CN111308932B

CN111308932B - Calibration method, device and equipment of brake system and storage medium

Info

Publication number: CN111308932B
Application number: CN202010115992.8A
Authority: CN
Inventors: 郭鼎峰; 朱振广; 谭益农
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2020-02-25
Filing date: 2020-02-25
Publication date: 2021-08-31
Anticipated expiration: 2040-02-25
Also published as: CN111308932A

Abstract

The application discloses a calibration method, a calibration device, calibration equipment and a storage medium of a brake system, and relates to the field of automatic driving. The specific implementation scheme is as follows: the method is applied to electronic equipment, the electronic equipment is respectively communicated with a starting system and a braking system of a target vehicle, and the method comprises the following steps: if a starting instruction sent by a starting system is monitored, a preset brake system model corresponding to a target vehicle is obtained; triggering at least one brake control instruction according to a preset brake system model, wherein each brake control instruction comprises a theoretical value of brake characteristic data and a corresponding pedal stroke; acquiring actual values of brake characteristic data under pedal travel in each brake control command; correcting the preset brake system model according to the theoretical value and the actual value of at least one group of brake characteristic data and a preset correction algorithm; and if the corrected brake system model meets the calibration completion condition, determining the brake system model meeting the calibration completion condition as the brake system model calibrated by the target vehicle.

Description

Calibration method, device and equipment of brake system and storage medium

Technical Field

The application relates to the technical field of data processing, in particular to an automatic driving technology.

Background

With the maturity of artificial intelligence technology, the automatic driving technology has also been developed rapidly. The braking system of the automatic driving vehicle is an important system, and the braking system needs to be calibrated in order to ensure the consistency of the control effect of the braking system and the stability of the riding feeling.

In the prior art, a manual calibration method is adopted when a brake system is calibrated. Specifically, a mapping relation between pedal travel of each vehicle and brake characteristic data such as brake torque, deceleration and the like is manually acquired to form a mapping relation table, and calibration of brake system control parameters of each vehicle is carried out according to the mapping relation table.

Therefore, the calibration method for the brake system in the prior art has high requirements on labor cost and time cost, and reduces the calibration efficiency of the brake system. After the vehicle brake system is abraded, manual calibration is needed again, and the consistency of the control effect of the brake system and the stability of the riding body feeling in the vehicle operation process can be guaranteed.

Disclosure of Invention

The embodiment of the application provides a calibration method, a calibration device, equipment and a storage medium for a brake system, and solves the problems that the requirement on labor cost and time cost is high in the prior art for the calibration device for the brake system, and the calibration efficiency of the brake system is reduced. And after the vehicle braking system is abraded, the consistency of the control effect of the braking system and the stability of the riding body feeling in the vehicle operation process can be ensured only by manually calibrating again.

A first aspect of an embodiment of the present application provides a calibration method for a brake system, where the method is applied to an electronic device, and the electronic device is respectively in communication with a starting system and a brake system of a target vehicle, and the method includes:

if a starting instruction sent by the starting system is monitored, acquiring a preset brake system model corresponding to the target vehicle; triggering at least one brake control instruction according to the preset brake system model, wherein each brake control instruction comprises a theoretical value of brake characteristic data and a corresponding pedal stroke; acquiring actual values of the brake characteristic data under the pedal travel in each brake control command; correcting the preset brake system model according to the theoretical value and the actual value of at least one group of brake characteristic data and a preset correction algorithm; and if the corrected brake system model meets the calibration completion condition, determining the brake system model meeting the calibration completion condition as the brake system model calibrated by the target vehicle.

In the embodiment of the application, the preset brake system model of the target vehicle is fitted in the off-line stage in advance to serve as the initial model, and the calibration of the brake system model of the vehicle can be completed only by correcting the preset brake system model, so that the automatic calibration of the vehicle brake system is completed, and the calibration efficiency of the brake system is greatly improved. And the calibration of a braking system is carried out when the vehicle is started every time, so that the calibration of the braking system can be finished no matter whether the braking system of the vehicle is worn or not. The consistency of the control effect of the brake system and the stability of the riding body feeling can be ensured from the vehicle on-line operation to the whole on-line operation process.

Further, the method, before the step of obtaining the preset brake system model corresponding to the target vehicle if the starting instruction of the target vehicle is received, further includes:

obtaining brake data of the same vehicle model; and carrying out parameterized model fitting on the brake data to obtain a preset brake system model of the same vehicle model.

In the embodiment of the application, the brake data of the same vehicle model is adopted to fit the preset brake system model. The vehicle to be calibrated of the same vehicle model adopts a preset brake system model as an initial brake system model, so that the calibration of the brake system of the target vehicle of the same vehicle model can be further accelerated.

Further, the method for acquiring the preset brake system model corresponding to the target vehicle includes:

determining a vehicle model of the target vehicle; and acquiring a preset brake system model of the same vehicle model as the target vehicle as the preset brake system model corresponding to the target vehicle.

In the embodiment of the application, as the preset brake system models of the target vehicles of the same vehicle model are the same, the corresponding preset brake system models are obtained according to the vehicle model of the target vehicle, and the corresponding preset brake system models can be quickly obtained.

Further, the method as described above, the braking characteristic data includes any one or more of the following data: brake torque, speed of the target vehicle, and grade of location of the target vehicle.

In the embodiment of the application, the brake characteristic data comprises any one or more of the characteristic data, the more the brake characteristic parameters are included, the more accurate the preset brake system model can be fitted, and the preset brake system model is corrected until the calibration completion condition is met, and then the calibrated brake system model can meet the calibration requirements of any one or more brake characteristic data, so that the calibrated brake system model is more accurate.

Further, the method for triggering a braking control command according to the preset braking system model includes:

obtaining theoretical values of at least one group of brake characteristic data; inputting the theoretical values of the brake characteristic data of each group into the preset brake system model so as to output corresponding pedal travel through the preset brake system model; and triggering a corresponding brake control command according to the theoretical value of each group of the brake characteristic data and the corresponding pedal stroke.

In the embodiment of the application, at least one group of theoretical values of the brake characteristic data are input into the preset brake system model to generate the corresponding pedal stroke, and the corresponding brake control instruction is triggered according to the theoretical values of the brake characteristic data and the corresponding pedal stroke, so that the triggered brake control instruction meets the preset brake system model, and whether the preset brake system model meets the requirement of the brake system calibrated by the target vehicle can be judged according to the theoretical values and the actual values of the brake characteristic data.

Further, in the above method, the preset correction algorithm is a recursive least square algorithm with a forgetting factor, and the correcting the preset brake system model according to the theoretical value and the actual value of at least one set of brake characteristic data and the preset correction algorithm includes:

inputting theoretical values and actual values of at least one group of brake characteristic data and the preset brake system model into a recursive least square algorithm with a forgetting factor; and adjusting the model parameters in the preset brake system model according to the theoretical values and the actual values of the at least one group of brake characteristic data through the recursive least square algorithm with the forgetting factor so as to correct the preset brake system model.

