WO2021135788A1

WO2021135788A1 - Brake table updating method and apparatus, computer device and storage medium

Info

Publication number: WO2021135788A1
Application number: PCT/CN2020/133099
Authority: WO
Inventors: 刘志龙; 钟华; 王一炜; 韩旭
Original assignee: 广州文远知行科技有限公司
Priority date: 2019-12-31
Filing date: 2020-12-01
Publication date: 2021-07-08
Also published as: CN110979287A; CN110979287B

Abstract

A brake table updating method and apparatus, a computer device and a storage medium. The method comprises: collecting actual brake parameters of a brake pedal when a vehicle brakes (S501); dividing the actual brake parameters into a plurality of groups according to a preset dimension (S502); calculating reference brake parameters according to the actual brake parameters in the groups (S503); and updating the reference brake parameters to a brake table (S504). Thus, the brake table is automatically updated, the precision of the brake table is ensured, the frequency at which the brake table is updated is improved, and the safety of automatic driving is ensured.

Description

Method, device, computer equipment and storage medium for updating brake table

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office with application number 201911418588.1 on December 31, 2019. The entire content of this application is incorporated into this application by reference.

Technical field

This application relates to the technical field of automatic driving, for example, to a method, device, computer equipment, and storage medium for updating a brake meter.

Background technique

With the continuous improvement of high-precision sensors and deep learning, autonomous driving technology is becoming more and more mature, in closed parks, point-to-point line cargo transportation and other application scenarios, such as port container transportation, trunk logistics transportation, mining area, industrial area transportation operations And so on, vehicles have gradually applied autonomous driving.

When a vehicle is driving automatically, a brake table is usually configured. When a brake command is received, the brake table is used to adjust the brake pedal to achieve braking.

In order to generate a brake table with reasonable accuracy, it is usually to perform dozens of standardized brake tests on the vehicle, manually collect relevant data and analyze it, and write the results of the analysis into the brake table.

As the scale of vehicles grows, there are differences between different vehicles, so that a single brake table cannot match all vehicles. In order to ensure the accuracy of braking, different brake tables are generated for different vehicles, and different vehicles are allowed to use different brakes. table.

However, the process of manually generating the brake table is relatively cumbersome, which is not only costly, but also slows the update of the brake table, which is especially obvious when there are more vehicles.

Summary of the invention

The present application provides a method, device, computer equipment, and storage medium for updating a brake table, so as to solve the problem that the process of manually generating a brake table is relatively cumbersome, not only high in cost, but also slower updating of the brake table.

In the first aspect, an embodiment of the present application provides a method for updating a brake meter, including:

Collect the actual braking parameters of the brake pedal when the vehicle is braking;

Divide the actual braking parameters into multiple groups according to preset dimensions;

Calculating a reference braking parameter according to the actual braking parameter in the group;

Update the reference braking parameters to the braking table.

In the second aspect, an embodiment of the present application also provides a method for updating a brake meter, including:

Receiving a braking command, where the braking command has a commanded acceleration;

In response to the braking command, look up the reference process value corresponding to the commanded acceleration from a preset braking table;

Brake the brake pedal according to the reference process value;

Determine the actual braking acceleration and the actual progress value that the brake pedal is subjected to;

The braking table is updated by using the actual progress value and the actual braking acceleration as actual braking parameters.

In the third aspect, an embodiment of the present application also provides a device for updating a brake meter, including:

The actual braking parameter collection module is used to collect the actual braking parameters of the brake pedal when the vehicle is braking;

The actual braking parameter grouping module is used to divide the actual braking parameters into multiple groups according to preset dimensions;

A reference braking parameter calculation module, configured to calculate a reference braking parameter according to the actual braking parameter in the group;

The brake table update module is used to update the reference brake parameters to the brake table.

In a fourth aspect, an embodiment of the present application also provides a device for updating a brake meter, including:

The braking command receiving module is used to receive a braking command, and the braking command has a command acceleration;

The reference process value search module is configured to search for the reference process value corresponding to the commanded acceleration from a preset brake table in response to the brake command;

The brake module is used to brake the brake pedal according to the reference process value;

The actual braking parameter determination module is used to determine the actual braking acceleration and the actual progress value that the brake pedal bears;

The braking table update module is used to update the braking table using the actual progress value and the actual braking acceleration as actual braking parameters.

In a fifth aspect, an embodiment of the present application also provides a computer device, and the computer device includes:

One or more processors;

Memory, used to store one or more programs;

When the one or more programs are executed by the one or more processors, the one or more processors implement the method for updating the brake table as described in any one of the first aspect and the second aspect.

In a sixth aspect, the embodiments of the present application also provide a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can realize the method described in any one of the first and second aspects. How to update the brake table.

In this embodiment, the actual braking parameters of the brake pedal when the vehicle is braking are collected, the actual braking parameters are divided into multiple groups according to preset dimensions, and the reference braking parameters are calculated according to the actual braking parameters in the groups, and the The reference brake parameters are updated to the brake table, and the actual brake parameters during braking are collected by the vehicle, and the server is provided to analyze and update the brake table, which realizes the framework of automatically updating the brake table, reducing or eliminating the need for technicians to manually update the system. In the case of a large number of vehicles, the brake table is updated by different dimensions to ensure the accuracy of the brake table, which can greatly reduce the cost, and the frequency of updating the brake table can be increased to ensure the safety of automatic driving.

