CN111422180A - Automatic calibration method and system for line-controlled brake stroke - Google Patents
Automatic calibration method and system for line-controlled brake stroke Download PDFInfo
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- CN111422180A CN111422180A CN202010272205.0A CN202010272205A CN111422180A CN 111422180 A CN111422180 A CN 111422180A CN 202010272205 A CN202010272205 A CN 202010272205A CN 111422180 A CN111422180 A CN 111422180A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
- B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The invention discloses a method and a system for automatically calibrating a brake-by-wire stroke, wherein a calibration end acquires a brake calibration instruction corresponding to a current brake-by-wire system and sends the brake calibration instruction to a brake-by-wire end; the brake line control end acquires a brake calibration instruction, records initial brake stroke data returned by the brake sensor in the initial brake state to obtain the actual minimum brake stroke, and drives the brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction to obtain the actual maximum brake stroke. The invention can realize more rapid and efficient brake stroke calibration operation on different brake cable control systems, and ensures the stability and reliability of the brake cable control systems.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a method and a system for automatically calibrating a line-controlled brake stroke.
Background
The brake-by-wire is an indispensable part in the unmanned system, and the stability and reliability of the brake-by-wire have great influence and are related to the safety performance of the vehicle. If the brake-by-wire performance cannot be well guaranteed, the safety running of the vehicle is greatly influenced.
However, the structural hardware of each vehicle is inconsistent, and the wear degree of the brake component cannot be accurately predicted in the use process, so that the brake strokes of the vehicles are different, and the safety performance of unmanned driving is affected.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the system for automatically calibrating the brake stroke of the brake-by-wire system are provided, so that the brake stroke calibration operation can be more quickly and efficiently realized for different brake-by-wire system.
In order to solve the technical problems, the invention adopts the technical scheme that:
a method for automatically calibrating a brake-by-wire stroke comprises the following steps:
s1, the calibration end acquires a brake calibration instruction corresponding to the current brake line control system and sends the brake calibration instruction to the brake line control end;
and S2, the brake line control end acquires the brake calibration instruction, records initial brake stroke data returned by the brake sensor in the initial brake state to obtain the actual minimum brake stroke, and drives the brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction to obtain the actual maximum brake stroke.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
the brake-by-wire end-to-wire system comprises a calibration end and a brake-by-wire end which are in communication connection, wherein the calibration end comprises a first memory, a first processor and a first computer program which is stored on the first memory and can run on the first processor, the brake-by-wire end comprises a second memory, a second processor and a second computer program which is stored on the second memory and can run on the second processor, and the first processor realizes the following steps when executing the first computer program:
s1, obtaining a brake calibration instruction corresponding to the current brake cable control system, and sending the brake calibration instruction to a brake cable control end;
the second processor, when executing the second computer program, implements the steps of:
and S2, acquiring the brake calibration instruction, recording initial brake stroke data returned by the brake sensor in the initial brake state to obtain the actual minimum brake stroke, and driving the brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction to obtain the actual maximum brake stroke.
The invention has the beneficial effects that: a brake-by-wire stroke automatic calibration method and a system thereof are provided, wherein a calibration end issues corresponding brake calibration instructions to a brake-by-wire end according to different brake-by-wire control systems, the brake-by-wire end records initial brake stroke data returned by a brake sensor in a brake initial state to obtain an actual minimum brake stroke amount, and drives a brake motor to perform brake calibration action from the brake initial state according to the brake calibration instructions to obtain an actual maximum brake stroke amount, so that the brake stroke calibration operation can be realized more quickly and efficiently for different brake-by-wire control systems, and the stability and the reliability of the brake-by-wire control systems are ensured.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for automatically calibrating a brake-by-wire travel according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic calibration system for a brake-by-wire travel according to an embodiment of the present invention.