In the embodiment of the application, the recursive least square algorithm with the forgetting factor is adopted to correct the preset brake system model, and the recursive least square algorithm with the forgetting factor can adjust the model parameters of the brake system model according to the convergence direction, so that the preset brake system model can meet the calibration completion requirement quickly, and the calibration efficiency of the brake system is further improved.

Further, the method as described above, after the modifying the preset braking system model according to the theoretical value and the actual value of at least one set of braking characteristic data and a preset modifying algorithm, further includes:

and judging whether the corrected brake system model meets the calibration completion condition or not.

Further, the method for judging whether the corrected brake system model meets the calibration completion condition includes:

calculating the absolute value of the difference between the theoretical value and the actual value of each brake characteristic data corresponding to the corrected brake system model; judging whether the absolute value of each difference value is smaller than a corresponding preset threshold value; if the absolute value of each difference value is smaller than the corresponding preset threshold value, determining that the corrected brake system model meets the calibration completion condition; and if the unevenness of the absolute value of each difference value is smaller than the corresponding preset threshold value, determining that the corrected brake system model does not meet the calibration completion condition.

In the embodiment of the application, whether the corrected brake system model meets the calibration completion condition is judged by judging whether the absolute value of the difference between the theoretical value and the actual value of each brake characteristic data is smaller than the corresponding preset threshold, the theoretical value and the actual value of the brake characteristic data after the brake is executed according to the calibrated brake system model can be approximately equal, and then the consistency of the control effect of the brake system and the stability of vehicle motion feeling can be ensured.

Further, the method as described above, further comprising:

monitoring whether the correction direction of the preset brake system model is corrected towards the convergence direction or not; if the correction direction of the preset brake system model is determined to be corrected towards the divergent direction, stopping correcting the preset brake system model; and resetting the model parameters in the corrected brake system model into the model parameters of the preset brake system model.

In the embodiment of the application, when the preset brake system is corrected, whether the correction direction of the preset brake system model is corrected towards the convergence direction or not is monitored, and when the correction direction of the preset brake system model is corrected towards the divergence direction, the correction of the brake system model is stopped in time, so that the safety of the brake system is ensured.

A second aspect of the embodiments of the present application provides a calibration apparatus for a braking system, where the apparatus is located in an electronic device, and the electronic device is respectively in communication with a starting system and a braking system of a target vehicle, and the apparatus includes:

the model acquisition module is used for acquiring a preset brake system model corresponding to the target vehicle if a starting instruction sent by the starting system is monitored; the command triggering module is used for triggering at least one brake control command according to the preset brake system model, and each brake control command comprises a theoretical value of brake characteristic data and a corresponding pedal stroke; the actual value acquisition module is used for acquiring the actual value of the brake characteristic data under the pedal travel in each brake control command; the model correction module is used for correcting the preset brake system model according to the theoretical value and the actual value of at least one group of brake characteristic data and a preset correction algorithm; and the model calibration module is used for determining the brake system model meeting the calibration completion condition as the calibrated brake system model of the target vehicle if the corrected brake system model meets the calibration completion condition.

Further, the apparatus as described above, the model fitting module to:

Further, in the apparatus as described above, the model obtaining module, when obtaining the preset brake system model corresponding to the target vehicle, is specifically configured to:

Further, in the apparatus described above, the instruction triggering module is specifically configured to:

Wherein the braking characteristic data comprises any one or more of the following data:

brake torque, speed of the target vehicle, and road grade on which the target vehicle is located.

Further, in the above apparatus, the preset correction algorithm is a recursive least square algorithm with a forgetting factor, and the model correction module is specifically configured to:

Further, the apparatus as described above, the condition determining module is configured to:

Further, in the apparatus described above, the condition determining module is specifically configured to:

Further, the apparatus as described above, the model resetting module to:

A third aspect of the embodiments of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the first aspects.

A fourth aspect of embodiments of the present application provides a non-transitory computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of the first aspects.

A fifth aspect of embodiments of the present application provides a computer program comprising program code for performing the method according to the first aspect when the computer program is run by a computer.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

FIG. 1 is a diagram of an application scenario in which a calibration method of a brake system according to an embodiment of the present application may be implemented;

FIG. 2 is a schematic flow chart illustrating a method for calibrating a braking system according to a first embodiment of the present application;

FIG. 3 is a schematic flow chart illustrating a method for calibrating a braking system according to a second embodiment of the present application;

FIG. 4 is a schematic flowchart illustrating a step 201 of a calibration method for a braking system according to a second embodiment of the present application;

FIG. 5 is a schematic flowchart illustrating step 202 of a calibration method for a braking system according to a second embodiment of the present application;

FIG. 6 is a schematic flowchart of step 203 of a calibration method for a braking system according to a second embodiment of the present application;

FIG. 7 is a schematic flowchart illustrating step 205 of a method for calibrating a braking system according to a second embodiment of the present application;

FIG. 8 is a flowchart illustrating step 206 of a method for calibrating a braking system according to a second embodiment of the present application;

FIG. 9 is a signaling flow diagram illustrating a calibration method for a braking system according to a third embodiment of the present application;

FIG. 10 is a schematic structural diagram of a calibration device of a braking system according to a fourth embodiment of the present application;

FIG. 11 is a schematic structural diagram of a calibration device of a braking system according to a fifth embodiment of the present application;

fig. 12 is a block diagram of an electronic device for implementing a calibration method of a brake system according to an embodiment of the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

For a clear understanding of the technical solutions of the present application, a detailed description of the prior art solutions is first provided. After the automatic driving vehicles are produced, the control effect of the brake system of each vehicle is not consistent due to the difference of parts of the brake system of each vehicle, and the riding body feeling is not stable. That is, the hardness degree is different when every car is braked, and the same brake control parameter, some cars can carry out urgent brake, and some cars can carry out relatively slow brake. The braking system of each vehicle needs to be calibrated. After the calibration of the brake system is carried out, the condition that vehicles of the same vehicle type have the same control effect and are stable in riding feeling although the hardness degrees of the brake system are different is ensured.

In the prior art, when calibrating a vehicle brake system, a mapping relation table is formed by manually acquiring a mapping relation between pedal travel and brake characteristic data such as brake torque, deceleration and the like in each vehicle brake system, and a brake system control parameter of each vehicle is calibrated according to the mapping relation table. After calibration is carried out, the control effect can be ensured to be consistent, and the riding body feeling is stable. The vehicle can be operated online. However, the wear of the brake system causes the performance of the brake system to change, which in turn causes problems of inconsistent control effect and unstable riding feeling. In order to ensure the consistency of the control effect of the brake system and the stability of the vehicle taking feeling in the vehicle operation process, the vehicle needs to be off-line, and the vehicle is manually calibrated again. Therefore, the calibration method of the brake system in the prior art has high requirements on labor cost and time cost, and reduces the calibration efficiency of the brake system. And the consistency of the control effect of the brake system and the stability of the riding feeling can not be ensured under the condition that the brake system is worn in the operation of the vehicle.