Description of the drawings

FIG. 1 is a flowchart of a method for updating a brake table provided by Embodiment 1 of the application;

FIG. 2 is a model diagram of acceleration provided in Embodiment 1 of the application;

Figure 3 is a schematic diagram of the framework for updating the brake table in this application;

FIG. 4 is a flowchart of a method for updating a brake table provided in the second embodiment of the present application;

FIG. 5 is a flowchart of a method for updating a brake table provided in the third embodiment of the present application;

FIG. 6A is a schematic diagram of monotonicity provided in the second embodiment of the present application;

FIG. 6B is another schematic diagram of monotonicity provided in the second embodiment of the present application;

FIG. 7 is a schematic structural diagram of a device for updating a brake meter provided in the fourth embodiment of the application; FIG.

FIG. 8 is a schematic structural diagram of a device for updating a brake meter provided in the fifth embodiment of the application; FIG.

FIG. 9 is a schematic structural diagram of a computer device provided in Embodiment 6 of this application.

Detailed ways

The application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described here are only used to explain the application, but not to limit the application. In addition, it should be noted that, for ease of description, the drawings only show a part of the structure related to the present application instead of all of the structure.

Example one

Figure 1 is a flow chart of a method for updating a brake meter provided in the first embodiment of the application. This embodiment can be applied to a situation where the vehicle automatically collects data and uploads the server to the server, and the server automatically updates the brake meter. The device for updating the brake table can be implemented by the device for updating the brake table. The device for updating the brake table can be implemented by software and/or hardware, and can be configured in a computer device, which can be configured in a vehicle, such as ADAS (Advanced Driving Assistant System). Specifically include the following steps:

S101. Receive a brake command.

In this embodiment, as shown in Fig. 3, in the local workstation, a ROS message is published in the gibraltar code base through a control program (Control). The ROS message contains the following data and is published at a fixed frequency:

Speed; brake command; the actual braking acceleration experienced by the brake pedal.

Among them, it receives the brake command issued when the following conditions are met:

Automatic driving mode (AUTO mode); the speed is greater than a preset threshold, such as 2 meters per second.

Further, the automatic driving mode is a mode in which the vehicle itself has environmental awareness, path planning, and autonomously realizes vehicle control, that is, uses electronic technology to control the vehicle for human-like driving.

According to the degree of grasp of vehicle control tasks, the driving mode can be divided into L0 non-automation (No Automotaion), L1 driver assistance (Driver Assistance), L2 partial automation (Partial Automation), L3 conditional automation (Conditional Automation), L4 high Automation (High Automation), L5 Full Automation (Full Automation).

The automatic driving mode in this embodiment can refer to the driving modes in L1-L5, where the system performs auxiliary functions in L1-L3, and when it reaches L4, the vehicle driving will be handed over to the system. Therefore, the automatic driving mode can be L4, Driving mode in L5.

S102. In response to the braking command, look up a reference process value corresponding to the commanded acceleration from a preset braking table.

In this embodiment, the braking command includes a command acceleration, that is, an instruction to adjust the brake pedal.

A configuration file is stored in the vehicle, and the configuration file records the correlation between the progress value of the brake pedal and the acceleration.

In an example, the relationship between the progress value of the pedal and the acceleration is shown in Table 1:

Table 1

brake pedal[-]brake pedal[-]	a[m/s2]a[m/s2]
0.000.00	0.000.00
0.050.05	-0.01-0.01
0.100.10	-0.40-0.40
0.150.15	-0.60-0.60
0.200.20	-1.00-1.00

…

Among them, brake pedal is the progress value of the pedal, and a is the reference braking acceleration.

Further, the configuration file is a way to read the brake table in the code library. For example, the configuration file of the association relationship in Table 1 is:

In this embodiment, the configuration file includes a brake table, that is, the brake table is added to the controller as the currently effective configuration file.

In the configuration file (that is, the brake table), the command acceleration is used as a key word, and the process value corresponding to the command acceleration is retrieved from the association relationship between the process value of the brake pedal and the acceleration, as the reference process value.

S103: Braking the brake pedal according to the reference process value.

In this embodiment, the reference process value is taken as the target of braking, and the brake pedal is applied to brake to achieve braking.

In an example, a solenoid valve is installed on the pipeline between the fluid outlet of the foot brake master valve of the vehicle brake system and the brake, and the solenoid valve is controlled to open and close according to the reference process value to adjust the output fluid pressure. Thereby adjusting the braking force of the brake to reach the reference process value.

S104. Determine the actual braking acceleration and the actual progress value that the brake pedal bears.

In addition to the force applied during braking, the brake pedal is also affected by other forces, such as gravity, the force of motion inertia, etc. At this time, the progress value and acceleration may change.

Therefore, after excluding other force factors, the acceleration actually experienced by the brake pedal can be measured as the actual braking acceleration, and the actual progress value of the brake pedal can be measured as the actual progress value.

In the specific implementation, acceleration sensors are installed in the vehicle, such as GPS (Global Positioning System) and IMU (Inertial measurement unit). The GPS update frequency is low, but there is no error accumulation for each update. , Because each time the information does not depend on the previous value. The IMU update frequency is high, but there is error accumulation in the update process, because the position information and attitude information are obtained by integration. Therefore, the two can be complementary, long-term positioning can be achieved through GPS, and IMU can be used for positioning between two GPS position updates, so as to achieve more accurate real-time positioning.

