can be identified, which helps to improve the accuracy of the determined braking intention.

[0262] Using multiple sensors increases system redundancy. Even if one sensor fails, the system can continue to operate using other sensors, ensuring that the braking function is not completely lost. By comparing data from different sensors, the system can more easily detect whether a sensor has malfunctioned and issue warnings or take appropriate measures, such as emergency braking, in a timely manner.

[0263] In some embodiments, the first target sensor is an angle sensor, the second target sensor is a pressure sensor disposed in the pedal simulator, and the third target sensor is a pressure sensor disposed in the pedal pad.

[0264] In some embodiments, when calculating the deviation value of the acquisition signals of two sensors, it is determined whether the two sensors are of the same type: if they are the same, the difference between the acquisition signals of the two sensors is directly calculated as the deviation value of the acquisition signals of the two sensors; if they are different, based on a pre-calibrated relationship, the acquisition signals of the two sensors are converted into corresponding theoretical pedal strokes, and the difference between the two theoretical pedal strokes is used as the deviation value of the acquisition signals of the two sensors.

[0265] In some embodiments of this specification, the angle sensor directly measures changes in the pedal angle, providing a more intuitive reflection of the driver's intentions. However, the angle sensor may not provide sufficient detail for rapidly changing or complex driving behaviors (such as emergency braking). Furthermore, if the pedal itself experiences mechanical problems (such as jamming), the angle sensor may fail to recognize the issue in a timely manner. In contrast, the pressure sensor, located on the pedal or within the pedal simulator, senses the pressure applied by the driver, providing a more accurate reflection of the actual applied braking force, especially during emergency braking where changes in the pressure signal are more pronounced. By complementing the advantages of these two sensors, the ability to identify unexpected situations such as mechanical malfunctions or driver error is improved, thereby enhancing the accuracy of braking intention recognition.

[0266] In some embodiments, determining the deviation between pairs of acquired signals to determine the second state detection result of at least a portion of the target sensors includes:

[0267] Determine the first deviation value between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor, and the second deviation value between the acquisition signal of the first target sensor and the acquisition signal of the third target sensor;

[0268] Based on the first deviation value and the second deviation value, the second state detection result of at least part of the target sensor is determined.

[0269] For example, based on a preset calibration relationship, the acquisition signal collected by the first target sensor can be converted into the corresponding first theoretical pedal stroke, the acquisition signal collected by the second target sensor can be converted into the corresponding second theoretical pedal stroke, and the acquisition signal collected by the third target sensor can be converted into the corresponding third theoretical pedal stroke; the difference between the first theoretical pedal stroke and the second theoretical pedal stroke can be calculated as the first deviation value, and the difference between the first theoretical pedal stroke and the third theoretical pedal stroke can be calculated as the second deviation value.

[0270] In some embodiments of this specification, the first target sensor can be an angle sensor, which has strong anti-interference ability and fast response speed. By prioritizing the determination of the consistency between the data of the first target sensor and the data of the other two sensors, the efficiency and effect of recognition can be improved.

[0271] In some embodiments, determining the second state detection result of the target sensor based on a first deviation value and a second deviation value includes:

[0272] If both the first deviation value and the second deviation value are within the first preset range, then the second state detection result of the first target sensor is determined to be normal.

[0273] In some embodiments, when the first deviation value is within a first preset range and the second deviation value is within a first preset range, that is, when the acquisition signal of the first target sensor and the acquisition signal of the second target sensor are relatively consistent, and the acquisition signal of the first target sensor and the acquisition signal of the third target sensor are relatively consistent, it is determined that the second state detection result of the first target sensor is a normal state.

[0274] In some embodiments, determining the second state detection result of at least a portion of the target sensor based on a first deviation value and a second deviation value includes:

[0275] If the first deviation value is within the first preset range and the second deviation value is not within the first preset range, then based on the acquisition signal of the third target sensor, the acquisition signal of the first target sensor, and the first preset conditions, the second state detection result of the first target sensor and / or the third target sensor is determined.

[0276] In some embodiments, when the first deviation value is within a first preset range and the second deviation value is not within the first preset range, that is, when the acquisition signal of the first target sensor and the acquisition signal of the second target sensor are relatively consistent, and there is a difference between the acquisition signal of the first target sensor and the acquisition signal of the third target sensor, it indicates that the state of the third target sensor may be abnormal or an emergency braking situation may have occurred, and further detection is required.