Description of reference numerals:
1. an automatic calibration system for a line control brake stroke; 2. a calibration end; 3. a first processor; 4. a first memory; 5. a brake wire control end; 6. a second processor; 7. a second memory.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a method for automatically calibrating a brake-by-wire stroke includes the steps of:
s1, the calibration end acquires a brake calibration instruction corresponding to the current brake line control system and sends the brake calibration instruction to the brake line control end;
and S2, the brake line control end acquires the brake calibration instruction, records initial brake stroke data returned by the brake sensor in the initial brake state to obtain the actual minimum brake stroke, and drives the brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction to obtain the actual maximum brake stroke.
From the above description, the beneficial effects of the present invention are: the calibration end issues corresponding brake calibration instructions to the brake line control end according to different brake line control systems, the brake line control end records initial brake stroke data returned by a brake sensor in a brake initial state to obtain an actual minimum brake stroke amount, and the brake motor is driven to perform brake calibration actions from the brake initial state according to the brake calibration instructions to obtain an actual maximum brake stroke amount, so that the brake stroke calibration operation of different brake line control systems is faster and more efficient, and the stability and the reliability of the brake line control systems are ensured.
Further, the step S2 specifically includes the following steps:
the brake line control end acquires the brake calibration instruction, records initial brake stroke data returned by the brake sensor in the initial brake state, and obtains the actual minimum brake stroke amount;
the brake line control end drives a brake motor to start to carry out N times of brake calibration actions from the initial state of the brake according to the brake calibration instruction, wherein N is more than or equal to 1;
the brake line control end drives the brake motor to execute a brake action in each brake calibration action, judges whether the brake motor is in a large-current locked-rotor state or not and the brake stroke data returned by the brake sensor is fixed and unchanged in preset time, considers that the maximum brake stroke is reached, acquires the current brake stroke data returned by the brake sensor to obtain the current maximum brake stroke amount, and then reversely drives the brake motor to return to the brake initial state to finish one brake calibration action;
and the brake line control end executes N times of brake calibration actions to obtain N current maximum brake stroke quantities, and the actual maximum brake stroke quantity is obtained according to the N current maximum brake stroke quantities.
From the above description, when the brake motor is in the large-current locked-rotor state and the brake stroke data returned by the brake sensor is fixed and unchanged within the preset time, at this time, the brake motor rotates to the limit, the maximum brake stroke is considered to be reached, and thus the actual maximum brake stroke amount of the current brake line control system is obtained.
Further, the step S2 of obtaining the actual maximum braking stroke amount according to the N current maximum braking stroke amounts specifically includes the following steps:
when the N is 1, the brake line control end takes the current maximum brake stroke amount as the actual maximum brake stroke amount;
and when the N of the brake line control end is more than or equal to 3, performing cross difference calculation on each current maximum brake stroke quantity, judging whether each difference is within 10% of the total stroke quantity of the sensor, if so, acquiring the average value of the N current maximum brake stroke quantities as the actual maximum brake stroke quantity, otherwise, sending out a calibration error, and requiring to perform calibration again.
From the above description, it can be known that the accuracy of the final maximum brake stroke amount is ensured by performing error calculation on a plurality of times of calibration data, and considering that the calibration is wrong when one error value exceeds 10% of the total stroke amount of the sensor.
Further, the step S2 specifically includes the following steps:
the brake line control end acquires the brake calibration instruction, records initial brake stroke data returned by the brake sensor in the initial brake state, and obtains the actual minimum brake stroke amount;
and the brake line control end selects whether to start the vehicle according to whether the current brake line control system has vacuum assistance or not, if the current brake line control system has vacuum assistance, the brake motor is driven to start brake calibration action from the initial brake state according to the brake calibration instruction when the vehicle is in the starting state, so that the actual maximum brake stroke quantity is obtained, otherwise, the brake motor is directly driven to start brake calibration action from the initial brake state according to the brake calibration instruction, so that the actual maximum brake stroke quantity is obtained.
From the above description, when the brake line control system with vacuum assistance is used for brake calibration, the brake calibration needs to be performed only when the vehicle is in a starting state, so that the calibrated data is real and effective.