Therefore, aiming at the technical problems of the brake system calibration method in the prior art, the inventor finds that the automatic calibration of the brake system can be carried out in order to improve the calibration efficiency of the brake system in research. Furthermore, as an optional implementation manner, for vehicles of the same vehicle model, a model corresponding to a brake system of the same vehicle model is fitted by collecting brake data in an offline stage to serve as a preset brake system model. Although the degree of softness is not the same when each vehicle brake system brakes, the preset brake system model can represent the initial state of the vehicle brake system of the vehicle model. And then, adjusting the control parameters of the brake system by correcting the preset brake system model, namely adjusting the model parameters of the preset brake system model until the calibration of the brake system is completed. Because the preset brake system models of the brake systems of the same vehicle model are consistent, the calibration of the brake system model of each vehicle can be completed only by correcting the preset brake system model, the automatic calibration of the brake system is realized, and the calibration efficiency of the brake system is greatly improved.

The inventor further researches and discovers that the brake system of the vehicle is calibrated before the vehicle is operated on a line in the prior art. The problems that the consistency of the control effect of the brake system and the stability of the riding body feeling can not be continuously ensured under the condition that the brake system of the vehicle is abraded in the operation are caused. Therefore, the calibration link of the vehicle brake system needs to be changed. In order to calibrate the brake system before or during online operation, the brake system can be calibrated once when the vehicle is started at each time, so that the brake system of the vehicle can be calibrated whether worn or not. The consistency of the control effect of the brake system and the stability of the riding body feeling can be ensured from the vehicle on-line operation to the whole on-line operation process.

The inventor proposes a technical scheme of the application based on the creative discovery. An application scenario of the calibration method of the brake system provided by the embodiment of the present application is described below. As shown in fig. 1, the autonomous driving vehicle may be classified into different vehicle models, and after a batch of vehicles of at least one vehicle model are produced, for a vehicle of the same vehicle model, a model corresponding to a braking system of the same vehicle model may be fitted by collecting braking data of the vehicle of the same vehicle model at an offline stage as a preset braking system model. In the preset brake system model of the same vehicle model, the output data can be pedal travel, and the input data can be a theoretical value of at least one type of brake characteristic data. At least one model parameter is also included in the model. And then storing the preset brake system model into a brake system fixed storage area of each vehicle corresponding to the vehicle model, or storing the preset brake system model into the electronic equipment, and storing the preset brake system model and the vehicle model in a correlation manner when the preset brake system model is stored into the electronic equipment. As shown in fig. 1, each vehicle of type a stores a preset brake model a, and each vehicle of type B stores a preset brake system model B. And then calibrating the brake system of each vehicle on line. And each vehicle subjected to the brake system calibration is a target vehicle. After the target vehicle is started, if a starting instruction sent by a target vehicle starting system is monitored to be received, a pre-stored preset brake system model is obtained. And triggering at least one brake control instruction according to a preset brake system model, wherein each brake control instruction comprises a theoretical value of brake characteristic data and a corresponding pedal stroke. And after each brake control command is triggered, the target vehicle brakes according to the brake control command. The actual value of the brake characteristic data under the pedal stroke in each brake control command can be obtained from each sensor of the brake system. And correcting the preset braking system model according to the theoretical value and the actual value of at least one group of braking characteristic data, wherein when the preset braking system model is corrected, the model parameters in the preset braking system model are corrected. And judging whether the corrected brake system model meets the calibration completion condition or not, and if so, determining the brake system model meeting the calibration completion condition as the brake system model calibrated by the target vehicle. As in fig. 1, the target vehicle model a1 with model a is the calibrated brake system model a 1. The brake system model of the A model target vehicle A2 after calibration is a2, and the brake system model of the A model target vehicle A3 after calibration is A3. The B model of the target vehicle B1 has a B1 calibrated braking system model. The brake system model of the target vehicle B2 of type B after calibration is B2, and the brake system model of the target vehicle B3 of type B after calibration is B3. And each target vehicle can perform braking operation according to the corresponding calibrated braking system model in the subsequent running process after the starting.

In the embodiment of the application, the preset brake system model of the vehicle brake system of the same vehicle model is fitted in an off-line stage in advance to serve as the initial brake system model of the vehicle brake system of the vehicle model, and then the calibration of the brake system model of each vehicle can be completed only by correcting the preset brake system model, so that the automatic calibration of the vehicle brake system is completed, and the calibration efficiency of the brake system is greatly improved. And the calibration of the brake system is carried out once when the vehicle is started every time, so that the brake system of the vehicle can be calibrated no matter whether the brake system is worn or not. The consistency of the control effect of the brake system and the stability of the riding body feeling can be ensured from the vehicle on-line operation to the whole on-line operation process.

Embodiments of the present application will be described below in detail with reference to the accompanying drawings.

Example one

Fig. 2 is a schematic flow chart of a calibration method for a braking system according to a first embodiment of the present application, and as shown in fig. 2, an implementation subject of the embodiment of the present application is a calibration device for a braking system, and the calibration device for a braking system may be integrated in an electronic device. The calibration method of the brake system provided by the embodiment includes the following steps.

Step 101, if a starting instruction of a target vehicle is received, acquiring a preset brake system model corresponding to the target vehicle.

In this embodiment, the preset braking system model is an initial model representing the braking system of the target vehicle. The preset brake system model can be an initial model of the brake system, which is obtained by acquiring brake data of a target vehicle in an off-line stage and then carrying out parametric fitting on the brake data.

The braking data of the target vehicle may include: pedal travel and at least one braking characteristic data. The braking characteristic data may include: brake torque, target vehicle speed, grade of location of the target vehicle, etc.

In this embodiment, the method for performing the parametric fitting by using the braking data may be a polynomial fitting method, a neural network fitting method, or other fitting methods, which is not limited in this embodiment.

The output data of the preset braking system model can be pedal stroke, and the input data can be a theoretical value of at least one braking characteristic data, and further comprises at least one model parameter. The predetermined braking system model can be expressed in a functional form with the theoretical value of the at least one braking characteristic data as an independent variable and the pedal stroke as a dependent variable. The specific representation of the function is not limited.

Specifically, in this embodiment, a preset braking system model corresponding to the target vehicle is stored in the electronic device or the braking system fixed storage area of the target vehicle in advance. The electronic equipment is communicated with a starting system of the target vehicle, the electronic equipment can monitor the starting system periodically, and if the starting system is monitored to control the starting of the target vehicle, namely a starting instruction is sent to the target vehicle, the electronic equipment obtains a preset brake system model corresponding to the target vehicle from a fixed storage area of a brake system or from the electronic equipment.