[0277] The first preset condition is the judgment condition for assessing whether emergency braking exists or assessing the state of the brake pedal.

[0278] In some embodiments of this specification, by judging the acquisition signals of the third target sensor and the first target sensor, some abnormal states that are not due to sensor failures can be detected, and the possibility of simultaneous sensor failure due to pedal mechanical structure failure can be reduced to a certain extent.

[0279] In some embodiments, the first preset condition includes:

[0280] The third target sensor's acquisition signal is less than or equal to a first preset threshold, and / or the rate of change of the relationship curve between the third target sensor's acquisition signal and the first target sensor's acquisition signal is less than the minimum value of the rate of change threshold range.

[0281] The rate of change of the relationship curve refers to the speed or slope of the relationship curve between the third target sensor and the first target sensor as time changes.

[0282] The rate of change threshold range refers to a pre-defined range of rates of change used to determine whether the rate of change of the relationship curve between two sensors meets expectations. The rate of change threshold range can be determined based on experiments or experience.

[0283] In some embodiments, the first preset threshold can be determined based on the theoretical relationship curve between the acquired signals of the third target sensor and the acquired signals of the first target sensor. The theoretical relationship curve represents the relationship between the acquired signals of the third target sensor and the acquired signals of the first target sensor under ideal conditions. The theoretical relationship curve can be obtained through experiments, simulations, or historical data analysis, and sets a corresponding theoretical value range for the acquired signals of the third target sensor for each acquired signal of the first target sensor.

[0284] In some embodiments, the theoretical value range of the signal collected by the third target sensor can be [A, B], where A is the lower limit of the theoretical value range and B is the upper limit of the theoretical value range. The upper limit of the theoretical value range can be used as the first preset threshold.

[0285] In some embodiments, determining the second state detection results of the first target sensor and the third target sensor based on the acquisition signal of the third target sensor, the acquisition signal of the first target sensor, and the first preset conditions includes:

[0286] If the acquisition signals of the third target sensor and the first target sensor meet the first preset condition, then the second state detection result of the third target sensor is determined to be an abnormal state, and the second state detection result of the first target sensor is determined to be a normal state.

[0287] In some embodiments, if the acquisition signal of the third target sensor is less than or equal to the first preset threshold, or if the rate of change of the relationship curve between the acquisition signal of the third target sensor and the acquisition signal of the first target sensor is less than the minimum value of the rate of change threshold range, or if the acquisition signal of the third target sensor is less than the first preset threshold and the rate of change of the relationship curve between the acquisition signal of the third target sensor and the acquisition signal of the first target sensor is less than the minimum value of the rate of change threshold range, it indicates that there is a certain difference between the first target sensor and the third target sensor, and the second state detection result of the third target sensor is determined to be an abnormal state, and the second state detection result of the first target sensor is a normal state.

[0288] In some embodiments, the method further includes:

[0289] If the signal acquired by the third target sensor is greater than the first preset threshold, and the rate of change of the relationship curve between the signal acquired by the third target sensor and the signal acquired by the first target sensor is within the range of the rate of change threshold, it is determined that there is emergency braking, and the second state detection result of the third target sensor is normal.

[0290] In some embodiments, if the acquisition signal of the third target sensor is greater than the first preset threshold, and the rate of change of the relationship curve between the acquisition signal of the third target sensor and the acquisition signal of the first target sensor is within the range of [minimum value of the rate of change threshold range, maximum value of the rate of change threshold range], it is determined that there is emergency braking. At this time, the value of the acquisition signal of the third target sensor is large, and the second state detection results of the third target sensor and the first target sensor are both in normal state.

[0291] In some embodiments, determining the braking intention based on the second state detection result includes:

[0292] In the event of emergency braking, the braking intention is determined based on the signals collected by the third target sensor.

[0293] In some embodiments, the method further includes:

[0294] If the signal acquired by the third target sensor is greater than the first preset threshold, and the rate of change of the relationship curve between the signal acquired by the third target sensor and the signal acquired by the first target sensor is greater than the maximum value of the rate of change threshold range, then the mechanical structure of the brake pedal is determined to be abnormal, the second state detection result of the third target sensor is normal, and the second state detection result of the first target sensor is abnormal.