As shown in Figure 2, the acceleration output by the acceleration sensor is read to measure the total acceleration a _{measured the} brake pedal bears.

In addition, the gravitational acceleration borne by the brake pedal in the braking direction is calculated. Further, the gravitational acceleration borne by the brake pedal in the braking direction refers to the component of the gravitational acceleration along the car body as the x-axis direction. At this time, the acceleration can be read The pitch angle θ output by the sensor is the gravitational acceleration g _{body that the brake pedal bears in the braking direction, x} = g×sinθ=9.81×sinθ.

Furthermore, query the free acceleration of the brake pedal at the current speed a _{pedal free} , the so-called free acceleration, that is, at a constant speed, the accelerator pedal (that is, the accelerator pedal) and the brake pedal are both released (zero acceleration, zero braking) ). In the case of the experiment, the vehicle can be accelerated to a certain speed, the accelerator pedal and the brake pedal can be released, the vehicle will slide at this speed, and the acceleration sensor readings will be recorded. For example, the free acceleration a _{pedal free} is Raw IMU reading along the car-x axis.

The correlation between the free acceleration a _{pedal free} and the vehicle speed v _ego can be recorded in a free acceleration table, as shown in Table 2:

Table 2

v _ego[m/s] v _ego [m/s]	a _pedal free[m/s ²] a _{pedal free} [m/s ² ]
0.00.0	0.30.3
1.31.3	0.00.0
55	-0.4-0.4
1010	-0.6-0.6
3535	-1.0-1.0
……...	……...

After the current speed of the vehicle is determined, the speed can be used as a key word, and the free acceleration associated with the speed can be retrieved in the free acceleration table.

Since the delay of the braking system is very small, _{based on the total acceleration a measured} , the heavy acceleration g _body,x and the free acceleration a _{pedal free} can be subtracted to obtain the actual braking acceleration a _pedal withstood by the brake pedal, which is:

a _pedal ＝a _measured -a _{pedal free} -g _body,x

Of course, the above method of calculating the actual braking acceleration is just an example. When implementing this embodiment, the longitudinal dynamics model of other vehicles can be set according to the actual situation, and the corresponding method of calculating the actual braking acceleration can be used. This is not restricted. In addition, in addition to the foregoing method of calculating the actual braking acceleration, those skilled in the art can also use other methods of calculating the actual braking acceleration according to actual needs, and this embodiment does not impose limitations on this.

S105. Update the braking table using the actual progress value and the actual braking acceleration as actual braking parameters.

In the specific implementation, as shown in Figure 3, the actual process value and actual braking acceleration are carried as the actual braking parameters, published to the IoT (Internet of Things, Internet of Things) module, and then through the MQTT (Message Queuing Telemetry Transport) , Message queue telemetry transmission) protocol is uploaded to the server in the cloud, the server is used to update the brake table according to the actual braking parameters, and distribute the updated brake table to each vehicle.

It should be noted that the way the server updates the brake table according to the actual brake parameters is basically similar to the application of the third embodiment, so the description is relatively simple, and the relevant parts can be referred to the part of the description of the third embodiment. This embodiment is here. Do not elaborate.

In this embodiment, the braking command is received, and the braking command contains the command acceleration. In response to the braking command, the reference process value corresponding to the command acceleration is searched from a preset configuration file. The configuration file includes a braking table, which is paired according to the reference process value. The brake pedal is used for braking, and the actual braking acceleration and actual progress value of the brake pedal are determined, and the actual progress value and actual braking acceleration are used as the actual braking parameters to update the brake table, and the actual braking during braking is collected by the vehicle Parameters, provide the server to analyze and update the brake table, realize the framework of automatically updating the brake table, reduce or eliminate the need for technicians to manually update the brake table, in the case of more vehicles, update the brake table by distinguishing the dimensions to ensure The accuracy of the brake table can greatly reduce the cost, and the frequency of updating the brake table can be increased to ensure the safety of automatic driving.

Example two

Fig. 4 is a flowchart of a method for updating a brake table provided in the second embodiment of the application. This embodiment is based on the foregoing embodiment and further adds processing operations of feedback braking and replacement of configuration files. The method specifically includes the following step:

S401. Receive a brake command.

Among them, there is a command acceleration in the brake command.

S402. In response to the braking command, look up a reference process value corresponding to the commanded acceleration from a preset braking table.

S403: Braking the brake pedal according to the reference process value.

S404. Calculate the difference between the command acceleration and the total acceleration borne by the brake pedal as an acceleration error.

S405: Adjust the progress value of the brake pedal based on the acceleration error.

In S403, _{the brake pedal is braked by the feedforward control pedal feedforward} (that is, the reference process value is searched from the brake table). In addition, in S404 and S405, the self-tracking feedback component can be used for feedback control. pedal _feedback .

In this embodiment, it is the acceleration error a _error _{between the commanded acceleration a cmd} and the total acceleration a _measured by the brake pedal:

a _error = a _cmd -a _measured

At this time, the _{brake pedal is adjusted for the acceleration error a error} , that is, the current progress value of the brake pedal is adjusted, so as to reduce the acceleration error a _error .