The communication mode between the electronic device and the starting System of the target vehicle may be Global System for Mobile communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time Division-Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), future 5G, and the like. It can be understood that the communication mode of the electronic device and the starting system may also be a wireless communication mode, and the wireless communication mode may be zigbee communication, bluetooth BLE communication, or wifi communication of an action hotspot. It should be noted that the electronic device may be mounted on a target vehicle, and communication between the electronic device and a starting system of the target vehicle is performed in the form of a bus.

And 102, triggering at least one brake control command according to a preset brake system model, wherein each brake control command comprises a theoretical value of brake characteristic data and a corresponding pedal stroke.

Specifically, in this embodiment, a configuration table of theoretical values of the braking characteristic data may be set, and the configuration table of theoretical values of the braking characteristic data includes at least one set of theoretical values of the braking characteristic data. The theoretical values of each group of brake characteristic data can be input into a preset brake system model, so that the corresponding pedal stroke is calculated through the preset brake system model, a corresponding brake control instruction is generated according to the theoretical values of the brake characteristic data and the corresponding pedal stroke, the brake control instruction is sent to the target vehicle, and the brake system of the target vehicle is controlled to brake.

It should be noted that, if a plurality of braking control commands are triggered according to the preset braking system model, the plurality of braking control commands may be periodically sent to the target vehicle, so that the braking system of the target vehicle sequentially executes corresponding braking operations.

And 103, acquiring actual values of the brake characteristic data under the pedal stroke in each brake control command.

Specifically, for each brake control command, after the brake system of the target vehicle performs the corresponding brake operation, an actual value of brake characteristic data of the brake control command at the pedal stroke is generated, and the actual value of each brake characteristic data can be determined by a sensor corresponding to the brake system on the target vehicle. The electronic device obtains brake characteristic data under the pedal stroke by communicating with each sensor of the brake system.

The communication mode between the electronic device and each sensor of the brake System may be Global System for Mobile communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time Division-Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), or future 5G. It can be understood that the communication mode of the electronic device and the brake system may also be a wireless communication mode, and the wireless communication mode may be zigbee communication, bluetooth BLE communication, or wifi communication of an action hotspot. The electronic device may be mounted on a target vehicle, and the electronic device and each sensor of a brake system of the target vehicle may communicate with each other in the form of a bus.

The actual value of the brake characteristic data under the pedal stroke in each brake control command is obtained by taking the brake characteristic data as the brake torque as an example. And after the brake system executes the brake operation, the theoretical value of the brake system is given to the brake chassis, and the brake chassis performs braking to generate a pedal stroke corresponding to the brake control command. And acquiring the braking torque actually generated by the brake chassis from the brake chassis, wherein the braking torque actually generated by the brake chassis is an actual value of the braking torque. If the pedal stroke included in the brake control command is 10% of the whole pedal stroke, the theoretical value of the brake torque is 100N, and after the brake operation is executed, when the pedal finishes 10% of the whole pedal stroke, the actual value of the brake torque acquired from the brake chassis is 80N.

And 104, correcting the preset brake system model according to the theoretical value and the actual value of at least one group of brake characteristic data and a preset correction algorithm.

Specifically, in this embodiment, since the preset braking system model is only the initial model of the braking system of the target vehicle, the model parameters in the preset braking system model need to be corrected. When the model parameters are corrected, the preset brake system model can be corrected according to the theoretical values and the actual values of at least one group of brake characteristic data and a preset correction algorithm.

As an optional implementation manner, the theoretical value and the actual value of at least one set of brake characteristic data and the preset correction algorithm may be input into the preset correction algorithm, so as to adjust the model parameters in the preset brake system model through the preset correction algorithm, so that the theoretical value and the actual value of the brake characteristic data corresponding to the corrected brake system model are closer to each other.

The preset correction algorithm is not limited in this embodiment, and may be, for example, a least square algorithm, a recursive least square algorithm, or a recursive least square algorithm with a forgetting factor.

And 105, if the corrected brake system model meets the calibration completion condition, determining the brake system model meeting the calibration completion condition as the brake system model calibrated by the target vehicle.

Specifically, in this embodiment, after the preset brake system model is corrected, it is determined whether the corrected brake system model meets the calibration completion condition, if not, the brake system model is continuously corrected, and if the calibration completion condition is met, the brake system model meeting the calibration completion condition is determined as the calibrated brake system model of the target vehicle.

The calibration completion condition may be that the absolute value of the difference between the theoretical value and the actual value of each type of brake characteristic data corresponding to the corrected brake system model is smaller than the corresponding preset threshold, or that the quotient of the theoretical value and the actual value of each type of brake characteristic data is close to 1, and the like, which is not limited in this embodiment.

According to the calibration method of the brake system provided by the embodiment, if the starting instruction sent by the starting system is monitored, the preset brake system model corresponding to the target vehicle is obtained; triggering at least one brake control instruction according to a preset brake system model, wherein each brake control instruction comprises a theoretical value of brake characteristic data and a corresponding pedal stroke; acquiring actual values of brake characteristic data under pedal travel in each brake control command; correcting the preset brake system model according to the theoretical value and the actual value of at least one group of brake characteristic data and a preset correction algorithm; and if the corrected brake system model meets the calibration completion condition, determining the brake system model meeting the calibration completion condition as the brake system model calibrated by the target vehicle. Because the preset brake system model of the target vehicle is fitted in the off-line stage in advance to serve as the initial model, the calibration of the brake system model of the vehicle can be completed only by correcting the preset brake system model, the automatic calibration of the vehicle brake system is completed, and the calibration efficiency of the brake system is greatly improved. And the calibration of a braking system is carried out when the vehicle is started every time, so that the calibration of the braking system can be finished no matter whether the braking system of the vehicle is worn or not. The consistency of the control effect of the brake system and the stability of the riding body feeling can be ensured from the vehicle on-line operation to the whole on-line operation process.

Example two

Fig. 3 is a schematic flowchart of a calibration method for a braking system according to a second embodiment of the present application, and as shown in fig. 3, the calibration method for a braking system according to the present embodiment is further detailed in steps 102 to 105 based on the calibration method for a braking system according to the first embodiment of the present application. And further comprises the step of determining the preset brake system model of the target vehicle in the off-line stage. The calibration method of the brake system provided by the embodiment includes the following steps.

Step 201, determining a preset brake system model of each vehicle model.

As an alternative implementation, as shown in fig. 4, in this embodiment, step 201 includes the following steps:

in step 2011, brake data for the same vehicle model is obtained.

Further, in this embodiment, the braking operation may be performed for at least one vehicle of the same vehicle model, and the braking data after each braking operation is collected and stored. The electronic equipment acquires the stored brake data of the same vehicle model.

Wherein, the brake data includes: any one or more of pedal travel and braking characteristic data.

Optionally, the braking characteristic data comprises any one or more of the following:

brake torque, target vehicle speed, and grade of location of the target vehicle.