[0295] In some embodiments of this specification, the working states of the first target sensor and the third target sensor can be accurately identified by judging the first preset condition, and the working state of the brake pedal can be determined. This helps to accurately identify the driver's braking intention and helps to reduce the possibility of simultaneous sensor failure due to pedal mechanical structure failure to a certain extent.

[0296] In some embodiments, determining at least a portion of the target sensor's second state detection results based on a first deviation value and a second deviation value includes:

[0297] If the first deviation value is not within the first preset range, and the second deviation value is within the first preset range, then the second state detection result of the second target sensor is determined to be an abnormal state, and the second state detection result of the first target sensor is determined to be a normal state.

[0298] In some embodiments, when the first deviation value is not within a first preset range, while the second deviation value is within the first preset range, that is, when the acquisition signal of the first target sensor and the acquisition signal of the third target sensor are relatively consistent, and a difference occurs between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor, it indicates that the second target sensor may be abnormal. For example, the second state detection result of the second target sensor can be determined to be an abnormal state, while the second state detection result of the first target sensor can be determined to be a normal state.

[0299] In some embodiments of this specification, by calculating the deviation between the acquired signals, the controller can more accurately determine the working status of multiple first or second sensors; this helps to improve the response speed and accuracy of the braking system, and enhance the overall safety and reliability.

[0300] In some embodiments, determining at least a portion of the target sensor's second state detection results based on a first deviation value and a second deviation value includes:

[0301] If the first deviation value is not within the first preset range, and the second deviation value is not within the first preset range, then based on the third deviation value between the acquisition signal of the second target sensor and the acquisition signal of the third target sensor, the second state detection result of at least part of the target sensing is determined.

[0302] When the first deviation value is not within the first preset range and the second deviation value is not within the first preset range, that is, when there is a difference between the acquisition signal of the first target sensor and the acquisition signal of the third target sensor, or when there is a difference between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor, it indicates that the first target sensor may be abnormal, or that the second target sensor and the third target sensor are both abnormal.

[0303] In some embodiments, based on a preset calibration correspondence, the difference between the second theoretical pedal stroke corresponding to the acquisition signal of the second target sensor and the third theoretical pedal stroke corresponding to the acquisition signal of the third target sensor can be calculated as a third deviation value between the acquisition signal of the second target sensor and the acquisition signal of the third target sensor.

[0304] In some embodiments of this specification, when the first target sensor may be malfunctioning or other sensors are malfunctioning, determining the third deviation value between the acquisition signal of the second target sensor and the acquisition signal of the third target sensor can help identify the faulty sensor and improve the accuracy of braking intention recognition.

[0305] In some embodiments, a second state detection result of at least part of the target sensing is determined based on a third deviation value between the acquisition signal of the second target sensor and the acquisition signal of the third target sensor, including:

[0306] If the third deviation value is within the second preset range, then based on the acquisition signal of the first target sensor and the second preset conditions, the second state detection results of the first target sensor and the second target sensor are determined.

[0307] The second preset range refers to a predefined numerical interval used to evaluate the data consistency between two sensors. The second preset range can be determined based on experiments or experience.

[0308] The second preset range may be the same as or different from the first preset range.

[0309] The second preset condition is the judgment condition for evaluating the acquisition signal of the first target sensor.

[0310] In some embodiments of this specification, the second preset condition is a key parameter to ensure the working state of the first target sensor. By reasonably setting the second preset condition, the working state of the first target sensor can be accurately identified when the acquisition signal of the second target sensor is consistent with the acquisition signal of the third target sensor, which helps to quickly identify and respond to the driver's braking intention.

[0311] In some embodiments, the second preset condition includes:

[0312] The rate of change of the signal acquired by the first target sensor is greater than zero, and the signal acquired by the first target sensor is greater than the second preset threshold.

[0313] In some embodiments, the second preset threshold can be determined based on the theoretical relationship curve between the acquisition signal of the third target sensor and the acquisition signal of the first target sensor. The theoretical relationship curve sets a corresponding theoretical value range of the acquisition signal of the first target sensor for each acquisition signal of the third target sensor.

