CN116501025A - Calibration method and device of control parameters, electronic equipment and readable storage medium - Google Patents
Calibration method and device of control parameters, electronic equipment and readable storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The application relates to the technical field of whole vehicle calibration, and provides a calibration method and device for control parameters, electronic equipment and a readable storage medium. The method comprises the following steps: obtaining a calibration strategy; establishing a simulation model corresponding to the real vehicle under the calibration background working condition; determining a plurality of selectable values according to the parameters to be calibrated, assigning the selectable values to the parameters to be calibrated for each selectable value, and then performing a simulation test on the simulation model to obtain a corresponding simulation test result; determining an optional value corresponding to a simulation test result which accords with the expected result characteristic as a value to be measured; aiming at each value to be measured, assigning the value to be measured to the parameter to be calibrated, and then performing a real vehicle test on the real vehicle to obtain a corresponding real vehicle test result; and determining an optimal test result from the real vehicle test result, and determining a value to be measured corresponding to the optimal test result as a target calibration value of the parameter to be calibrated. The method and the device do not depend on subjective experience capability of the calibration personnel any more, and achieve efficient and low-cost calibration.
Description
Technical Field
The present disclosure relates to the field of vehicle calibration technologies, and in particular, to a method and apparatus for calibrating control parameters, an electronic device, and a readable storage medium.
Background
The control system of the vehicle comprises a control strategy and control parameters, and how to determine the control parameters, so that the control strategy can exert the optimal effect when operating according to the control parameters, and the determination process is called calibration. The current parameter calibration scheme is characterized in that calibration staff delimits the calibration range of calibration data according to own experience, and then the calibration effects of different calibration data are compared through a real vehicle test, so that the calibration data are finally obtained.
Because the cost of the real vehicle test is higher, a great deal of time, manpower and vehicle resources are consumed, and potential safety hazards exist at the same time, so that the number of tests is limited, and the control parameters to be tested defined by the calibration personnel are limited. Under the limitation of limited control parameters, a calibrator can accurately define the range of test data, and determine whether to obtain calibration data with optimal effect, which puts forward extremely high requirements on the calibrator, and cannot ensure complete reliability, once the optimal calibration data is outside the calibration range subjectively defined by the calibrator, the optimal calibration data cannot be sent to the subsequent real vehicle test, so that the real vehicle test cannot show optimal performance, and finally user experience is affected.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of this, the embodiments of the present application provide a calibration method, apparatus, electronic device and readable storage medium for control parameters, so as to solve the hidden trouble that in the prior art, the calibration personnel capability and the test cost are limited, resulting in incomplete calibration data.
In a first aspect of an embodiment of the present application, a method for calibrating a control parameter is provided, including:
obtaining a calibration strategy, wherein the calibration strategy comprises a calibration background working condition, parameters to be calibrated and expected result characteristics of the parameters to be calibrated;
based on the calibration background working condition, establishing a simulation model corresponding to the real vehicle under the calibration background working condition;
determining a plurality of selectable values according to the parameters to be calibrated, assigning the selectable values to the parameters to be calibrated for each selectable value, and then performing a simulation test on the simulation model to obtain a corresponding simulation test result;
determining an optional value corresponding to a simulation test result which accords with the expected result characteristic as a value to be measured;
aiming at each value to be measured, assigning the value to be measured to the parameter to be calibrated, and then performing a real vehicle test on the real vehicle to obtain a corresponding real vehicle test result;
and determining an optimal test result from the real vehicle test result, and determining a value to be measured corresponding to the optimal test result as a target calibration value of the parameter to be calibrated.