Further, the step S2 is followed by the following steps:
s3, the brake line control end takes the actual minimum brake stroke as the line control minimum brake stroke of the current brake line control system, obtains a vehicle use scene, vehicle weight, tire friction force and vehicle maximum speed to obtain a percentage smaller than 1, obtains the line control maximum brake stroke of the current brake line control system according to the percentage and the actual maximum brake stroke, the vehicle use scene and the tire friction force are positively correlated with the percentage respectively, and the vehicle weight and the vehicle maximum speed are negatively correlated with the percentage.
It can be known from the above description that, for the current brake cable control system, the maximum brake-by-wire stroke amount of one hundred percent is always used as the limit value, and in the calibration process, a percentage smaller than 1 is obtained according to the current situation of the vehicle, and the result of multiplying the actual maximum brake stroke amount by the percentage is used as the maximum brake-by-wire stroke amount of the current brake cable control system, so that the maximum brake-by-wire stroke amount of the current brake cable control system is smaller than the actual maximum brake stroke amount, that is, a certain brake stroke amount is reserved to ensure the stability and reliability of the brake.
Referring to fig. 2, an automatic calibration system for a brake-by-wire stroke includes a calibration end and a brake-by-wire end, which are connected in a communication manner, where the calibration end includes a first memory, a first processor, and a first computer program stored in the first memory and executable on the first processor, the brake-by-wire end includes a second memory, a second processor, and a second computer program stored in the second memory and executable on the second processor, and the first processor implements the following steps when executing the first computer program:
s1, obtaining a brake calibration instruction corresponding to the current brake cable control system, and sending the brake calibration instruction to a brake cable control end;
the second processor, when executing the second computer program, implements the steps of:
and S2, acquiring the brake calibration instruction, recording initial brake stroke data returned by the brake sensor in the initial brake state to obtain the actual minimum brake stroke, and driving the brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction to obtain the actual maximum brake stroke.
From the above description, the beneficial effects of the present invention are: the calibration end issues corresponding brake calibration instructions to the brake line control end according to different brake line control systems, the brake line control end records initial brake stroke data returned by a brake sensor in a brake initial state to obtain an actual minimum brake stroke amount, and the brake motor is driven to perform brake calibration actions from the brake initial state according to the brake calibration instructions to obtain an actual maximum brake stroke amount, so that the brake stroke calibration operation of different brake line control systems is faster and more efficient, and the stability and the reliability of the brake line control systems are ensured.
Further, the step S2 of the second computer program executed by the second processor specifically includes the following steps:
acquiring the brake calibration instruction, and recording initial brake stroke data returned by a brake sensor in the initial state of braking to obtain the actual minimum brake stroke;
driving a brake motor to start to perform N times of brake calibration actions from the initial state of the brake according to the brake calibration instruction, wherein N is greater than or equal to 1;
in each braking calibration action, driving the braking motor to execute a braking action, judging whether the braking motor is in a large-current locked-rotor state or not and judging whether braking stroke data returned by the braking sensor is fixed within preset time or not, considering that the maximum braking stroke is reached, acquiring current braking stroke data returned by the braking sensor to obtain the current maximum braking stroke quantity, and then reversely driving the braking motor to return to the initial braking state to finish one braking calibration action;
and executing N times of brake calibration actions to obtain N current maximum brake stroke quantities, and obtaining the actual maximum brake stroke quantity according to the N current maximum brake stroke quantities.
From the above description, when the brake motor is in the large-current locked-rotor state and the brake stroke data returned by the brake sensor is fixed and unchanged within the preset time, at this time, the brake motor rotates to the limit, the maximum brake stroke is considered to be reached, and thus the actual maximum brake stroke amount of the current brake line control system is obtained.
Further, when the second processor executes the actual maximum braking stroke amount obtained according to the N current maximum braking stroke amounts in step S2 of the second computer program, the method specifically includes the following steps:
when N is 1, taking the current maximum braking stroke as the actual maximum braking stroke;
and when N is more than or equal to 3, performing cross difference calculation on each current maximum braking stroke amount, judging whether each difference is within 10% of the total stroke amount of the sensor, if so, acquiring the average value of the N current maximum braking stroke amounts as the actual maximum braking stroke amount, otherwise, sending out a calibration error, and requiring to perform calibration again.