[0314] In some embodiments, the theoretical value range of the acquired signal of the first target sensor can be [C, D], where C is the lower limit of the theoretical value range and D is the upper limit of the theoretical value range. The upper limit of the theoretical value range can be used as a second preset threshold.

[0315] In some embodiments of this specification, judging the acquisition signal of the first target sensor by the second preset condition can help determine the working state of the first target sensor, and then determine the working state of other sensors in order to identify the driver's braking intention.

[0316] In some embodiments, based on the acquired signal from the first target sensor and the second preset conditions, determining the second state detection results of the first target sensor and the second target sensor includes:

[0317] If the acquisition signal of the first target sensor meets the second preset condition, then the second state detection result of the second target sensor is determined to be an abnormal state, and the second state detection result of the first target sensor is determined to be a normal state.

[0318] In some embodiments, if the rate of change of the acquired signal of the first target sensor is greater than zero and the acquired signal of the first target sensor is greater than a second preset threshold, then the second state detection result of the second target sensor is determined to be an abnormal state, and the second state detection result of the first target sensor is determined to be a normal state.

[0319] In some embodiments, based on the acquired signal from the first target sensor and the second preset conditions, determining the second state detection results of the first target sensor and the second target sensor includes:

[0320] If the acquisition signal of the first target sensor does not meet the second preset condition, then the second state detection result of the first target sensor is determined to be an abnormal state, and the second state detection result of the second target sensor is determined to be a normal state.

[0321] In some embodiments, if the rate of change of the acquired signal of the first target sensor is less than or equal to zero, or if the acquired signal of the first target sensor is less than or equal to a second preset threshold, then the second state detection result of the first target sensor is determined to be an abnormal state, and the second state detection result of the second target sensor is determined to be a normal state.

[0322] In some embodiments, the method further includes:

[0323] If the third deviation value is not within the second preset range, then the brake pedal is determined to be faulty.

[0324] In some embodiments, the deviation between the acquisition signal of the second target sensor and the acquisition signal of the third target sensor can be calculated in real time to obtain a third deviation value; the calculated third deviation value is compared with a second preset range: if the third deviation value is within the second preset range, it is confirmed that the data of the two sensors are consistent, and the status of other sensors continues to be monitored; if the third deviation value is not within the second preset range, it is determined that the brake pedal has failed, such as the brake pedal or its related components malfunctioning, resulting in the inability to accurately identify the driver's braking intention or to respond to the braking operation normally.

[0325] In some embodiments of this specification, the sensor acquisition signals are compared pairwise, which helps to identify anomalies in the three sensors, enabling the determination of the accuracy of the braking intention corresponding to each sensor, and avoiding the possibility of inaccurate braking intentions being identified.

[0326] It should be noted that the above description of the process is for illustrative purposes only and does not limit the scope of this specification. Those skilled in the art can make various modifications and changes to the process under the guidance of this specification. However, these modifications and changes remain within the scope of this specification.

[0327] For ease of explanation, the following description uses the example of an angle sensor mounted on the pedal shaft as the first target sensor, a first pressure sensor arranged inside the pedal simulator as the second target sensor, and a second pressure sensor arranged inside the pedal pad as the third target sensor.

[0328] Figure 6This is an exemplary schematic diagram of yet another braking intent recognition method according to some embodiments of this specification.

[0329] In some embodiments, such as Figure 6 As shown, a braking intent recognition method includes:

[0330] S01: Acquire data from the second pressure sensor inside the pedal pad, the first pressure sensor inside the pedal simulator, and the angle sensor.

[0331] S02: Make a preliminary judgment on the working status of each sensor.

[0332] Make a preliminary judgment on the working status of each sensor and mark it as "normal status" or "abnormal status".

[0333] S03: Determine whether the number of sensors whose preliminary judgment result is normal is less than or equal to 1.

[0334] If the number of sensors in normal state is less than or equal to 1, then proceed to step S11;

[0335] If the number of sensors in normal state is greater than 1, then proceed to step S04.

[0336] S04: Determine whether the number of sensors whose preliminary judgment result is in a normal state is greater than 2.

[0337] If the number of sensors in normal condition is greater than 2, then proceed to step S07.

[0338] If the number of sensors in normal state is equal to 2, then proceed to step S05.

[0339] S05: Compare the data from two sensors in normal condition.