In a second aspect of the embodiments of the present application, there is provided a calibration device for a control parameter, including:
the acquisition module is used for acquiring a calibration strategy, wherein the calibration strategy comprises a calibration background working condition, parameters to be calibrated and expected result characteristics of the parameters to be calibrated;
the model building module is used for building a simulation model corresponding to the real vehicle under the calibration background working condition based on the calibration background working condition;
the numerical processing module is used for determining a plurality of selectable numerical values according to the parameter to be calibrated;
the simulation test module is used for assigning the selectable values to parameters to be calibrated according to each selectable value, and then performing simulation test on the simulation model to obtain a corresponding simulation test result;
the numerical processing module is also used for determining an optional numerical value corresponding to a simulation test result which accords with the expected result characteristic as a numerical value to be measured;
the real vehicle test module is used for assigning the value to be measured to the parameter to be calibrated according to each value to be measured, and then carrying out real vehicle test on the real vehicle to obtain a corresponding real vehicle test result;
the numerical processing module is also used for determining an optimal test result from the real vehicle test result and determining a value to be measured corresponding to the optimal test result as a target calibration value of the parameter to be calibrated.
In a third aspect of the embodiments of the present application, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
In a fourth aspect of the embodiments of the present application, there is provided a readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above method.
Compared with the prior art, the beneficial effects of the embodiment of the application at least comprise: according to the embodiment of the application, the simulation model is built, the simulation test is carried out in the simulation model for reducing the test cost, the optional numerical range of the parameter to be calibrated is not limited by the cost, the value to be measured can be preliminarily determined from the large-range optional numerical range in a high-efficiency and low-cost mode, then the actual vehicle test is carried out, the more accurate target calibration value is obtained, the subjective experience capability of the calibration personnel is not relied on, and the high-efficiency and low-cost calibration is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of an application scenario according to an embodiment of the present application;
FIG. 2 is a flow chart of a calibration method for control parameters according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a calibration device for control parameters according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
A calibration method, device, electronic apparatus and readable storage medium for control parameters according to embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic view of an application scenario according to an embodiment of the present application. The application scenario may include a real vehicle 100, a first terminal device 101, a second terminal device 102, a third terminal device 103, a server 104, and a network 105.
The real vehicle 100 can be a vehicle with actual running capability, and the real vehicle 100 is provided with a whole vehicle control system which can control the running process and collect various sensing values in the running process. The types of the real vehicles are different, and the composition architectures of the whole vehicle control system are different. The whole vehicle control system of the traditional fuel vehicle at least comprises a power transmission electronic control system, a chassis electronic control system and a vehicle body electronic control system. The power transmission electronic control system mainly comprises an engine electronic control (comprising a gasoline engine and a diesel engine), an automatic transmission control and a comprehensive electronic control of a power transmission assembly. The chassis electronic control system at least comprises a braking anti-skid and dynamic vehicle body control system, a traction control system, a suspension and vehicle height control system, a tire monitoring system, a cruise control system, a steering control system and a driving control system. The electronic control system of the automobile body mainly comprises an air bag, an automatic seat, an automatic air conditioner control, an in-automobile noise control, a central anti-theft door lock, a visual field illumination control, an automatic wiper, an automatic door and window, an automatic anti-collision system and a power management system meeting different electric equipment. The whole vehicle control system of the new energy automobile can be divided into a vehicle body comfort system, an automobile safety system and a new energy power system according to the large category, each system is divided into a plurality of subsystems, the respective functions and targets are completed through the electronic control units of the subsystems, and the targets of meeting the power performance, the economical efficiency, the safety and the comfort of the whole vehicle are achieved through cooperation and optimization matching. The automobile body comfort system comprises a gateway, a self-adaptive headlamp, an intelligent instrument system, a domain controller, an anti-clamping power window control module, an electric control seat adjusting system, an intelligent distribution box, an automobile body control unit, an engineering machinery controller, remote terminal equipment, an automobile remote control key and an automobile door control module. The automobile safety system comprises an advanced driving auxiliary system, an electronic stability system, an electric power steering system, a sensor fusion system, an automobile anti-lock system, a steering wheel corner sensor, a tire pressure monitoring system, an electric automobile suspension system, an autonomous parking system, an electronic parking brake system, an electric hydraulic steering control system and a new energy power system, wherein the new energy power system comprises an electronic braking main force, a range extender control system, a battery management system, an electric automobile whole vehicle controller, an electric automobile charger, a new energy power motor driving control system, an electric automobile integrated power control unit, a brushless direct current motor controller, an electric automobile remote monitoring and data service system and an electric water pump. In addition to the above description, other functional modules or systems may be provided on the real vehicle, and may specifically be provided according to actual working conditions or requirements, which is not limited herein.