On the one hand, if a _error > 0, that is, a _cmd > a _measured , at this time, the progress value can be applied to the brake pedal.

On the other hand, if a _error <0, that is, a _cmd <a _measured , at this time, the process value can be reduced for the brake pedal.

It should be noted that the current process value of the brake pedal can be _{the reference process value after the feedforward control pedal feedforward} , or the process value after the one or more feedback control pedal _feedback , which is not limited in this embodiment. .

S406: Determine the actual braking acceleration and the actual progress value that the brake pedal bears.

When the feedforward control pedal _feedforward and feedback control pedal _feedback are applied, the current actual acceleration and progress value of the brake pedal can be measured as the actual braking acceleration and actual progress value.

S407. Update the braking table using the reference process value and the actual braking acceleration as actual braking parameters.

S408: If the brake meter is abnormal, replace the brake meter with the preset first or second meter.

In this embodiment, in addition to the brake table, the first and second configuration tables are also stored, and will not be loaded into the controller. When the brake table is abnormal, such as loss, operation error, etc., Replace the first or second table with the brake table as a new configuration file to ensure automatic braking.

Among them, the first configuration table is used to record the process value and braking acceleration configured for a certain vehicle model. This is the default configuration file and is usually used when the vehicle is reconfigured.

The second table is used to record the process value and braking acceleration of the current vehicle configuration by the vehicle manufacturer. It is generally generated through standard braking experiments, and is usually configured in the code base of vehicles with poor braking performance.

Furthermore, the priority of the first configuration table is higher than the priority of the second configuration table, that is, in the case of both the first configuration table and the second configuration table, the first configuration table is replaced with the brake table as the new one. If the configuration file does not have the first configuration but the second configuration, replace the second configuration with the brake table as a new configuration file.

Example three

Fig. 5 is a flowchart of a method for updating a brake meter provided in the third embodiment of the application. This embodiment can be applied to a situation where the actual brake parameters of the vehicle brake are collected and the brake meter of the vehicle is automatically updated. The brake meter update device can be implemented by software and/or hardware, and can be configured in computer equipment, such as personal computers, servers, workstations, etc. The method specifically includes the following steps :

S501: Collect actual braking parameters of the brake pedal when the vehicle is braking.

As shown in Figure 3, in the cloud server, the MQTT Broker (message forwarder) receives the ROS message sent by the IoT module in the vehicle through the MQTT protocol. The ROS message carries the actual braking parameters. The cloud lambda service (Lambda is a non- The server computing service, which can run code to respond to events) will be triggered, it will push the message to the Logging Service, and the Logging Service will write the ROS message to the log file.

In this embodiment, the actual braking parameter can be the braking parameter of the vehicle _{under the action of the feedforward control pedal feedforward} , or the braking parameter of the vehicle _{under the action of the feedback control pedal feedback} , or the braking parameter of the vehicle under the action of the feedforward control. Control pedal _feedforward and feedback control pedal _feedback under the combined effect of braking parameters, this embodiment does not impose restrictions on this.

Furthermore, the actual braking parameters include the actual process value and the actual braking acceleration. At this time, the actual process value and the actual braking acceleration can be the process value and the braking acceleration of the vehicle under the action of the _{feedforward control pedal feedforward.} It can be _{the process value and braking acceleration of the vehicle under the action of feedback control pedal feedback} , and it can also be the process value and braking acceleration of the vehicle under the combined action of _{feedforward control pedal feedforward} and feedback control pedal _{feedback. This embodiment does not} Be restricted.

S502. Divide the actual braking parameters into multiple groups according to preset dimensions.

In the cloud server, the actual braking parameters are divided into multiple groups according to the preset dimensions, waiting to be analyzed, and the braking table is updated.

Among them, if the size of the log file exceeds a preset threshold, such as 64MB (R1bi), the log file is split to speed up the performance of subsequent analysis.

In an example, as shown in Figure 3, the log file can be selected according to CAR_ID (vehicle model) and DATE (time), the log file is grouped (Group), and the log file is compressed (Compress) as. Compressed files in formats such as gz are stored in the storage server S3.

Specifically, if the preset update time is reached, the actual braking parameters in the first time period (such as 1 month) before the current update time are extracted, and there is a second time period between two adjacent update times ( For example, 1 week), the actual braking parameters belonging to the same vehicle model are divided into the same group.

Of course, the above-mentioned classification dimensions are just examples. When implementing this embodiment, other classification dimensions can be set according to actual conditions, for example, the service life of the vehicle, the total driving distance of the vehicle, etc., which are not included in this embodiment. limit. In addition, in addition to the above-mentioned classification dimensions, those skilled in the art can also adopt other classification dimensions according to actual needs, and this embodiment does not limit this.

S503: Calculate a reference braking parameter according to the actual braking parameter in the group.

As shown in Figure 3, from each group in the storage server S3, the actual braking parameters of the vehicles in the group are continuously analyzed, and the statistics and corrections of the braking are automatically performed, so as to generate reasonable reference braking parameters.

In an embodiment of the present application, the actual braking parameters include the actual progress value of the brake pedal during braking and the actual braking acceleration experienced by the brake pedal, and the reference braking parameters include the reference progress value and the reference braking acceleration.