From the above description, it can be known that the accuracy of the final maximum brake stroke amount is ensured by performing error calculation on a plurality of times of calibration data, and considering that the calibration is wrong when one error value exceeds 10% of the total stroke amount of the sensor.
Further, the step S2 of the second computer program executed by the second processor specifically includes the following steps:
acquiring the brake calibration instruction, and recording initial brake stroke data returned by a brake sensor in the initial state of braking to obtain the actual minimum brake stroke;
and selecting whether to start the vehicle according to whether the current brake cable control system has vacuum assistance, if the current brake cable control system has vacuum assistance, driving a brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction when the vehicle is in a starting state to obtain the actual maximum brake stroke amount, otherwise, directly driving the brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction to obtain the actual maximum brake stroke amount.
From the above description, when the brake line control system with vacuum assistance is used for brake calibration, the brake calibration needs to be performed only when the vehicle is in a starting state, so that the calibrated data is real and effective.
Further, after the step S2, the second processor, when executing the second computer program, further implements the following steps:
s3, taking the actual minimum brake stroke as the brake-by-wire minimum brake stroke of the current brake-by-wire system, obtaining a vehicle use scene, a vehicle weight, a tire friction force and a vehicle maximum speed to obtain a percentage smaller than 1, obtaining the brake-by-wire maximum brake stroke of the current brake-by-wire system according to the percentage and the actual maximum brake stroke, wherein the vehicle use scene and the tire friction force are positively correlated with the percentage respectively, and the vehicle weight and the vehicle maximum speed are negatively correlated with the percentage.
It can be known from the above description that, for the current brake cable control system, the maximum brake-by-wire stroke amount of one hundred percent is always used as the limit value, and in the calibration process, a percentage smaller than 1 is obtained according to the current situation of the vehicle, and the result of multiplying the actual maximum brake stroke amount by the percentage is used as the maximum brake-by-wire stroke amount of the current brake cable control system, so that the maximum brake-by-wire stroke amount of the current brake cable control system is smaller than the actual maximum brake stroke amount, that is, a certain brake stroke amount is reserved to ensure the stability and reliability of the brake.
Referring to fig. 1, a first embodiment of the present invention is:
a method for automatically calibrating a brake-by-wire stroke comprises the following steps:
s1, the calibration end acquires a brake calibration instruction corresponding to the current brake line control system and sends the brake calibration instruction to the brake line control end;
s2, the brake line control end obtains a brake calibration instruction, records initial brake stroke data returned by the brake sensor in the initial brake state to obtain the actual minimum brake stroke, and drives the brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction to obtain the actual maximum brake stroke.
In this embodiment, step S2 specifically includes the following steps:
the brake line control end acquires a brake calibration instruction, records initial brake stroke data returned by a brake sensor in a brake initial state, and obtains an actual minimum brake stroke amount;
the brake line control end selects whether to start the vehicle according to whether the current brake line control system has vacuum assistance or not, if the current brake line control system has vacuum assistance, the brake motor is driven to start N times of brake calibration actions from the initial state of the brake according to the brake calibration instruction when the vehicle is in the starting state, otherwise, the brake motor is directly driven to start N times of brake calibration actions from the initial state of the brake according to the brake calibration instruction, wherein N is more than or equal to 1;
the brake line control end drives the brake motor to execute a brake action in each brake calibration action, judges whether the brake motor is in a large-current locked-rotor state or not and the brake stroke data returned by the brake sensor is fixed and unchanged in preset time, considers that the maximum brake stroke is reached, acquires the current brake stroke data returned by the brake sensor, obtains the current maximum brake stroke amount, and then reversely drives the brake motor to return to the initial brake state to finish one brake calibration action;
the brake line control end executes N times of brake calibration actions to obtain N current maximum brake stroke amounts, and obtains an actual maximum brake stroke amount according to the N current maximum brake stroke amounts, wherein when N is 1, the current maximum brake stroke amount is used as the actual maximum brake stroke amount, when N is larger than or equal to 3, each current maximum brake stroke amount is subjected to cross difference calculation to judge whether each difference value is within 10% of the total stroke amount of the sensor, if yes, the average value of the N current maximum brake stroke amounts is obtained as the actual maximum brake stroke amount, otherwise, a calibration error is sent out, and the calibration is required to be carried out again, for example, if the total stroke amount of the sensor is 0-255, 10% of the total stroke amount of the sensor is 25.5, at the moment, if the two current maximum brake stroke amounts are respectively 180 and 150, the difference value 30 of the two times is larger than 25.5, the calibration is considered erroneous.