The first terminal device 101 may be hardware or software. When the first terminal device 101 is hardware, it may be various electronic devices having a display screen and supporting communication with the server 104, including but not limited to smartphones, tablets, laptop portable computers, desktop computers, and the like; when the first terminal apparatus 101 is software, it may be installed in the electronic apparatus as above. The first terminal device 101 may be implemented as a plurality of software or software modules, or may be implemented as a single software or software module, which is not limited in this embodiment of the present application. Further, various applications, such as a data processing application, an instant messaging tool, social platform software, a search class application, a shopping class application, and the like, may be installed on the first terminal device 101.
The second terminal device 102 may be hardware or software. When the second terminal device 102 is hardware, it may be a variety of electronic devices having a display screen and supporting communication with the server 104, including but not limited to smartphones, tablets, laptop and desktop computers, and the like; when the second terminal device 102 is software, it may be installed in the electronic device as above. The second terminal device 102 may be implemented as a plurality of software or software modules, or may be implemented as a single software or software module, which is not limited in this embodiment of the present application. Further, various applications may be installed on the second terminal device 102, such as a data processing application, an instant messaging tool, social platform software, a search class application, a shopping class application, and the like.
The third terminal device 103 may be hardware or software. When the third terminal device 103 is hardware, it may be various electronic devices having a display screen and supporting communication with the server 104, including but not limited to smartphones, tablets, laptop and desktop computers, etc.; when the third terminal device 103 is software, it may be installed in the electronic device as above. The third terminal device 103 may be implemented as a plurality of software or software modules, or may be implemented as a single software or software module, which is not limited in this embodiment of the present application. Further, various applications, such as a data processing application, an instant messaging tool, social platform software, a search class application, a shopping class application, and the like, may be installed on the third terminal device 103.
The server 104 may be a server that provides various services, for example, a background server that receives a request transmitted from a terminal device with which communication connection is established, and the background server may perform processing such as receiving and analyzing the request transmitted from the terminal device and generate a processing result. The server 104 may be a server, a server cluster formed by a plurality of servers, or a cloud computing service center, which is not limited in this embodiment of the present application.
The server 104 may be hardware or software. When the server 104 is hardware, it may be various electronic devices that provide various services to the first terminal device 101, the second terminal device 102, and the third terminal device 103. When the server 104 is software, it may be a plurality of software or software modules providing various services to the first terminal device 101, the second terminal device 102, and the third terminal device 103, or may be a single software or software module providing various services to the first terminal device 101, the second terminal device 102, and the third terminal device 103, which is not limited in this embodiment of the present application.
The network 105 may be a wired network using coaxial cable, twisted pair and optical fiber connection, or may be a wireless network that can implement interconnection of various communication devices without wiring, for example, bluetooth (Bluetooth), near field communication (Near Field Communication, NFC), infrared (Infrared), etc., which is not limited in the embodiment of the present application.
It should be noted that the specific types, numbers and combinations of the first terminal device 101, the second terminal device 102, the third terminal device 103, the server 104 and the network 105 may be adjusted according to the actual requirements of the application scenario, which is not limited in the embodiment of the present application.
It should be noted that the specific types, numbers and combinations of the first terminal device 101, the second terminal device 102, the third terminal device 103, the server 104 and the network 105 may be adjusted according to the actual requirements of the application scenario, which is not limited in the embodiment of the present application.