Step 2012, performing parameterized model fitting on the brake data to obtain preset brake system models of the same vehicle model.

Further, in this embodiment, a polynomial fitting method or a neural network fitting method may be adopted to perform parameterized model fitting on the brake data, so as to obtain preset brake system models of the same vehicle model.

The output data in the preset braking system model is pedal travel, the input data is a theoretical value of at least one braking characteristic data, and the model further comprises at least one model parameter. For example, the input data is the braking torque and the target vehicle speed, the preset braking system model can be expressed as shown in equation (1):

pedal＝f(torque,speed,k1,k2,…,kn) (1)

wherein pedal represents a pedal stroke of a preset brake system model, torque represents a brake torque, Speed represents a Speed of a target vehicle, and k1, k2, …, kn are model parameters of the preset brake system model.

If the input data is only the braking torque and the output data is the pedal stroke, the preset braking system model can be expressed as shown in formula (2):

pedal＝f(torque,k1,k2,…,kn) (2)

it can be understood that after the preset brake system model of each vehicle model is determined, each vehicle model and the corresponding preset brake system model can be stored in an associated manner. The method can be stored in the electronic device or correspondingly store a preset brake system model and a corresponding vehicle model into the brake system of a target vehicle of the vehicle model.

In this embodiment, the brake data of the same vehicle model is used to fit the preset brake system model. The vehicle to be calibrated of the same vehicle model adopts a preset brake system model as an initial brake system model, so that the calibration of the brake system of the target vehicle of the same vehicle model can be further accelerated.

Step 202, if a starting instruction sent by a starting system of the target vehicle is monitored, a preset brake system model corresponding to the target vehicle is obtained.

As an alternative implementation manner, in this embodiment, as shown in fig. 5, the obtaining of the preset brake system model corresponding to the target vehicle in step 202 includes the following steps:

step 2021, determine the vehicle model of the target vehicle.

In this embodiment, as an optional implementation manner, after each vehicle is produced, information indicating the vehicle, such as a vehicle model and a production serial number of each vehicle, may be written into a braking system or another system of the vehicle, and the electronic device may obtain vehicle information of the target vehicle through communication with the braking system or another system, and determine the vehicle model of the target vehicle.

Or as another optional implementation, if the vehicle model of the target vehicle and the corresponding preset braking system model are stored in the fixed storage area of the braking system in advance, the vehicle model of the target vehicle can be acquired from the fixed storage area of the braking system.

Step 2022, acquiring a preset brake system model of the same vehicle type as the target vehicle as the preset brake system model corresponding to the target vehicle.

In this embodiment, if the preset brake system model is stored in the electronic device, the preset brake system model of the same vehicle model as the target vehicle is obtained from the electronic device and is used as the preset brake system model corresponding to the target vehicle. Or, if the preset brake system model is stored in a fixed storage area of the brake system of the target vehicle, determining the preset brake system model stored in the fixed storage area as the preset brake system model of the target vehicle.

Step 203, triggering at least one brake control command according to a preset brake system model, wherein each brake control command comprises a theoretical value of brake characteristic data and a corresponding pedal stroke.

As an alternative implementation manner, in this embodiment, as shown in fig. 6, step 203 includes the following steps:

step 2031, obtaining at least one set of theoretical values of brake characteristic data.

Further, in this embodiment, since the braking characteristic data in the preset braking system model includes at least one type, the at least one type of braking characteristic data is grouped into a group. The method comprises the steps of presetting a configuration table of theoretical values of brake characteristic data, wherein the configuration table of the theoretical values of the brake characteristic data comprises at least one group of theoretical values of the brake characteristic data. And acquiring at least one set of theoretical values of the braking characteristic data from the configuration table of the theoretical values of the braking characteristic data.

For example, the braking characteristic data in the preset braking system model includes: braking torque and target vehicle speed. The configuration table of the theoretical values of the braking characteristic data includes three sets of theoretical values of the braking characteristic data. Respectively as follows: 100N, 40 km/h; 150N, 60 km/h; 200N,80 km/h.

Step 2032, inputting the theoretical values of the brake characteristic data of each group into a preset brake system model, so as to output the corresponding pedal stroke through the preset brake system model.

Further, in this embodiment, the theoretical values of the brake characteristic data of each group are sequentially input into the preset brake system model, the pedal stroke is calculated according to the preset brake system model, and the corresponding pedal stroke is output. For example, if the predetermined braking system model is expressed by equation (1), the theoretical values of the three sets of braking characteristic data are input into equation (1), the corresponding pedal stroke is calculated, and three pedal strokes are output.

And step 2033, triggering corresponding brake control instructions according to the theoretical values of the brake characteristic data of each group and the corresponding pedal travel.

Further, in this embodiment, a corresponding brake control instruction is generated according to the theoretical value of each set of brake characteristic data and the corresponding pedal stroke, and after the corresponding brake control instruction is generated, the corresponding brake control instruction is triggered, and the brake control instruction is sent to the target vehicle to control the brake system of the target vehicle to brake.

And step 204, acquiring actual values of the brake characteristic data under the pedal stroke in each brake control command.

In this embodiment, the implementation manner of step 204 is similar to that of step 103 in the first embodiment of the present application, and is not described here again.

It is worth to be noted that the actual value of the brake characteristic data under the pedal stroke corresponds to the theoretical value of the brake characteristic data in a one-to-one correspondence in each brake control command.

Step 205, correcting the preset brake system model according to the theoretical value and the actual value of at least one group of brake characteristic data and a preset correction algorithm.

As an optional implementation manner, in this embodiment, the preset correction algorithm is a recursive least square algorithm with a forgetting factor. Accordingly, as shown in fig. 7, step 205 includes the steps of:

and step 2051, inputting the theoretical value and the actual value of at least one group of brake characteristic data and a preset brake system model into a recursive least square algorithm with a forgetting factor.

And step 2052, adjusting model parameters in the preset brake system model according to theoretical values and actual values of at least one group of brake characteristic data through a recursive least square algorithm with forgetting factors so as to correct the preset brake system model.

Specifically, in this embodiment, after obtaining the theoretical value, the actual value, and the preset braking system model of at least one group of braking characteristic data, the recursive least square algorithm with the forgetting factor adjusts the model parameters in the preset braking system model according to the characteristics between the theoretical value and the actual value of each group of braking characteristic data, so that the model parameters in the preset braking system model are adjusted toward the convergence direction. After the parameters in the braking system model are adjusted each time, whether the corrected braking system model meets the calibration completion condition or not can be judged, and if the corrected braking system model does not meet the calibration completion condition, the model parameters in the braking system model are continuously adjusted.

In the embodiment, the recursive least square algorithm with the forgetting factor is adopted to correct the preset brake system model, and the recursive least square algorithm with the forgetting factor can adjust the model parameters of the brake system model according to the convergence direction, so that the preset brake system model can meet the calibration completion requirement quickly, and the calibration efficiency of the brake system is further improved.