S3, the brake line control end takes the actual minimum brake stroke as the line control minimum brake stroke of the current brake line control system, obtains a vehicle use scene, vehicle weight, tire friction and vehicle maximum speed to obtain a percentage smaller than 1, obtains the line control maximum brake stroke of the current brake line control system according to the percentage and the actual maximum brake stroke, the vehicle use scene and the tire friction are positively correlated with the percentage respectively, and the vehicle weight and the vehicle maximum speed are negatively correlated with the percentage.
In the embodiment, the percentage is 80% to 100%, wherein, in different vehicle use scenes, the smaller the road friction coefficient is or the smaller the tire friction force is, the larger the braking stroke needs to be, and the inverse proportion is; the larger the mass of the vehicle or the larger the maximum speed of the vehicle, the larger the braking stroke needs to be, which is proportional. Taking the maximum speed of the vehicle as an example, the percentage can be selected to be 80% when the maximum speed is less than 30km/h, the percentage can be selected to be 80% -88% when the maximum speed is 30-60km/h, the percentage can be selected to be 88% -93% when the maximum speed is 60-80km/h, and the percentage is recommended to be selected to be more than 95% when the maximum speed is greater than 80km/h, so as to ensure the stability and reliability of the brake line control system.
In the present embodiment, the braking sensor returns braking stroke data, which is not limited to the braking sensor being a stroke sensor, and in the present embodiment, the braking sensor is an angular velocity sensor provided on the braking motor, so that angular velocity data is returned, but based on the conversion relationship between the angular velocity and the stroke, the angular velocity data can be automatically converted into stroke data, that is, the braking stroke data returned by the braking sensor in the present embodiment refers to data that can be converted into a braking stroke.
Referring to fig. 2, the second embodiment of the present invention is:
a brake-by-wire stroke automatic calibration system 1 comprises a calibration end 2 and a brake-by-wire end 5 which are in communication connection, wherein the calibration end 2 comprises a first memory 4, a first processor 3 and a computer program which is stored on the first memory 4 and can be operated on the first processor 3, the brake-by-wire end 5 comprises a second memory 7, a second processor 6 and a computer program which is stored on the second memory 7 and can be operated on the second processor 6, corresponding steps in the first embodiment are realized when the first processor 3 executes the first computer program, and corresponding steps in the first embodiment are realized when the second processor 6 executes the second computer program.
The brake line control end 5 is a control device or a control end or a control module in the current brake line control system, and the current brake line control system further comprises a brake motor and a brake sensor; calibration end 2 specifically is one including M3 treater, a touch-sensitive screen, CAN communication module, partial module charges, the lithium cell module that steps up, the terminal equipment of outside button module and data storage module, the less convenient carrying of this terminal equipment whole volume, the different brake stroke calibration instruction that corresponds among the built-in different brake line accuse systems, key operation CAN realize sending different brake stroke calibration instructions to different brake line accuse systems, thereby CAN easily operate alone after carrying out simple training to operating personnel, make things convenient for most personnel to use.