Fig. 2 is a flow chart of a calibration method of control parameters according to an embodiment of the present application. As shown in fig. 2, the calibration method includes:
s201: obtaining a calibration strategy, wherein the calibration strategy comprises a calibration background working condition, parameters to be calibrated and expected result characteristics of the parameters to be calibrated;
s202: based on the calibration background working condition, establishing a simulation model corresponding to the real vehicle under the calibration background working condition;
s203: determining a plurality of selectable values according to parameters to be calibrated;
s204: for each selectable value, assigning the selectable value to the parameter to be calibrated, and then performing a simulation test on the simulation model to obtain a corresponding simulation test result;
s205: determining an optional value corresponding to a simulation test result which accords with the expected result characteristic as a value to be measured;
s206: aiming at each value to be measured, assigning the value to be measured to the parameter to be calibrated, and then performing a real vehicle test on the real vehicle to obtain a corresponding real vehicle test result;
s207: and determining an optimal test result from the real vehicle test result, and determining a value to be measured corresponding to the optimal test result as a target calibration value of the parameter to be calibrated.
The calibration method of fig. 2 may be executed by the first terminal device or the second terminal device or the third terminal device or the server of fig. 1, and the real vehicle involved in step S202 and step S206 is the real vehicle of fig. 1.
The calibration strategy can be formulated according to the design requirement of the real vehicle and with reference to other vehicle performances or actual conditions aiming at any system or functional module on the real vehicle. In some specific embodiments, the parameter to be calibrated includes a torque filtering parameter when the chassis torque reduction request is received when the calibration background condition is that the vehicle accelerates to a target vehicle speed and the desired result is characterized by no abrupt change in the torque curve during the torque reduction process. For example, when a certain calibration background working condition is that the vehicle accelerates to 80km/h, a chassis torque reducing request is received, at the moment, the target vehicle speed is 80km/h, the parameter to be calibrated is a torque filtering parameter, the expected result characteristic of the parameter to be calibrated is that the torque smoothly reduces in the torque reducing process, the setting of the whole calibration strategy is expected to be capable of determining a numerical value of the torque filtering parameter as a target calibration numerical value, the chassis torque reducing request is received when the vehicle accelerates to 80km/h, the chassis torque reducing request is responded according to the target calibration numerical value, and the torque shows a smooth reducing trend in the torque reducing process in the response process.
The purpose of step S202 is to establish a simulation model completely consistent with the real vehicle reaction under the calibration background working condition, so that the process of establishing a simulation model corresponding to the real vehicle under the calibration background working condition based on the calibration background working condition includes: based on the calibrated background working condition, establishing a simulation model corresponding to the real vehicle; obtaining a background parameter of the real vehicle under a calibrated background working condition; and adjusting the simulation model corresponding to the real vehicle until the background parameter of the simulation model is consistent with the background parameter of the real vehicle. The process for establishing the simulation model corresponding to the real vehicle comprises the following steps: and constructing a simulation test environment by utilizing MATLAB software and dynamics simulation software, and establishing a simulation model corresponding to the real vehicle in the simulation test environment. The dynamics simulation software comprises CARSIM or DYNA 4. After the simulation model is established in the simulation test environment, the simulation model is further adjusted until the background parameters of the simulation model are completely consistent with the background parameters of the real vehicle. The background parameters of the real vehicle include the speed and the requested torque, the requested torque of the real vehicle is 100 N.M when the speed of the real vehicle is 80km/h, and the corresponding requested torque is 100 N.M when the speed of the required simulation model is 80 km/h. Further, in order to make the background parameters of the simulation model and the real vehicle consistent, the adjustment of the simulation model herein includes adjustment of various vehicle parameters in the simulation model, such as vehicle body weight, wind resistance coefficient, motor, battery performance parameters, etc., and the specific adjustment may be set according to the actual working condition and requirement, which is not limited herein.