In this embodiment, S503 includes the following steps:

S5031. Generate multiple bins for each of the groups.

Among them, each container (bin) is associated with a process range, and the length of the process range is generally the same and continuous.

For example, bin (bin) [0.00, 0.10] represents the process range from 0.00 to 0.10.

S5032. If the actual process value is within the process range, write the actual braking acceleration into the container.

The actual process value is successively compared with the process range of each container (bin). If the actual process value is within a certain process range, the corresponding actual braking acceleration is written into the container (bin) corresponding to the process range.

Furthermore, in order to ensure the accuracy of statistics and reduce statistical errors, data that is useless for statistics can be filtered through the following two criteria:

1. The container meets the minimum number of data points

If the amount of actual braking acceleration in the container is greater than or equal to the preset threshold, the container is determined to be valid and the data in the container is retained.

If the amount of actual braking acceleration in the container is less than the preset threshold, the container is confirmed to be invalid and the container is filtered out.

2. The braking acceleration is negative

If the actual braking acceleration is a negative value, it is determined that the actual braking acceleration is valid.

If the actual braking acceleration is a non-negative value, the actual braking acceleration is filtered out.

Of course, the foregoing filtering criteria are only examples. When implementing this embodiment, other filtering criteria can be set according to actual conditions, etc., which is not limited in this embodiment. In addition, in addition to the above-mentioned filtering standards, those skilled in the art can also adopt other filtering standards according to actual needs, and this embodiment does not limit this.

S5033. Take a value in the process range of the container as a reference process value.

In this embodiment, certain statistical characteristics can be used to take a value from the process range of the container as the reference process value.

In one example, the middle value of the process range of the container is calculated as the reference process value.

For example, the reference process value of the container (bin) [0.00, 0.10] is 0.05.

Of course, in addition to the median, other values can also be set as the reference process value, such as the mode, the average, etc., which is not limited in this embodiment.

S5034. Generate a reference braking acceleration with reference to the actual braking acceleration in the container.

In this embodiment, the reference braking acceleration can be generated by referring to the actual braking acceleration in the container through certain statistical characteristics.

In one example, the median or average value of the actual braking acceleration in the container is calculated as the reference braking acceleration.

Of course, in addition to the median or average value, other values can also be set as the reference braking acceleration, such as the mode, which is not limited in this embodiment.

In this embodiment, S503 further includes the following steps:

S5035. Sort the reference process values in ascending order.

S5036. Determine the monotonicity of the reference braking acceleration associated with the reference process value after the sorting.

S5037: If the monotonicity is monotonically decreasing, it is determined that the reference braking acceleration is valid.

In this embodiment, the reference process values are sorted in ascending order, that is, the reference process value that is sorted first is smaller, and the reference process value that is sorted later is larger.

At the same time, the reference braking acceleration corresponding to the reference process value will also be sorted.

By sorting the reference braking acceleration, the monotonicity of the reference braking acceleration can be determined to check the validity of the reference braking acceleration.

If the reference braking acceleration decreases monotonically, the reference braking acceleration is considered valid, otherwise, the reference braking acceleration is considered invalid.

In a specific implementation, after sorting, the acceleration difference between two adjacent reference braking accelerations can be calculated, that is, the reference braking acceleration of the next sorting minus the reference braking acceleration of the first sorting, that is, the acceleration difference Δa =a _i+1 -a _i , where i is a positive integer.

If the acceleration difference Δa is negative (that is, less than zero), it is considered to be in conformity with monotonic decline, and if the acceleration difference Δa is non-negative (that is, greater than or equal to zero), it is considered not to conform to the monotonic decline.

The reference braking acceleration that does not conform to the monotonic decrease can be corrected.

Specifically, the first acceleration and the second acceleration are sequentially determined from the reference braking accelerations sorted in ascending order, wherein the reference process value corresponding to the first acceleration is sorted before the reference process value corresponding to the second acceleration.

If the difference between the first acceleration and the second acceleration is greater than or equal to zero, the reference process value corresponding to the second acceleration and the second acceleration is deleted.

Traversing all the reference braking accelerations in turn can ensure the monotonic decrease of the reference braking accelerations.

For example, as shown in FIG. 6A, taking the reference process value (brake pedal) as the X axis and the reference braking acceleration (a) as the Y axis, a coordinate axis is established, and data points representing the reference process value and the reference braking acceleration are drawn.

In this example, the data points are traversed. In a certain traversal, the reference braking acceleration corresponding to the _{reference process value P 5} _{is the first acceleration, and the reference braking acceleration corresponding to the reference process value P 4} is the second acceleration. At this time, a first acceleration difference by subtracting the second acceleration is greater than zero, it can be shown in Figure 6B, the process of deleting the reference value P ₅ and its corresponding braking acceleration, braking to maintain the reference acceleration decreases monotonically.

S504. Update the reference braking parameter to the braking table.

As shown in Figure 3, after the reference braking parameters are calculated, they can be updated to the braking table. The relationship between the reference process value and the reference braking acceleration is established in the braking table, and it is written into ( hive) to the Analysis Report (Analysis Report).

Furthermore, when the dimensions in S502 include time and vehicle model, the reference brake parameters calculated for the vehicle model are updated to the brake table corresponding to the vehicle model, and the time when the brake table is generated is recorded .