And step 206, judging whether the corrected brake system model meets the calibration completion condition, if so, executing step 207, otherwise, executing step 208.

As an alternative implementation, in this embodiment, as shown in fig. 8, step 206 includes the following steps:

step 2061, calculating the absolute value of the difference between the theoretical value and the actual value of each brake characteristic data corresponding to the corrected brake system model.

Further, in this embodiment, after the recursive least square algorithm with the forgetting factor adjusts the parameters in the braking system model once, the braking system model is corrected once, a set of theoretical values of each braking characteristic data is input into the corrected braking system model, and after a corresponding pedal stroke is output, a corresponding braking control instruction is generated to control the target vehicle to perform a braking operation, so as to obtain an actual value of each corresponding braking characteristic data. And calculating the absolute value of the difference between the theoretical value and the actual value of each braking characteristic data of the group.

For example, if the braking characteristic data includes the braking torque and the speed of the target vehicle, the absolute value of the difference between the theoretical value and the actual value of the braking torque corresponding to the corrected braking system model and the absolute value of the difference between the theoretical value and the actual value of the speed of the target vehicle are calculated respectively.

Step 2062, determining whether each absolute value of the difference is smaller than the corresponding preset threshold, if yes, executing step 2063, otherwise executing step 2064.

Step 2063, determining that the corrected brake system model meets the calibration completion condition.

Step 2064, determining that the corrected brake system model does not meet the calibration completion condition.

Further, in this embodiment, a corresponding preset threshold is set for each type of brake characteristic data in advance, whether the absolute values of the difference values corresponding to each type of brake characteristic data are all smaller than the corresponding preset threshold is determined, and if the absolute values of the difference values corresponding to each type of brake characteristic data are all smaller than the corresponding preset threshold, it is determined that the corrected brake system model meets the calibration completion condition. And if the difference absolute value unevenness corresponding to each brake characteristic data is smaller than the corresponding preset threshold, determining that the corrected brake system model does not meet the calibration completion condition, and continuing to correct the corrected brake system model again until the difference absolute value corresponding to each brake characteristic data is smaller than the corresponding preset threshold and meets the calibration completion condition.

In this embodiment, whether the corrected brake system model meets the calibration completion condition is determined by determining whether the absolute value of the difference between the theoretical value and the actual value of each brake characteristic data is smaller than the corresponding preset threshold, and the theoretical value and the actual value of the brake characteristic data after braking is performed according to the calibrated brake system model are approximately equal to each other, so that the consistency of the control effect of the brake system and the stability of vehicle motion feeling can be ensured.

And step 207, determining the brake system model meeting the calibration completion condition as the brake system model after the target vehicle is calibrated.

In this embodiment, if the corrected brake system model meets the calibration completion condition, that is, the absolute value of the difference corresponding to each brake characteristic data is smaller than the corresponding preset threshold, the brake system model meeting the calibration completion condition is determined as the calibrated brake system model of the target vehicle.

With respect to equation (1), the calibrated braking system model can be expressed as shown in equation (3):

pedal′＝f(torque,speed,k1′,k2′,…,kn′) (3)

alternatively, with respect to equation (2), the calibrated braking system model can be expressed as shown in equation (4):

pedal′＝f(torque,k1′,k2′,…,kn′) (4)

wherein pedal 'represents the pedal stroke of the calibrated braking system model, and k 1', k2 ', … and kn' are model parameters of the calibrated braking system model.

In step 208, it is monitored whether the correction direction of the preset brake system model is corrected towards the convergence direction, if yes, step 205 is continuously executed, otherwise, step 209 is executed.

Further, in this embodiment, although the recursive least square algorithm with the forgetting factor can ensure that the model parameters are modified in the direction of convergence of the preset braking system model, in order to ensure the safety of the braking system, when the recursive least square algorithm with the forgetting factor is used to modify the preset braking system model, it may be monitored whether the modification direction of the preset braking system model is modified in the direction of convergence.

As an alternative embodiment, after the brake system model is corrected each time, when it is determined that the corrected brake system model does not satisfy the calibration completion condition, it may be determined whether the correction direction of the brake system model is corrected toward the convergence direction. As shown in steps 206-208.

It is to be understood that, as another alternative embodiment, it may also be determined whether the correction direction of the brake system model is corrected toward the convergence direction after the correction of the brake system model is performed each time, but before it is determined whether the calibration completion condition is satisfied. The execution order of steps 206-208 is an alternative execution order.

Optionally, in this embodiment, when monitoring whether the correction direction of the preset braking system model is corrected towards the convergence direction, the correction may be determined by comparing the change of the absolute value of the difference between the theoretical value and the actual value of each braking characteristic data after each correction. And if the absolute value of the difference between the theoretical value and the actual value of each braking characteristic data after each correction is gradually reduced, determining that the correction direction of the preset braking system model is corrected towards the convergence direction. On the contrary, if the absolute value of the difference between the theoretical value and the actual value of each braking characteristic data after each correction is gradually increased, the correction direction of the preset braking system model is determined to be corrected towards the divergent direction.

And step 209, stopping correcting the preset brake system model, and resetting the model parameters in the corrected brake system model to the model parameters of the preset brake system model.

In this embodiment, if it is monitored that the correction direction of the preset brake system model is corrected toward the convergence direction, step 205 is continuously executed, that is, the recursive least square algorithm with the forgetting factor is continuously used to correct the brake system model. If the correction direction of the preset brake system model is corrected towards the divergent direction, stopping correcting the preset brake system model in order to ensure the safety of the brake system, and resetting the model parameters in the corrected brake system model into the model parameters of the preset brake system model. And subsequently, correcting the preset brake system model by using theoretical values and actual values of other groups of brake characteristic data until a calibrated brake system model is obtained.

In this embodiment, when the preset braking system is corrected, whether the correction direction of the preset braking system model is corrected towards the convergent direction is monitored, and when the correction direction of the preset braking system model is corrected towards the divergent direction, the correction of the braking system model can be stopped in time, so that the safety of the braking system is ensured.

EXAMPLE III

Fig. 9 is a signaling flowchart of a calibration method for a brake system according to a third embodiment of the present application, and as shown in fig. 9, the calibration method for a brake system according to the present embodiment includes the following steps:

step 301, a starting system of the target vehicle sends a starting instruction to control the target vehicle to start.

In this embodiment, when the starting system of the target vehicle receives the starting signal, a starting instruction is generated, and the target vehicle is controlled to start.

Step 302, if the electronic device monitors a starting instruction sent by the starting system, a preset brake system model corresponding to the target vehicle is obtained.

In this embodiment, the electronic device communicates with a starting system of the target vehicle, and may periodically monitor whether the starting system sends a starting instruction, and if it is monitored that the starting system sends the starting instruction, obtain a preset braking system model corresponding to the target vehicle.