Step S203 includes determining a plurality of optional values according to the parameter to be calibrated: acquiring a target value range of a parameter to be calibrated and the precision of the parameter to be calibrated; and calculating according to the target value range and the precision to obtain a plurality of selectable values. The target value range is determined according to the objective realizable range of the real vehicle or the simulation realizable range of the simulation model based on the simulation conditions in the simulation test environment, and the accuracy is the same. For example, the torque filtering parameter is used as the parameter to be calibrated, the target value range is 1-10000, and the precision is 1, and then the obtained multiple selectable values comprise 1,2,3, …,9999 and 10000. Based on 10000 optional values, performing repeated simulation tests on each optional value, setting parameters to be calibrated of the simulation model to be an optional value in each simulation test as described in step 204, and then performing simulation tests of corresponding calibration strategies on the simulation model to obtain simulation test results of the optional values. Further optional values should also include an endpoint value of the target value range, when each optional value is determined one by one with the minimum endpoint value as a starting point and accumulated precision, there may be a case where the maximum endpoint value is not an optional value, for example, the target value range is 1-99.5, when the precision is 1, a plurality of optional values conventionally determined include 1,2,3, …,99, and do not include the maximum endpoint value 99.5, and at this time, it is necessary to additionally set the maximum endpoint value as an optional value and perform a corresponding simulation test. It should be understood that the target value range is not necessarily a continuous and complete value interval, and the target value range may include a plurality of value intervals and may also include discrete value points, so that the value points corresponding to the specific values are also used as optional values for performing the simulation test. The specific target value range is selected according to the actual working condition, and is not described herein.
In addition to the optional values for calibrating the parameters, a part of special parameter values can be set for simulation test, so that whether the simulation model is accurate or not can be synchronously verified by comparing whether the simulation test result accords with the actual situation. For example, when a certain parameter is 4, data overflow may be theoretically caused, a large mutation exists in the torque curve, and if a large mutation exists in the torque curve of a simulation test result with the parameter being 4, the accuracy of the simulation model can be confirmed to meet the requirement.
Step S204 carries out simulation test on the simulation model after assigning the optional values to the parameters to be calibrated according to each optional value. If the number of the parameters to be calibrated is a plurality of, repeated combined full-quantity simulation can be performed, and a group of simulation test results corresponding to each combined full-quantity simulation are obtained.
It can be understood that the accuracy of the parameter to be calibrated can also be adjusted by using the simulation test result. If the precision of the parameter to be calibrated is too large, the deviation between the simulation test result of the optional numerical value obtained based on the precision and the expected result characteristic is too large, the optimal parameter to be calibrated cannot be obtained, and if the precision is too small, the number of the optional numerical values is too large, so that simulation resource waste is caused, and the processing efficiency is low. Further, according to the simulation test result, the progress is adjusted, namely, after the optional numerical value is assigned to the parameter to be calibrated, the simulation test is performed on the simulation model, and after the corresponding simulation test result is obtained, the method further comprises the steps of:
obtaining a target simulation result according to the expected result characteristics and the simulation test result, wherein the target simulation result is the simulation test result closest to the expected result characteristics;
and obtaining the difference absolute value of the expected result characteristic and the target simulation test result, if the difference absolute value is larger than the preset difference threshold value, obtaining the difference between the difference absolute value and the preset difference threshold value, adjusting the precision according to the difference, and then executing the step of calculating to obtain a plurality of optional numerical values according to the target value range and the precision.
In some specific embodiments, the desired resulting characteristics of the parameter to be calibrated vary with the parameter to be calibrated under calibration background conditions.
After simulation test results of all the selectable values are obtained, the selectable values, which are consistent with the expected result characteristics, of the simulation test results are determined to be measured values, real vehicle tests are further carried out on the real vehicles to obtain real vehicle test results of all the measured values, and finally the real vehicle test results with the most ideal effect are selected from all the real vehicle test results to serve as optimal test results, and the corresponding real vehicle test results serve as target calibration values.