[0340] Determine whether the data from the two sensors conform to a preset theoretical relationship, including:

[0341] Each sensor data point corresponds to a theoretical pedal travel. Pedal travel is a key value for identifying the driver's braking intention, and the correspondence does not have a fixed formula and needs to be calibrated according to actual application requirements.

[0342] Determine whether it conforms to the preset theoretical relationship, that is, whether the deviation between the theoretical pedal stroke corresponding to the data of the two sensors is within the preset range. This preset range needs to be set according to the actual application.

[0343] If the conditions are met, proceed to step S06;

[0344] If it does not meet the requirements, proceed to step S11.

[0345] S06: Among the data from the two sensors in normal states, select the braking intention determined by the angle sensor, or the braking intention determined by the first pressure sensor in the pedal simulator, or the braking intention determined by the second pressure sensor in the pedal pad, as the final braking intention.

[0346] S07: Determine whether the data from the angle sensor and the data from the first pressure sensor in the pedal simulator conform to the preset theoretical relationship.

[0347] If the conditions are met, proceed to step S15;

[0348] If it does not meet the requirements, proceed to step S08.

[0349] S08: Compare whether the data from the angle sensor and the data from the second pressure sensor inside the pedal pad conform to the preset theoretical relationship.

[0350] If the conditions are met, proceed to step S09.

[0351] If it does not meet the requirements, proceed to step S10.

[0352] S09: Determine that the first pressure sensor in the pedal simulator is faulty, and use the braking intention of the angle sensor as the final braking intention.

[0353] S10: Compare the data from the first pressure sensor in the pedal simulator with the data from the second pressure sensor in the pedal pad to see if they conform to the preset theoretical relationship.

[0354] If the conditions are met, proceed to step S12;

[0355] If it does not meet the requirements, proceed to step S11.

[0356] S11: Unable to determine the driver's braking intention; electronic brake pedal malfunction; safety measures must be taken.

[0357] S12: Determine whether the data from the angle sensor continues to increase and exceeds the second preset threshold.

[0358] Determine whether the data from the angle sensor is greater than the maximum theoretical value range corresponding to the data from the pedal end pressure sensor (e.g., the first pressure sensor) at the same time.

[0359] If so, proceed to step S13;

[0360] If not, proceed to step S14.

[0361] S13: Pedal simulator malfunction, braking intent using angle sensor is the final braking intent.

[0362] S14: Angle sensor malfunction. The braking intention is determined by the first pressure sensor in the pedal simulator.

[0363] S15: Compare whether the data from the angle sensor and the data from the second pressure sensor inside the pedal pad conform to the preset theoretical relationship.

[0364] If the conditions are met, proceed to step S16;

[0365] If it does not meet the requirements, proceed to step S17.

[0366] S16: The braking intention using the angle sensor is the final braking intention.

[0367] S17: Determine whether the data from the second pressure sensor inside the pedal pad is greater than the first preset threshold;

[0368] For example, it can be determined whether the data from the second pressure sensor inside the pedal pad is greater than the maximum value of the theoretical range corresponding to the angle sensor data at the same time.

[0369] If so, proceed to step S19;

[0370] If not, proceed to step S18.

[0371] S18: The second pressure sensor inside the pedal pad is malfunctioning. The braking intention using the angle sensor is the final braking intention.

[0372] S19: Determine the rate of change of the actual relationship curve between the data from the second pressure sensor and the angle sensor inside the pedal pad, and determine whether the rate of change of this relationship curve is less than the minimum value of the change rate threshold range.

[0373] If so, proceed to step S20;

[0374] If not, proceed to step S21.

[0375] S20: The second pressure sensor inside the pedal pad is malfunctioning. The braking intention using the angle sensor is the final braking intention.

[0376] S21: Determine whether the rate of change of the relationship curve is lower than the maximum value of the rate of change threshold range.

[0377] If so, proceed to step S22;

[0378] If not, proceed to step S23.

[0379] S22: The brake pedal is in normal condition, the driver has a strong braking intention, there is an emergency braking situation, and the braking intention measured by the second pressure sensor inside the pedal pad is the final braking intention.

[0380] S23: There is a mechanical structural abnormality in the brake pedal. The braking intention of the second pressure sensor inside the pedal pad shall be the final braking intention.