As shown in Figure 3, when the newly generated brake table is detected, the control program (Control, such as bash script) of the HTTP (Hyper Text Transfer Protocol) service can be called to automatically distribute the brake table To the vehicle that matches the dimension in S502, the vehicle is stored in the car_data folder of the local workstation, and the vehicle can be used to brake the brake pedal according to the reference brake parameters when braking.

Furthermore, when the dimension in S502 includes the vehicle model, the vehicle model associated with the brake table is determined, and the brake table is distributed to vehicles belonging to the vehicle model.

It should be noted that the way the vehicle brakes according to the reference brake parameters in the brake table and collects the actual brake parameters is basically similar to the application in the first and second embodiments, so the description is relatively simple. The first and second part of the description is sufficient, and this embodiment will not be described in detail here.

Example four

FIG. 7 is a schematic structural diagram of a device for updating a brake meter provided in the fourth embodiment of the application. The device may specifically include the following modules:

The actual braking parameter collection module 701 is used to collect the actual braking parameters of the brake pedal when the vehicle is braking; the actual braking parameter grouping module 702 is used to divide the actual braking parameters into multiple groups according to preset dimensions The reference brake parameter calculation module 703 is used to calculate the reference brake parameters according to the actual brake parameters in the group; the brake table update module 704 is used to update the reference brake parameters to the brake table in.

In an embodiment of the present application, the actual braking parameter grouping module 702 includes:

The actual braking parameter extraction sub-module is used to extract the actual braking parameters in the first time period before the current update time if the preset update time is reached, and there is a second time interval between two adjacent update times Segment; model division sub-module, used to divide the actual braking parameters belonging to the same vehicle model into the same group.

In an embodiment of the present application, the actual braking parameter includes the actual progress value of the brake pedal during braking, the actual braking acceleration experienced by the brake pedal, and the reference braking parameter includes a reference progress value, a reference Braking acceleration.

The reference braking parameter calculation module 703 includes:

The container generation sub-module is used to generate multiple containers for each of the groups, and each of the containers is associated with the process range; the actual braking acceleration write sub-module is used to if the actual process value is within the process range The actual braking acceleration is written into the container; the reference process value setting sub-module is used to take a value in the process range of the container as the reference process value; the reference braking acceleration generation sub-module is used The reference braking acceleration is generated by referring to the actual braking acceleration in the container.

In an embodiment of the present application, the reference braking parameter calculation module 703 further includes:

The container validity determination sub-module is used to determine that the container is valid if the actual braking acceleration amount in the container is greater than or equal to a preset threshold; the container filtering sub-module is used to determine if the actual braking acceleration in the container is If the amount of acceleration is less than a preset threshold, the container is filtered out; and/or,

The single acceleration valid determination sub-module is used to determine that the actual braking acceleration is valid if the actual braking acceleration is a negative value; the acceleration determination sub-module is used to determine if the actual braking acceleration is a non-negative value, Then filter out the actual braking acceleration.

In an example of the embodiment of the present application, the reference process value setting submodule includes:

The median setting sub-module is used to calculate the middle value of the process range of the container as a reference process value.

In an example of the embodiment of the present application, the reference braking acceleration generating submodule includes:

The statistical value calculation sub-module is used to calculate the median or average value of the actual braking acceleration in the container as a reference braking acceleration.

The ascending ordering sub-module is used to sort the reference process values in ascending order; the monotonicity determination sub-module is used to determine the monotonicity of the reference braking acceleration associated with the reference process values after the sorting; the overall acceleration valid determination sub-module, It is used to determine that the reference braking acceleration is valid if the monotonicity is monotonically decreasing.

The sorting acceleration determining sub-module is used to sequentially determine the first acceleration and the second acceleration from the reference braking accelerations sorted in ascending order, and the reference process value corresponding to the first acceleration is sorted before the reference process value corresponding to the second acceleration The data deletion sub-module is configured to delete the reference process value corresponding to the second acceleration and the second acceleration if the difference between the second acceleration and the third acceleration is greater than or equal to zero.

In an embodiment of this application, it further includes:

The brake table is distributed to the module for distributing the brake table to vehicles matching the dimension, and the vehicle is used to brake the brake pedal according to the reference brake parameter when braking.

In an embodiment of the present application, distributing the brake meter to the module includes:

The vehicle model determination sub-module is used to determine the vehicle model associated with the brake table; the vehicle model distribution sub-module is used to distribute the brake table to vehicles belonging to the vehicle model.

The device for updating the brake table provided by the embodiment of the present application can execute the method for updating the brake table provided by any embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.

Example five

FIG. 8 is a schematic structural diagram of a device for updating a brake meter provided in the fifth embodiment of the application. The device may specifically include the following modules:

The brake command receiving module 801 is used to receive a brake command with command acceleration; the reference process value search module 802 is used to search for the command from a preset brake table in response to the brake command The reference process value corresponding to the acceleration; the braking module 803 is used to brake the brake pedal according to the reference process value; the actual braking parameter determination module 804 is used to determine the actual braking acceleration experienced by the brake pedal , The actual process value; the brake table update module 805, used to update the brake table using the actual process value and the actual braking acceleration as actual braking parameters.

In an embodiment of the present application, the braking command receiving module 801 includes:

The conditional receiving sub-module is used to receive the brake command issued when the following conditions are met:

Autopilot mode and the speed is greater than the preset threshold.