It can be understood that the simulation test and the real vehicle test are test objects, namely a simulation model and a real vehicle, the simulation model is a simulation of the real vehicle, the simulation test can present the test effect of the real vehicle test to a certain extent, the results of the simulation test and the real vehicle test should be in the same format, the same numerical representation mode and the same expected result characteristics, and generally, the simulation test result and the real vehicle test result both comprise a group of test result values, and the expected result characteristics are numerical change characteristics of the test result values. Further, the numerical variation characteristic may be a characteristic for each set of test result values, including one or more of an average number, a median number, a variation rate, and a variance of each set of test result values, or may be a characteristic of an image obtained by performing a visualization process on each set of test result values, for example, a simulation test result and a real vehicle test result each include a set of test result values that can be fitted to a curve, and the desired result characteristic is an image data characteristic of the curve. Taking the calibration process with the parameter to be calibrated as the torque filtering parameter as an example, the expected result is characterized in that the torque is smoothly reduced in the torque reducing process, the image data characteristic converted into the curve is the smoothness or smoothness of the curve obtained by the numerical value of the test result, and if the curve has no obvious burr and no obvious abrupt change in numerical value, the curve can be regarded as smooth in torque, and the curve can be specifically described by the specific characteristic parameter of the curve.
Because the simulation test only runs in the program space, no influence is generated on the real vehicle, potential safety hazard of the real vehicle does not exist, the time consumption of the simulation test is smaller, the simulation test can be carried out on a large number of optional values, the primary screening of the more comprehensive and large-scale optional values can be completed in a high-efficiency and low-cost mode, the number of times of vehicle use is reduced, the cost of vehicle use is reduced, and the occurrence probability of safety problems is reduced. For example, 1000 optional values are used, simulation tests are performed according to each optional value to obtain 10000 groups of simulation test results, and optional values which accord with the characteristics of expected results are selected from the 10000 groups of simulation test results, for example, torque filtering parameters which accord with the expected results are selected as the following four optional values: 498/501/512/513, then, the four selectable values are used as actual measurement values to be assigned to the values to be calibrated one by one to perform real vehicle test, four corresponding real vehicle test results are obtained respectively, then, an optimal test result is selected, and according to the setting of characteristics of the desired result in the example, the optimal test result is a set of real vehicle test results with highest smoothness degree of a torque descent curve. For example, in four groups of real vehicle test results, the real vehicle test result with the filter parameter value of 512 shows the best performance, the target calibration value of 512 is determined, namely, in the selectable values of 1-10000, when the parameter to be calibrated is 512, the calibration background working condition is that the vehicle is accelerated to 80km/h, the chassis torque reducing request is received, and the chassis torque reducing request is responded, so that the ideal expected result characteristics can be obtained: the torque reduction is smoothly reduced in the torque reduction process.
According to the embodiment of the application, the simulation model is built, the simulation test is carried out in the simulation model for reducing the test cost, the optional numerical range of the parameter to be calibrated is not limited by the cost, the value to be measured can be preliminarily determined from the large-range optional numerical range in a high-efficiency and low-cost mode, then the actual vehicle test is carried out, the more accurate target calibration value is obtained, the subjective experience capability of the calibration personnel is not relied on, and the high-efficiency and low-cost calibration is realized.
Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein in detail. It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
The following are device embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.
Fig. 3 is a schematic diagram of a calibration device for control parameters according to an embodiment of the present application. As shown in fig. 3, the calibration device includes:
the obtaining module 301 is configured to obtain a calibration policy, where the calibration policy includes a calibration background condition, a parameter to be calibrated, and an expected result characteristic of the parameter to be calibrated;
the model building module 302 is configured to build a simulation model corresponding to the real vehicle under the calibration background working condition based on the calibration background working condition;
the value processing module 303 is configured to determine a plurality of selectable values according to the parameter to be calibrated;
the simulation test module 304 is configured to assign, for each optional value, the optional value to a parameter to be calibrated, and then perform a simulation test on the simulation model to obtain a corresponding simulation test result;
the value processing module 305 is further configured to determine an optional value corresponding to a simulation test result that meets the expected result characteristic as a value to be measured;
the real vehicle test module 306 is configured to assign a value to be measured to a parameter to be calibrated for each value to be measured, and then perform a real vehicle test on the real vehicle to obtain a corresponding real vehicle test result;
the value processing module 307 is further configured to determine an optimal test result from the real vehicle test results, and determine a value to be measured corresponding to the optimal test result as a target calibration value of the parameter to be calibrated.