[0381] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0382] Figure 7 This is a schematic diagram of the structure of an electronic device according to some embodiments of this specification. For example... Figure 7 As shown, the electronic device 700 may include a processor 701 and a memory 702. In this embodiment, the electronic device 700 may be a device that implements the braking intention recognition method provided in this embodiment.

[0383] The processor 701 controls the overall operation of the electronic device 700 to complete all or part of the steps in the braking intent recognition method described above. The memory 702 stores various types of data to support the operation of the auxiliary electronic device 700. This data may include, for example, instructions for any application or method operating on the auxiliary electronic device 700, and application-related data, such as sensor acquisition signals. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0384] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the braking intent recognition method described above.

[0385] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the braking intent recognition method described above. For example, the computer-readable storage medium may be the memory 702 including program instructions described above, which may be executed by the processor 701 of the electronic device 700 to implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application;

[0386] Alternatively, when the instructions are executed by a computer, they may be used to implement or execute the methods, steps, and logic diagrams disclosed in the embodiments of this application.

[0387] Figure 8 This is a block diagram of a vehicle provided in an exemplary embodiment of this application.

[0388] like Figure 8 As shown, this application also provides a vehicle equipped with the electronic device 700 provided in any of the above embodiments, the braking intention recognition system provided in any of the above embodiments, or the brake pedal provided in any of the above embodiments. The electronic device is used to execute the braking intention recognition method provided in any of the above embodiments. The vehicle may be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this specification does not specifically limit it.

[0389] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0390] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0391] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although the descriptions of each embodiment in this application have different focuses, and the parts not described in detail in a certain embodiment can be referred to the relevant embodiments of other embodiments, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A method for recognizing braking intent, characterized in that, The method includes: The braking intention is determined based on the signals collected by multiple first sensors and second sensors, which are respectively located at different positions on the brake pedal; the signal types of the signals collected by the first sensors and the second sensors are different.

2. The method according to claim 1, characterized in that, Determining the braking intention based on signals acquired by multiple first sensors and signals acquired by second sensors includes: By using the signals acquired by the plurality of first sensors and the signals acquired by the second sensors, the first state detection result of each sensor is determined, thereby determining the braking intention.

3. The method according to claim 2, characterized in that, The step of determining the braking intention by using the signals acquired by the plurality of first sensors and the signals acquired by the second sensors to determine the first state detection result of each sensor includes: Based on the control strategy corresponding to the first state detection result, multiple acquired signals are compared to determine the second state detection results of at least some sensors; Based on the second state detection result, the braking intention is determined.

4. The method according to claim 3, characterized in that, The control strategy based on the first state detection result compares multiple acquired signals to determine the second state detection results of at least some sensors, including: Based on the target sensor identified as being in a normal state by the first state detection result, the acquired signals of the target sensor are compared to determine the second state detection results of at least a portion of the target sensor.

5. The method according to claim 4, characterized in that, The comparison of the target sensor's acquired signals, based on the first state detection result and identified as being in a normal state, includes: If the number of target sensors is greater than or equal to a preset threshold, the acquired signals of the target sensors are compared.

6. The method according to claim 4, characterized in that, The target sensor includes a first target sensor and a second target sensor. The comparison of the signals acquired by the target sensors to determine at least a portion of the second state detection results of the target sensors includes: Based on the deviation between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor, the second state detection result of the first target sensor and / or the second target sensor is determined.

7. The method according to claim 6, characterized in that, The step of determining the second state detection result of the first target sensor and / or the second target sensor based on the deviation between the acquired signal of the first target sensor and the acquired signal of the second target sensor includes: If the deviation between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor is within a first preset range, then it is determined that the second state detection results of both the first target sensor and the second target sensor are in a normal state.

8. The method according to claim 6, characterized in that, The method further includes: If the deviation between the signal acquired by the first target sensor and the signal acquired by the second target sensor is not within a first preset range, then the brake pedal is determined to be faulty.

9. The method according to claim 4, characterized in that, The target sensor includes a first target sensor, a second target sensor, and a third target sensor. The step of comparing the signals acquired by the target sensors to determine at least a portion of the second state detection results of the target sensors includes: Based on the signals acquired by the first target sensor, the second target sensor, and the third target sensor, the deviation values ​​between each pair of acquired signals are determined to determine the second state detection results of at least some of the target sensors.