In summary, according to the method and system for automatically calibrating a brake-by-wire brake stroke provided by the present invention, the calibration end issues a corresponding brake calibration command to the brake-by-wire end according to different brake-by-wire control systems, and the brake-by-wire end records initial brake stroke data returned by the brake sensor in the initial state of braking, so as to obtain the actual minimum brake stroke; the brake motor is driven to start brake calibration action from the initial state of braking according to the brake calibration instruction, wherein when the brake line control system with vacuum assistance is subjected to brake calibration, the brake calibration is carried out only when the vehicle is in a starting state, so that the calibrated data are real and effective; in the calibration process, when the brake motor is in the limit, the actual maximum brake stroke amount can be obtained, and error calculation is performed on the actual maximum brake stroke amount obtained through multiple times of calibration so as to ensure the accuracy of data. And finally, taking the multiplication result of the actual maximum brake stroke and the percentage as the maximum brake stroke of the brake line control system by wire, so that the maximum brake stroke of the brake line control system is smaller than the actual maximum brake stroke, the stability and the reliability of braking are ensured, the brake stroke calibration operation which is faster, more efficient and more accurate is realized for different brake line control systems, and the stability and the reliability of the brake line control system are ensured.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for automatically calibrating a brake-by-wire stroke is characterized by comprising the following steps:
s1, the calibration end acquires a brake calibration instruction corresponding to the current brake line control system and sends the brake calibration instruction to the brake line control end;
and S2, the brake line control end acquires the brake calibration instruction, records initial brake stroke data returned by the brake sensor in the initial brake state to obtain the actual minimum brake stroke, and drives the brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction to obtain the actual maximum brake stroke.
2. The method for automatically calibrating the stroke of a brake-by-wire system according to claim 1, wherein the step S2 specifically comprises the following steps:
the brake line control end acquires the brake calibration instruction, records initial brake stroke data returned by the brake sensor in the initial brake state, and obtains the actual minimum brake stroke amount;
the brake line control end drives a brake motor to start to carry out N times of brake calibration actions from the initial state of the brake according to the brake calibration instruction, wherein N is more than or equal to 1;
the brake line control end drives the brake motor to execute a brake action in each brake calibration action, judges whether the brake motor is in a large-current locked-rotor state or not and the brake stroke data returned by the brake sensor is fixed and unchanged in preset time, considers that the maximum brake stroke is reached, acquires the current brake stroke data returned by the brake sensor to obtain the current maximum brake stroke amount, and then reversely drives the brake motor to return to the brake initial state to finish one brake calibration action;
and the brake line control end executes N times of brake calibration actions to obtain N current maximum brake stroke quantities, and the actual maximum brake stroke quantity is obtained according to the N current maximum brake stroke quantities.
3. The method for automatically calibrating the brake-by-wire travel according to claim 2, wherein the step S2 of obtaining the actual maximum brake travel according to the N current maximum brake travel specifically comprises the following steps:
when the N is 1, the brake line control end takes the current maximum brake stroke amount as the actual maximum brake stroke amount;
and when the N of the brake line control end is more than or equal to 3, performing cross difference calculation on each current maximum brake stroke quantity, judging whether each difference is within 10% of the total stroke quantity of the sensor, if so, acquiring the average value of the N current maximum brake stroke quantities as the actual maximum brake stroke quantity, otherwise, sending out a calibration error, and requiring to perform calibration again.
4. The method for automatically calibrating the stroke of a brake-by-wire system according to claim 1, wherein the step S2 specifically comprises the following steps:
the brake line control end acquires the brake calibration instruction, records initial brake stroke data returned by the brake sensor in the initial brake state, and obtains the actual minimum brake stroke amount;
and the brake line control end selects whether to start the vehicle according to whether the current brake line control system has vacuum assistance or not, if the current brake line control system has vacuum assistance, the brake motor is driven to start brake calibration action from the initial brake state according to the brake calibration instruction when the vehicle is in the starting state, so that the actual maximum brake stroke quantity is obtained, otherwise, the brake motor is directly driven to start brake calibration action from the initial brake state according to the brake calibration instruction, so that the actual maximum brake stroke quantity is obtained.
5. The method for automatically calibrating the stroke of a brake-by-wire system according to claim 1, wherein the step S2 is followed by the steps of:
s3, the brake line control end takes the actual minimum brake stroke as the line control minimum brake stroke of the current brake line control system, obtains a vehicle use scene, vehicle weight, tire friction force and vehicle maximum speed to obtain a percentage smaller than 1, obtains the line control maximum brake stroke of the current brake line control system according to the percentage and the actual maximum brake stroke, the vehicle use scene and the tire friction force are positively correlated with the percentage respectively, and the vehicle weight and the vehicle maximum speed are negatively correlated with the percentage.