According to the embodiment of the application, the simulation model is built, the simulation test is carried out in the simulation model for reducing the test cost, the optional numerical range of the parameter to be calibrated is not limited by the cost, the value to be measured can be preliminarily determined from the large-range optional numerical range in a high-efficiency and low-cost mode, then the actual vehicle test is carried out, the more accurate target calibration value is obtained, the subjective experience capability of the calibration personnel is not relied on, and the high-efficiency and low-cost calibration is realized.
In some specific embodiments, the numerical processing module 303 is specifically configured to:
acquiring a target value range of a parameter to be calibrated and the precision of the parameter to be calibrated;
and calculating according to the target value range and the precision to obtain a plurality of selectable values.
In some specific embodiments, the numerical processing module 303 is further configured to:
obtaining a target simulation result according to the expected result characteristics and the simulation test result, wherein the target simulation result is the simulation test result closest to the expected result characteristics;
and obtaining the difference absolute value of the expected result characteristic and the target simulation test result, if the difference absolute value is larger than the preset difference threshold value, obtaining the difference between the difference absolute value and the preset difference threshold value, adjusting the precision according to the difference, and then executing the step of calculating to obtain a plurality of optional numerical values according to the target value range and the precision.
In some specific embodiments, the desired resulting characteristics of the parameter to be calibrated vary with the parameter to be calibrated under calibration background conditions.
In some specific embodiments, the parameter to be calibrated includes a torque filtering parameter when the chassis torque reduction request is received when the calibration background condition is that the vehicle accelerates to a target vehicle speed and the desired result is characterized by no abrupt change in the torque curve during the torque reduction process.
In some specific embodiments, the simulated test results and the actual test results each comprise a set of test result values, and the desired result characteristic is a numerical variation characteristic of the test result values.
In some specific embodiments, based on the calibration background working condition, the process of establishing the simulation model corresponding to the real vehicle under the calibration background working condition includes:
based on the calibrated background working condition, establishing a simulation model corresponding to the real vehicle;
obtaining a background parameter of the real vehicle under a calibrated background working condition;
and adjusting the simulation model corresponding to the real vehicle until the background parameter of the simulation model is consistent with the background parameter of the real vehicle.
Fig. 4 is a schematic diagram of an electronic device 4 provided in an embodiment of the present application. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a processor 401, a memory 402 and a computer program 403 stored in the memory 402 and executable on the processor 401. The steps of the various method embodiments described above are implemented by processor 401 when executing computer program 403. Alternatively, the processor 401, when executing the computer program 403, performs the functions of the modules/units in the above-described apparatus embodiments.
The electronic device 4 may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the electronic device 4 and is not limiting of the electronic device 4 and may include more or fewer components than shown, or different components.
The processor 401 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.
The memory 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or a memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device 4. Memory 402 may also include both internal storage units and external storage devices of electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit.
The integrated modules/units may be stored in a readable storage medium if implemented in the form of software functional units and sold or used as stand-alone products. Based on such understanding, the present application implements all or part of the flow in the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a readable storage medium, where the computer program may implement the steps of the method embodiments described above when executed by a processor. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The readable storage medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the readable storage medium may be appropriately scaled according to the requirements of jurisdictions in which such legislation and patent practice, for example, in some jurisdictions, the readable storage medium does not include electrical carrier signals and telecommunication signals according to the legislation and patent practice.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A method for calibrating a control parameter, comprising:
obtaining a calibration strategy, wherein the calibration strategy comprises a calibration background working condition, parameters to be calibrated and expected result characteristics of the parameters to be calibrated;
based on the calibration background working condition, establishing a simulation model corresponding to the real vehicle under the calibration background working condition;
determining a plurality of selectable values according to the parameter to be calibrated, assigning the selectable values to the parameter to be calibrated for each selectable value, and then performing a simulation test on the simulation model to obtain a corresponding simulation test result;
determining the optional numerical value corresponding to the simulation test result which accords with the expected result characteristic as a numerical value to be measured;
for each value to be measured, assigning the value to be measured to the parameter to be calibrated, and then performing a real vehicle test on the real vehicle to obtain a corresponding real vehicle test result;
and determining an optimal test result from the real vehicle test result, and determining the value to be measured corresponding to the optimal test result as a target calibration value of the parameter to be calibrated.