And step 303, the electronic equipment triggers at least one brake control instruction according to a preset brake system model.

And each brake control command comprises a theoretical value of the brake characteristic data and a corresponding pedal stroke.

And step 304, the braking system executes braking operation according to the at least one braking control command.

In this embodiment, after triggering at least one brake control instruction according to a preset brake system model, the electronic device sends the at least one brake control instruction to the brake system, and the brake system executes a brake operation according to the at least one brake control instruction.

And 305, acquiring the actual value of the brake characteristic data under the pedal stroke in each brake control command by the brake system.

In this embodiment, the braking system includes various sensors, and the actual values of the braking characteristic data of the pedal stroke in the braking control commands are obtained from the corresponding sensors.

And step 306, the braking system sends the actual value of the braking characteristic data under the pedal stroke in each braking control command to the electronic equipment.

In this embodiment, after the braking system sends the actual value of the brake characteristic data under the pedal stroke in each brake control instruction to the electronic device, the electronic device obtains the actual value of the brake characteristic data under the pedal stroke in each brake control instruction.

And 307, the electronic equipment corrects the preset brake system model according to the theoretical value and the actual value of the at least one group of brake characteristic data and a preset correction algorithm.

And 308, if the electronic equipment determines that the corrected brake system model meets the calibration completion condition, determining the brake system model meeting the calibration completion condition as the calibrated brake system model of the target vehicle.

In this embodiment, the implementation manners of steps 307 to 308 are similar to the implementation manners of the related steps in the second embodiment of the present application, and are not described in detail here.

And 309, the electronic equipment sends the calibrated brake system model to a brake system.

And 310, storing the calibrated braking system model by the braking system, and performing braking operation according to the calibrated braking system model.

Further, in this embodiment, the brake system stores the calibrated brake system model, and when the target vehicle brakes, the brake operation is performed according to the calibrated brake system model, so that the theoretical value and the actual value of the brake characteristic data during braking are approximately equal. The control effect is consistent and the riding body feeling is stable.

Example four

Fig. 10 is a schematic structural diagram of a calibration device of a braking system according to a fourth embodiment of the present application, and as shown in fig. 10, the calibration device of the braking system according to the present embodiment is located in an electronic device, and the electronic device is respectively in communication with a starting system and a braking system of a target vehicle. The calibration apparatus 1000 of the braking system includes: the model calibration module comprises a model acquisition module 1001, an instruction triggering module 1002, an actual value acquisition module 1003, a model correction module 1004 and a model calibration module 1005.

The model obtaining module 1001 is configured to obtain a preset brake system model corresponding to the target vehicle if a starting instruction sent by the starting system is monitored. The instruction triggering module 1002 is configured to trigger at least one brake control instruction according to a preset brake system model, where each brake control instruction includes a theoretical value of brake characteristic data and a corresponding pedal stroke. And the actual value obtaining module 1003 is configured to obtain an actual value of the brake characteristic data under the pedal stroke in each brake control command. And the model modification module 1004 is configured to modify the preset brake system model according to the theoretical value and the actual value of the at least one set of brake characteristic data and a preset modification algorithm. And a model calibration module 1005, configured to determine, if the corrected brake system model meets the calibration completion condition, the brake system model meeting the calibration completion condition as the brake system model after the target vehicle is calibrated.

The calibration apparatus of the brake system provided in this embodiment may implement the technical solution of the method embodiment shown in fig. 2, and the implementation principle and the technical effect thereof are similar to those of the method embodiment shown in fig. 2, and are not described in detail herein.

Fig. 11 is a schematic structural diagram of a calibration device of a braking system according to a fifth embodiment of the present application, and as shown in fig. 11, a calibration device 1100 of a braking system according to this embodiment further includes, on the basis of the calibration device 1000 of a braking system according to the fourth embodiment of the present application: a model fitting module 1101, a condition judging module 1102 and a model resetting module 1103.

Further, a model fitting module 1101 for:

Further, the model obtaining module 1001, when obtaining the preset brake system model corresponding to the target vehicle, is specifically configured to:

determining the vehicle model of the target vehicle; and acquiring a preset brake system model of the same vehicle model as the target vehicle as the preset brake system model corresponding to the target vehicle.

Further, the instruction triggering module 1002 is specifically configured to:

obtaining theoretical values of at least one group of brake characteristic data; inputting the theoretical values of the brake characteristic data of each group into a preset brake system model so as to output corresponding pedal travel through the preset brake system model; and triggering a corresponding brake control command according to the theoretical value of each group of brake characteristic data and the corresponding pedal stroke.

The brake characteristic data comprises any one or more of the following data:

Further, the preset correction algorithm is a recursive least square algorithm with a forgetting factor, and the model correction module 1004 is specifically configured to:

inputting theoretical values and actual values of at least one group of brake characteristic data and a preset brake system model into a recursive least square algorithm with a forgetting factor; and adjusting model parameters in the preset brake system model according to theoretical values and actual values of at least one group of brake characteristic data by a recursive least square algorithm with a forgetting factor so as to correct the preset brake system model.

Further, the condition determining module 1102 is configured to:

Further, the condition determining module 1102 is specifically configured to:

calculating the absolute value of the difference between the theoretical value and the actual value of each brake characteristic data corresponding to the corrected brake system model; judging whether the absolute values of the difference values are smaller than the corresponding preset threshold values; if the absolute value of each difference value is smaller than the corresponding preset threshold value, determining that the corrected brake system model meets the calibration completion condition; and if the absolute value unevenness of each difference value is smaller than the corresponding preset threshold value, determining that the corrected brake system model does not meet the calibration completion condition.

Further, a model resetting module 1103 is configured to:

monitoring whether the correction direction of the preset brake system model is corrected towards the convergence direction or not; if the correction direction of the preset brake system model is determined to be corrected towards the divergent direction, stopping correcting the preset brake system model; and resetting the model parameters in the corrected braking system model into the model parameters of the preset braking system model.

The calibration apparatus of the brake system provided in this embodiment may implement the technical solutions of the method embodiments shown in fig. 2 to 9, and the implementation principles and technical effects thereof are similar to those of the method embodiments shown in fig. 2 to 9, and are not described in detail herein.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

Fig. 12 is a block diagram of an electronic device for a calibration method of a brake system according to an embodiment of the present application. Electronic devices are intended for various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 12, the electronic apparatus includes: one or more processors 1201, memory 1202, and interfaces for connecting the various components, including a high speed interface and a low speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 12 illustrates an example of one processor 1201.

Memory 1202 is a non-transitory computer readable storage medium as provided herein. The memory stores instructions executable by the at least one processor to cause the at least one processor to execute the calibration method of the brake system provided by the present application. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to execute the method of calibrating a brake system provided by the present application.