6. The brake-by-wire stroke automatic calibration system comprises a calibration end and a brake-by-wire end which are in communication connection, wherein the calibration end comprises a first memory, a first processor and a first computer program which is stored on the first memory and can run on the first processor, the brake-by-wire end comprises a second memory, a second processor and a second computer program which is stored on the second memory and can run on the second processor, and the brake-by-wire end is characterized in that the first processor executes the first computer program to realize the following steps:
s1, obtaining a brake calibration instruction corresponding to the current brake cable control system, and sending the brake calibration instruction to a brake cable control end;
the second processor, when executing the second computer program, implements the steps of:
and S2, acquiring the brake calibration instruction, recording initial brake stroke data returned by the brake sensor in the initial brake state to obtain the actual minimum brake stroke, and driving the brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction to obtain the actual maximum brake stroke.
7. The system for automatically calibrating a brake-by-wire travel according to claim 6, wherein the second processor executing the step S2 of the second computer program specifically comprises the following steps:
acquiring the brake calibration instruction, and recording initial brake stroke data returned by a brake sensor in the initial state of braking to obtain the actual minimum brake stroke;
driving a brake motor to start to perform N times of brake calibration actions from the initial state of the brake according to the brake calibration instruction, wherein N is greater than or equal to 1;
in each braking calibration action, driving the braking motor to execute a braking action, judging whether the braking motor is in a large-current locked-rotor state or not and judging whether braking stroke data returned by the braking sensor is fixed within preset time or not, considering that the maximum braking stroke is reached, acquiring current braking stroke data returned by the braking sensor to obtain the current maximum braking stroke quantity, and then reversely driving the braking motor to return to the initial braking state to finish one braking calibration action;
and executing N times of brake calibration actions to obtain N current maximum brake stroke quantities, and obtaining the actual maximum brake stroke quantity according to the N current maximum brake stroke quantities.
8. The system for automatically calibrating a brake-by-wire stroke according to claim 7, wherein the step S2 of the second computer program executed by the second processor for obtaining the actual maximum brake stroke according to the N current maximum brake stroke comprises the following steps:
when N is 1, taking the current maximum braking stroke as the actual maximum braking stroke;
and when N is more than or equal to 3, performing cross difference calculation on each current maximum braking stroke amount, judging whether each difference is within 10% of the total stroke amount of the sensor, if so, acquiring the average value of the N current maximum braking stroke amounts as the actual maximum braking stroke amount, otherwise, sending out a calibration error, and requiring to perform calibration again.
9. The system for automatically calibrating a brake-by-wire travel according to claim 6, wherein the second processor executing the step S2 of the second computer program specifically comprises the following steps:
acquiring the brake calibration instruction, and recording initial brake stroke data returned by a brake sensor in the initial state of braking to obtain the actual minimum brake stroke;
and selecting whether to start the vehicle according to whether the current brake cable control system has vacuum assistance, if the current brake cable control system has vacuum assistance, driving a brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction when the vehicle is in a starting state to obtain the actual maximum brake stroke amount, otherwise, directly driving the brake motor to start brake calibration action from the initial brake state according to the brake calibration instruction to obtain the actual maximum brake stroke amount.
10. The system for automatically calibrating the stroke of a brake-by-wire brake according to claim 6, wherein after the step S2, the second processor executing the second computer program further comprises the steps of:
s3, taking the actual minimum brake stroke as the brake-by-wire minimum brake stroke of the current brake-by-wire system, obtaining a vehicle use scene, a vehicle weight, a tire friction force and a vehicle maximum speed to obtain a percentage smaller than 1, obtaining the brake-by-wire maximum brake stroke of the current brake-by-wire system according to the percentage and the actual maximum brake stroke, wherein the vehicle use scene and the tire friction force are positively correlated with the percentage respectively, and the vehicle weight and the vehicle maximum speed are negatively correlated with the percentage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010272205.0A CN111422180B (en) | 2020-04-09 | 2020-04-09 | Automatic calibration method and system for line-controlled brake stroke |
Applications Claiming Priority (1)
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