2. The method of claim 1, wherein said determining a number of selectable values from the parameter to be calibrated comprises:
acquiring a target value range of the parameter to be calibrated and the precision of the parameter to be calibrated;
and calculating according to the target value range and the precision to obtain a plurality of selectable values.
3. The method according to claim 2, wherein the assigning the selectable values to the parameters to be calibrated performs a simulation test on the simulation model, and further comprises, after obtaining the corresponding simulation test results:
obtaining a target simulation result according to the expected result characteristic and the simulation test result, wherein the target simulation result is the simulation test result closest to the expected result characteristic;
and obtaining the absolute value of the difference between the expected result characteristic and the target simulation test result, if the absolute value of the difference is larger than a preset difference threshold, obtaining the difference between the absolute value of the difference and the preset difference threshold, adjusting the precision according to the difference, and then executing the step of calculating to obtain a plurality of selectable values according to the target value range and the precision.
4. The method of claim 1, wherein the desired resulting characteristic of the parameter to be calibrated varies with the parameter to be calibrated under the calibration background conditions.
5. The method of claim 4, wherein the parameter to be calibrated comprises a torque filtering parameter when the chassis torque reduction request is received when the calibrated background condition is vehicle acceleration to a target vehicle speed and the desired result is characterized by no abrupt change in torque curve during torque reduction.
6. The method of claim 1, wherein the simulated test results and the actual test results each comprise a set of test result values, and wherein the desired result characteristic is a numerical variation characteristic of the test result values.
7. The method according to any one of claims 1 to 6, wherein the process of establishing a simulation model corresponding to the real vehicle under the calibration background condition based on the calibration background condition comprises:
based on the calibrated background working condition, establishing a simulation model corresponding to the real vehicle;
acquiring the background parameters of the real vehicle under the calibrated background working condition;
and adjusting a simulation model corresponding to the real vehicle until the background parameter of the simulation model is consistent with the background parameter of the real vehicle.
8. A calibration device for control parameters, comprising:
the system comprises an acquisition module, a calibration module and a calibration module, wherein the acquisition module is used for acquiring a calibration strategy, and the calibration strategy comprises a calibration background working condition, parameters to be calibrated and expected result characteristics of the parameters to be calibrated;
the model building module is used for building a simulation model corresponding to the real vehicle under the calibration background working condition based on the calibration background working condition;
the numerical processing module is used for determining a plurality of selectable numerical values according to the parameter to be calibrated;
the simulation test module is used for assigning the selectable values to the parameters to be calibrated according to each selectable value, and then performing simulation test on the simulation model to obtain a corresponding simulation test result;
the numerical processing module is further configured to determine the optional numerical value corresponding to the simulation test result that meets the expected result characteristic as a numerical value to be actually measured;
the real vehicle test module is used for assigning the value to be measured to the parameter to be calibrated for each value to be measured, and then carrying out real vehicle test on the real vehicle to obtain a corresponding real vehicle test result;
the numerical processing module is further configured to determine an optimal test result from the real vehicle test results, and determine the value to be measured corresponding to the optimal test result as a target calibration value of the parameter to be calibrated.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when the computer program is executed.
10. A readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116776648A (en) * | 2023-08-22 | 2023-09-19 | 中汽研（天津）汽车工程研究院有限公司 | Simulation model calibration and structure optimization method for vehicle type thermal management system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116776648A (en) * | 2023-08-22 | 2023-09-19 | 中汽研（天津）汽车工程研究院有限公司 | Simulation model calibration and structure optimization method for vehicle type thermal management system |
| CN116776648B (en) * | 2023-08-22 | 2023-10-20 | 中汽研（天津）汽车工程研究院有限公司 | Simulation model calibration and structure optimization method for vehicle type thermal management system |
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