10. The method according to claim 9, characterized in that, Determining the deviation between each pair of acquired signals to determine at least a portion of the second state detection results of the target sensor includes: Determine a first deviation value between the acquisition signal of the first target sensor and the acquisition signal of the second target sensor, and a second deviation value between the acquisition signal of the first target sensor and the acquisition signal of the third target sensor; Based on the first deviation value and the second deviation value, the second state detection result of at least a portion of the target sensor is determined.

11. The method according to claim 10, characterized in that, Determining the second state detection result of at least a portion of the target sensors based on the first deviation value and the second deviation value includes: If both the first deviation value and the second deviation value are within the first preset range, then the second state detection result of the first target sensor is determined to be normal.

12. The method according to claim 10, characterized in that, Determining the second state detection result of at least a portion of the target sensors based on the first deviation value and the second deviation value includes: If the first deviation value is within the first preset range and the second deviation value is not within the first preset range, then based on the acquisition signal of the third target sensor, the acquisition signal of the first target sensor, and the first preset condition, the second state detection result of the first target sensor and / or the third target sensor is determined.

13. The method according to claim 12, characterized in that, The step of determining the second state detection result of the first target sensor and / or the third target sensor based on the acquisition signal of the third target sensor, the acquisition signal of the first target sensor, and the first preset condition includes: If the acquisition signal of the third target sensor and the acquisition signal of the first target sensor meet the first preset condition, then the second state detection result of the third target sensor is determined to be an abnormal state, and the second state detection result of the first target sensor is determined to be a normal state.

14. The method according to claim 12, characterized in that, The first preset conditions include: The signal acquired by the third target sensor is less than or equal to a first preset threshold, and / or the rate of change of the relationship curve between the signal acquired by the third target sensor and the signal acquired by the first target sensor is less than the minimum value of the rate of change threshold range.

15. The method according to claim 12, characterized in that, The method further includes: If the acquisition signal of the third target sensor is greater than the first preset threshold, and the rate of change of the relationship curve between the acquisition signal of the third target sensor and the acquisition signal of the first target sensor is within the range of the rate of change threshold, it is determined that there is emergency braking, and the second state detection results of the third target sensor and the first target sensor are both in normal state.

16. The method according to claim 15, characterized in that, Determining the braking intention based on the second state detection result includes: In the event of emergency braking, the braking intention is determined based on the signals collected by the third target sensor.

17. The method according to claim 12, characterized in that, The method further includes: If the signal acquired by the third target sensor is greater than the first preset threshold, and the rate of change of the relationship curve between the signal acquired by the third target sensor and the signal acquired by the first target sensor is greater than the maximum value of the rate of change threshold range, then it is determined that the brake pedal has a mechanical structural abnormality, the second state detection result of the third target sensor is normal, and the second state detection result of the first target sensor is abnormal.

18. The method according to claim 10, characterized in that, Determining the second state detection result of at least a portion of the target sensors based on the first deviation value and the second deviation value includes: If the first deviation value is not within the first preset range and the second deviation value is within the first preset range, then the second state detection result of the second target sensor is determined to be an abnormal state, and the second state detection result of the first target sensor is determined to be a normal state.

19. The method according to claim 10, characterized in that, Determining the second state detection result of at least a portion of the target sensors based on the first deviation value and the second deviation value includes: If the first deviation value is not within the first preset range, and the second deviation value is not within the first preset range, then the second state detection result of at least some of the target sensors is determined based on the third deviation value between the acquisition signal of the second target sensor and the acquisition signal of the third target sensor.

20. The method according to claim 19, characterized in that, The determination of the second state detection result of at least a portion of the target sensors based on the third deviation value between the acquired signal of the second target sensor and the acquired signal of the third target sensor includes: If the third deviation value is within the second preset range, then based on the acquisition signal of the first target sensor and the second preset conditions, the second state detection result of the first target sensor and the second target sensor is determined.

21. The method according to claim 20, characterized in that, The step of determining the second state detection results of the first target sensor and the second target sensor based on the acquired signal of the first target sensor and the second preset conditions includes: If the acquisition signal of the first target sensor meets the second preset condition, then the second state detection result of the second target sensor is determined to be an abnormal state, and the second state detection result of the first target sensor is determined to be a normal state.