In an embodiment of this application, it further includes:

The acceleration error calculation module is used to calculate the difference between the commanded acceleration and the total acceleration borne by the brake pedal as an acceleration error; the brake pedal adjustment module is used to adjust the brake based on the acceleration error The progress value of the pedal.

In an embodiment of the present application, the actual braking parameter determination module 804 includes:

The total acceleration measurement sub-module is used to measure the total acceleration borne by the brake pedal; the gravitational acceleration calculation sub-module is used to calculate the gravitational acceleration borne by the brake pedal in the braking direction; the free acceleration query sub-module is used to Query the free acceleration of the brake pedal at the current speed; the acceleration difference calculation sub-module is used to subtract the heavy acceleration and the free acceleration on the basis of the total acceleration to obtain the brake The actual braking acceleration experienced by the pedal.

In an embodiment of this application, it further includes:

The configuration file replacement module is used to replace the preset first or second configuration table with the brake table if the brake meter is abnormal; wherein, the first configuration table is used to record the The process value and braking acceleration of a vehicle model configuration. The second table is used to record the process value and braking acceleration of the current vehicle configuration by the vehicle manufacturer. The priority of the first table is higher than the first configuration table. The priority of the second configuration table.

Example Six

FIG. 9 is a schematic structural diagram of a computer device provided in Embodiment 6 of this application. As shown in Figure 9, the computer device includes a processor 900, a memory 901, a communication module 902, an input device 903, and an output device 904; the number of processors 900 in the computer device can be one or more. The processor 900 is taken as an example; the processor 900, the memory 901, the communication module 902, the input device 903, and the output device 904 in the computer equipment may be connected by a bus or other methods. In FIG. 9, the connection by a bus is taken as an example.

As a computer-readable storage medium, the memory 901 can be used to store software programs, computer-executable programs, and modules, such as the modules corresponding to the method for updating the brake table in this embodiment (for example, the brake table shown in FIG. 7). The actual braking parameter collection module 701, the actual braking parameter grouping module 702, the reference braking parameter calculation module 703, and the braking table updating module 704 in the table updating device; or, the updating of the braking table as shown in FIG. 8 The braking command receiving module 801, the reference process value searching module 802, the braking module 803, the actual braking parameter determination module 804 and the braking table updating module 805 in the device). The processor 900 executes various functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory 901, that is, realizes the above-mentioned method for updating the brake table.

The memory 901 may mainly include a program storage area and a data storage area. The program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of a computer device. In addition, the memory 901 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some examples, the memory 901 may further include a memory remotely provided with respect to the processor 900, and these remote memories may be connected to a computer device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The communication module 902 is used to establish a connection with the display screen and realize data interaction with the display screen.

The input device 903 can be used to receive input digital or character information, and to generate key signal input related to user settings and function control of the computer equipment, and can also be a camera for acquiring images and a pickup device for acquiring audio data.

The output device 904 may include audio equipment such as a speaker.

It should be noted that the specific composition of the input device 903 and the output device 904 can be set according to actual conditions.

The processor 900 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 901, that is, realizes the above-mentioned method for controlling the connection node of the electronic whiteboard.

The computer device provided in this embodiment can execute the method for updating the brake table provided in any embodiment of the present application, with specific corresponding functions and beneficial effects.

Example Seven

The seventh embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, a method for updating a brake table is realized.

If applied to a server, the method includes:

Collect the actual braking parameters of the brake pedal when the vehicle is braking; divide the actual braking parameters into multiple groups according to preset dimensions; calculate the reference braking parameters according to the actual braking parameters in the groups; The reference braking parameter is updated to the braking table.

If applied to vehicles, the method includes:

Receive a brake command, the brake command has a command acceleration; in response to the brake command, look up the reference process value corresponding to the command acceleration from a preset brake table; perform the brake pedal operation according to the reference process value Braking; determining the actual braking acceleration and the actual progress value that the brake pedal bears; using the actual progress value and the actual braking acceleration as actual braking parameters to update the braking table.

The computer program of the computer-readable storage medium provided in the embodiment of the present application is not limited to the method operations described above, and may also perform related operations in the method for updating the brake table provided in any embodiment of the present application.

Based on the above description of the implementation manners, this application can be implemented by software and necessary general-purpose hardware, or can be implemented by hardware. The technical solution of the present application can essentially be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access Random Access Memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including several instructions to make a computer device (which can be a personal computer, server, or network device, etc.) execute the various embodiments of this application Methods.