The memory 1202 is a non-transitory computer readable storage medium, and can be used for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the calibration method of the brake system in the embodiment of the present application (for example, the model obtaining module 1001, the instruction triggering module 1002, the actual value obtaining module 1003, the model modifying module 1004, and the model calibrating module 1005 shown in fig. 10). The processor 1201 executes various functional applications and data processing of the server by running the non-transitory software programs, instructions and modules stored in the memory 1202, so as to implement the calibration method of the brake system in the above method embodiment.

The memory 1202 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the electronic device of fig. 12, and the like. Further, the memory 1202 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 1202 may optionally include memory located remotely from the processor 1201, which may be connected to the electronic device of fig. 12 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of fig. 12 may further include: an input device 1203 and an output device 1204. The processor 1201, the memory 1202, the input device 1203, and the output device 1204 may be connected by a bus or other means, and the bus connection is exemplified in fig. 12.

The input device 1203 may receive input voice, numeric, or character information and generate key signal inputs related to user settings and function controls of the electronic apparatus of fig. 12, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or other input devices. The output devices 1204 may include a voice playing device, a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

According to the technical scheme of the embodiment of the application, the preset brake system model of the target vehicle is fitted in the off-line stage in advance to serve as the initial model, and the calibration of the brake system model of the vehicle can be completed only by correcting the preset brake system model, so that the automatic calibration of the vehicle brake system is completed, and the calibration efficiency of the brake system is greatly improved. And the calibration of a braking system is carried out when the vehicle is started every time, so that the calibration of the braking system can be finished no matter whether the braking system of the vehicle is worn or not. The consistency of the control effect of the brake system and the stability of the riding body feeling can be ensured from the vehicle on-line operation to the whole on-line operation process.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A calibration method for a brake system is applied to electronic equipment, and the electronic equipment is respectively communicated with a starting system and the brake system of a target vehicle, and the method comprises the following steps:

if a starting instruction sent by the starting system is monitored, acquiring a preset brake system model corresponding to the target vehicle;

triggering at least one brake control instruction according to the preset brake system model, wherein each brake control instruction comprises a theoretical value of brake characteristic data and a corresponding pedal stroke;

acquiring actual values of the brake characteristic data under the pedal travel in each brake control command;

correcting the preset brake system model according to the theoretical value and the actual value of at least one group of brake characteristic data and a preset correction algorithm;

and if the corrected brake system model meets the calibration completion condition, determining the brake system model meeting the calibration completion condition as the brake system model calibrated by the target vehicle.

2. The method according to claim 1, wherein before the step of acquiring the preset brake system model corresponding to the target vehicle if the starting instruction sent by the starting system is monitored, the method further comprises:

obtaining brake data of the same vehicle model;

and carrying out parameterized model fitting on the brake data to obtain a preset brake system model of the same vehicle model.

3. The method of claim 2, wherein the obtaining of the preset brake system model corresponding to the target vehicle comprises:

determining a vehicle model of the target vehicle;

and acquiring a preset brake system model of the same vehicle model as the target vehicle as the preset brake system model corresponding to the target vehicle.

4. A method according to any one of claims 1 to 3, wherein the braking characteristic data includes any one or more of:

brake torque, speed of the target vehicle, and grade of location of the target vehicle.

5. The method of claim 4, wherein triggering a braking control command according to the preset braking system model comprises:

obtaining theoretical values of at least one group of brake characteristic data;

inputting the theoretical values of the brake characteristic data of each group into the preset brake system model so as to output corresponding pedal travel through the preset brake system model;

and triggering a corresponding brake control command according to the theoretical value of each group of the brake characteristic data and the corresponding pedal stroke.

6. The method according to any one of claims 1 to 3, wherein the preset correction algorithm is a recursive least square algorithm with a forgetting factor, and the correcting the preset brake system model according to the theoretical value, the actual value and the preset correction algorithm of at least one set of brake characteristic data comprises:

inputting theoretical values and actual values of at least one group of brake characteristic data and the preset brake system model into a recursive least square algorithm with a forgetting factor;

and adjusting the model parameters in the preset brake system model according to the theoretical values and the actual values of the at least one group of brake characteristic data through the recursive least square algorithm with the forgetting factor so as to correct the preset brake system model.

7. The method of claim 4, wherein after the modifying the preset braking system model according to the theoretical value and the actual value of the at least one set of braking characteristic data and a preset modification algorithm, the method further comprises:

8. The method of claim 7, wherein the determining whether the modified braking system model meets the calibration completion condition comprises:

calculating the absolute value of the difference between the theoretical value and the actual value of each brake characteristic data corresponding to the corrected brake system model;

judging whether the absolute value of each difference value is smaller than a corresponding preset threshold value;

if the absolute value of each difference value is smaller than the corresponding preset threshold value, determining that the corrected brake system model meets the calibration completion condition;

and if the unevenness of the absolute value of each difference value is smaller than the corresponding preset threshold value, determining that the corrected brake system model does not meet the calibration completion condition.

9. The method of claim 1, further comprising:

monitoring whether the correction direction of the preset brake system model is corrected towards the convergence direction or not;

if the correction direction of the preset brake system model is determined to be corrected towards the divergent direction, stopping correcting the preset brake system model;

and resetting the model parameters in the corrected brake system model into the model parameters of the preset brake system model.

10. A calibration arrangement for a braking system, the arrangement being located in an electronic device which is in communication with a starting system and a braking system, respectively, of a target vehicle, the arrangement comprising:

the model acquisition module is used for acquiring a preset brake system model corresponding to the target vehicle if a starting instruction sent by the starting system is monitored;

the command triggering module is used for triggering at least one brake control command according to the preset brake system model, and each brake control command comprises a theoretical value of brake characteristic data and a corresponding pedal stroke;

the actual value acquisition module is used for acquiring the actual value of the brake characteristic data under the pedal travel in each brake control command;

the model correction module is used for correcting the preset brake system model according to the theoretical value and the actual value of at least one group of brake characteristic data and a preset correction algorithm;

and the model calibration module is used for determining the brake system model meeting the calibration completion condition as the calibrated brake system model of the target vehicle if the corrected brake system model meets the calibration completion condition.

11. The apparatus of claim 10, further comprising: a model fitting module to:

12. The apparatus according to claim 11, wherein the model obtaining module, when obtaining the preset brake system model corresponding to the target vehicle, is specifically configured to:

13. The apparatus of any one of claims 10 to 12, wherein the braking characteristic data comprises any one or more of:

14. The apparatus of claim 13, wherein the instruction triggering module is specifically configured to:

15. The apparatus according to any one of claims 10 to 12, wherein the preset correction algorithm is a recursive least squares algorithm with a forgetting factor, and the model correction module is specifically configured to:

16. The apparatus of claim 13, further comprising: a condition judgment module for:

17. The apparatus of claim 16, wherein the condition determining module is specifically configured to:

18. The apparatus of claim 10, further comprising: a model reset module to:

19. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.