22. The method according to claim 20, characterized in that, The step of determining the second state detection results of the first target sensor and the second target sensor based on the acquired signal of the first target sensor and the second preset conditions includes: If the acquisition signal of the first target sensor does not meet the second preset condition, then the second state detection result of the first target sensor is determined to be an abnormal state, and the second state detection result of the second target sensor is determined to be a normal state.

23. The method according to claim 20, characterized in that, The second preset condition includes: The rate of change of the signal acquired by the first target sensor is greater than zero, and the signal acquired by the first target sensor is greater than the second preset threshold.

24. The method according to claim 19, characterized in that, The method further includes: If the third deviation value is not within the second preset range, then the brake pedal is determined to be faulty.

25. The method according to any one of claims 9 to 24, characterized in that, The first target sensor is an angle sensor, the second target sensor is a pressure sensor installed in the pedal simulator, and the third target sensor is a pressure sensor installed inside the pedal pad.

26. The method according to claim 4, characterized in that, The method further includes: If the number of target sensors is less than a preset threshold, then the brake pedal is determined to be faulty.

27. The method according to claim 3, characterized in that, The first state detection result is obtained in the following way: If the collected signal is within the preset value range, the first state detection result is determined to be a normal state; If the acquired signal is outside the preset value range, the first state detection result is determined to be an abnormal state.

28. The method according to claim 3, characterized in that, The number of sensors whose second state detection result is normal is 1. Determining the braking intention based on the second state detection result includes: The braking intention is determined based on the sensor's acquisition signal when the second state detection result is normal.

29. The method according to claim 3, characterized in that, There are multiple sensors whose second state detection result is normal. Determining the braking intention based on the second state detection result includes: The braking intention is determined based on the angle sensor's acquisition signal in the sensor where the second state detection result is normal, or the pressure sensor's acquisition signal in the pedal simulator, or the pressure sensor's acquisition signal in the pedal pad.

30. The method according to any one of claims 1 to 29, characterized in that, The plurality of first sensors are pressure sensors.

31. The method according to claim 30, characterized in that, The multiple first sensors are used to collect the force of stepping on the pedal pad and the force fed back by the pedal simulator, respectively.

32. The method according to claim 31, characterized in that, The plurality of first sensors are respectively disposed in the pedal pad, pedal arm, or pedal simulator.

33. The method according to claim 31, characterized in that, The first sensor disposed within the pedal simulator is located between the spring and the transmission rod within the pedal simulator, and the first sensor disposed within the pedal pad is located within the pedal pad.

34. The method according to any one of claims 1 to 29, characterized in that, The second sensor is an angle sensor, which is used to sense the angle through which the pedal arm rotates and generate an angle signal.

35. The method according to claim 34, characterized in that, The second sensor is installed on the pedal arm or in a structure that is linked to the pedal arm.

36. The method according to claim 35, characterized in that, The second sensor is located at the pivot point between the pedal arm and the mounting base.

37. A braking intent recognition system, characterized in that, The braking intention recognition method according to any one of claims 1-36, the system comprising at least three sensors and a controller, wherein: The controller is communicatively connected to the at least three sensors, which include a plurality of first sensors and second sensors; the controller is used for: The braking intention is determined based on the signals collected by the plurality of first sensors and the second sensors, wherein the first sensors and the second sensors are respectively located at different positions on the brake pedal; the signal types of the signals collected by the first sensors and the second sensors are different.

38. A brake pedal, characterized in that, The brake pedal includes: pedal mat; A pedal arm, one end of which is connected to the pedal pad, and the other end of which is pivotally connected to the mounting base. The pedal arm swings around the pivoting position. Multiple first sensors and second sensors are installed at different positions on the brake pedal, and the signals collected by the multiple first sensors and second sensors are used to determine the braking intention.

39. A computer program product, characterized in that, The computer program product stores instructions that, when executed by a computer, cause the computer to perform the braking intent recognition method according to any one of claims 1 to 36.

40. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the braking intent recognition method according to any one of claims 1 to 36.

41. A vehicle, characterized in that, Includes the electronic device of claim 40, or the braking intention recognition system of claim 37, or the brake pedal of claim 38, or performs the braking intention recognition method of any one of claims 1 to 36.

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