In the above embodiment of the device for updating the brake table, the units and modules included are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, each functional unit The specific names are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

Claims

A method for updating a brake table includes:

Collect the actual braking parameters of the brake pedal when the vehicle is braking;

Divide the actual braking parameters into multiple groups according to preset dimensions;

Calculating a reference braking parameter according to the actual braking parameter in the group;

Update the reference braking parameters to the braking table.
The method according to claim 1, wherein the dividing the actual braking parameters into a plurality of groups according to a preset dimension comprises:

If the preset update time is reached, extract the actual braking parameters in the first time period before the current update time, and there is a second time period between two adjacent update times;

The actual braking parameters belonging to the same vehicle model are divided into the same group.
The method according to claim 1, wherein the actual braking parameter includes an actual progress value of the brake pedal during braking, an actual braking acceleration experienced by the brake pedal, and the reference braking parameter includes a reference progress value , Reference braking acceleration;

The calculation of the reference braking parameter according to the actual braking parameter in the group includes:

For each of the groups, multiple containers are generated, and each of the containers is associated with a process range;

If the actual process value is within the process range, write the actual braking acceleration into the container;

Take a value in the process range of the container as a reference process value;

A reference braking acceleration is generated with reference to the actual braking acceleration in the container.
The method according to claim 3, wherein said calculating a reference braking parameter according to the actual braking parameters in said group for each said grouping further comprises:

If the amount of actual braking acceleration in the container is greater than or equal to a preset threshold, it is determined that the container is valid;

If the amount of actual braking acceleration in the container is less than a preset threshold, filter out the container;

and / or,

If the actual braking acceleration is a negative value, it is determined that the actual braking acceleration is valid;

If the actual braking acceleration is a non-negative value, the actual braking acceleration is filtered out.
The method according to claim 3, wherein the taking a value in the process range of the container as a reference process value comprises:

The middle value of the process range of the container is calculated as a reference process value.
The method according to claim 3, wherein the generating a reference braking acceleration with reference to the actual braking acceleration in the container comprises:

The median or average value of the actual braking acceleration in the container is calculated as the reference braking acceleration.
The method according to claim 3, wherein the calculating a reference braking parameter according to the actual braking parameter in the group further comprises:

Sort the reference process values in ascending order;

Determining the monotonicity of the reference braking acceleration associated with the reference process value after sorting;

If the monotonicity is monotonically decreasing, it is determined that the reference braking acceleration is valid.
8. The method according to claim 7, wherein said calculating a reference braking parameter according to said actual braking parameter in said grouping further comprises:

The first acceleration and the second acceleration are sequentially determined from the reference braking accelerations sorted in ascending order, and the reference process value corresponding to the first acceleration is sorted before the reference process value corresponding to the second acceleration;

If the difference between the first acceleration and the second acceleration is greater than or equal to zero, the reference process value corresponding to the second acceleration and the second acceleration is deleted.
The method according to any one of claims 1-8, further comprising:

The brake table is distributed to vehicles matching the dimensions, and the vehicle is used to brake the brake pedal according to the reference brake parameter when braking.
The method according to claim 9, wherein the distributing the brake meter to vehicles matching the dimension includes:

Determine the vehicle model associated with the brake table;

Distribute the brake meter to vehicles belonging to the vehicle model.
A method for updating a brake table includes:

Receiving a braking command, where the braking command has a commanded acceleration;

In response to the braking command, look up the reference process value corresponding to the commanded acceleration from a preset braking table;

Brake the brake pedal according to the reference process value;

Determine the actual braking acceleration and the actual progress value that the brake pedal is subjected to;

Update the braking table with the actual progress value and the actual braking acceleration as actual braking parameters.
The method according to claim 11, wherein said receiving a braking command comprises:

Receive the brake command issued when the following conditions are met:

Autopilot mode and the speed is greater than the preset threshold.
The method according to claim 11, further comprising:

Calculating the difference between the commanded acceleration and the total acceleration borne by the brake pedal as an acceleration error;

The progress value of the brake pedal is adjusted based on the acceleration error.
The method according to any one of claims 11-13, wherein the determining the actual braking acceleration and the actual progress value experienced by the brake pedal comprises:

Measuring the total acceleration experienced by the brake pedal;

Calculating the acceleration of gravity that the brake pedal bears in the braking direction;

Query the free acceleration of the brake pedal at the current speed;

On the basis of the total acceleration, the heavy acceleration and the free acceleration are subtracted to obtain the actual braking acceleration borne by the brake pedal.
The method according to any one of claims 11-13, further comprising:

If the brake meter is abnormal, replace the brake meter with the preset first or second meter;

Wherein, the first configuration table is used to record the process value and braking acceleration configured for a certain vehicle model, and the second configuration table is used to record the process value and braking acceleration configured by the vehicle manufacturer on the current vehicle. The priority of the first configuration table is higher than the priority of the second configuration table.
A device for updating a brake meter includes:

The actual braking parameter collection module is used to collect the actual braking parameters of the brake pedal when the vehicle is braking;

The actual braking parameter grouping module is used to divide the actual braking parameters into multiple groups according to preset dimensions;

A reference braking parameter calculation module, configured to calculate a reference braking parameter according to the actual braking parameter in the group;

The brake table update module is used to update the reference brake parameters to the brake table.
A device for updating a brake meter includes:

The braking command receiving module is used to receive a braking command, and the braking command has a command acceleration;

The reference process value search module is configured to search for the reference process value corresponding to the commanded acceleration from a preset brake table in response to the brake command;

The brake module is used to brake the brake pedal according to the reference process value;

The actual braking parameter determination module is used to determine the actual braking acceleration and the actual progress value that the brake pedal bears;

The braking table update module is used to update the braking table using the actual progress value and the actual braking acceleration as actual braking parameters.
A computer equipment including:

One or more processors;

Memory, used to store one or more programs;

When the one or more programs are executed by the one or more processors, the one or more processors implement the method for updating the brake table according to any one of claims 1-15.
A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the method for updating a braking table according to any one of claims 1-15 is realized.