电动液压助力制动系统制动意图识别方法  

Braking intention identification for electric power hydraulic booster braking system

作　　者：杨为[1,2] 刘杰 周仕仕[1,3] 何忠桦 YANG Wei;LIU Jie;ZHOU Shishi;HE Zhonghua(State Key laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,P.R.China;School of Vehicle Engineering,Chongqing University,Chongqing 400044,P.R.China;School of Mechanical Engineering,Chongqing University,Chongqing 400044,P.R.China)

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044 [2]重庆大学汽车工程学院,重庆400044 [3]重庆大学机械工程学院,重庆400044

出　　处：《重庆大学学报》2021年第10期1-12,共12页Journal of Chongqing University

基　　金：工信部智能网联汽车系统及通信标准化研究与试验验证平台建设项目(2016ZXFB06002)。

摘　　要：针对驾驶员在紧急状况下存在着因踏板力不足而导致制动距离过长问题,以某电动液压助力制动系统为研究对象,提出了一种基于隐马尔可夫模型的驾驶员制动意图识别方法,根据对驾驶员制动意图的识别来控制助力电机执行正常制动或紧急制动的助力模式。选取助力电机的转角、转速和车速作为制动意图识别参数。以制动强度为界限对识别参数数据集进行划分,训练出正常制动与紧急制动识别模型参数,建立了识别模型库,通过比较各模型库的对数似然估计值,判断出驾驶员的制动意图。仿真结果表明:该模型可准确、实时地识别出驾驶员的制动意图;在驾驶员踏板力一定的情况下,具有制动意图识别控制的助力器具有更好的制动效果,提高了驾驶安全性。Aiming at the problem that the braking distance was too long due to insufficient pedal force of the driver in an emergency, the research took the electric power hydraulic booster braking system as the research object and proposed a method for identifying braking intention based on Hidden Markov Model. The booster motor was controlled to perform normal or emergency braking boost based on the identification of braking intention. The rotation angle, rotation speed and vehicle speed were selected as the identification parameters. The identification parameter data set were divided with the brake intensity as the limit to train the parameters for identifying the normal and emergency braking models, and a recognition model library was built. The driver’s braking intention was determined by comparing the log-likelihood estimation of each model library. The results show that the model can accurately identify the braking intention in real-time. When the pedal force was constant, the booster with braking intention recognition control has better braking effect and improves driving safety.

关 键 词：电动液压助力器 隐马尔可夫模型 识别参数 制动意图识别 

分 类 号：U461.91[机械工程—车辆工程]