CN114084111A - Brake control method based on real-time feedback and historical deceleration - Google Patents
Brake control method based on real-time feedback and historical deceleration Download PDFInfo
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- CN114084111A CN114084111A CN202111416620.XA CN202111416620A CN114084111A CN 114084111 A CN114084111 A CN 114084111A CN 202111416620 A CN202111416620 A CN 202111416620A CN 114084111 A CN114084111 A CN 114084111A
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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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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Abstract
The embodiment of the invention relates to a brake control method based on real-time feedback and historical deceleration, which comprises the following steps: constructing a brake calculation closed loop; acquiring real-time speed, real-time feedback deceleration and expected deceleration information of a current time point, and generating corresponding current speed data, current feedback deceleration data and current expected deceleration data; obtaining current calibration brake data; acquiring brake percentage information of a previous time point as previous brake data; acquiring expected deceleration information on a specified historical time point before the current time point as historical deceleration data; when the historical deceleration data is not lower than a preset minimum deceleration threshold, inputting the historical deceleration data, the current feedback deceleration data, the current calibration brake data and the previous brake data into a brake calculation closed loop to perform closed-loop brake operation to generate current brake data; and performing braking control on the vehicle according to the current braking data. The invention can improve the brake control precision.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a brake control method based on real-time feedback and historical deceleration.
Background
The automatic driving control module may be divided into a lateral control unit and a longitudinal control unit according to functions. Generally, when the longitudinal control unit performs brake control on the automatic driving vehicle, the longitudinal control unit queries a brake calibration table according to the expected deceleration and the current vehicle speed issued by the vehicle planning module to obtain a corresponding brake percentage, and then issues the brake percentage to the vehicle chassis module to perform corresponding control on the brake so as to achieve the effect of deceleration. The operation mode is simple and quick, but the defect is obvious, and the calibrated braking percentage cannot be adaptively adjusted according to the personalized braking delay characteristic of the vehicle, so that different calibration tables need to be customized for each vehicle.
Disclosure of Invention
The invention aims to provide a brake control method based on real-time feedback and historical deceleration, an electronic device and a computer readable storage medium, a brake calculation closed loop is constructed, the real-time feedback deceleration and the historical deceleration of a vehicle are differentiated through the brake calculation closed loop to obtain individualized brake delay characteristics of the vehicle, brake increments related to the individualized characteristics of the vehicle are obtained through PID increment control operation, the brake increments are superposed on a calibration value to obtain estimated brake data after self-adaptive processing, and the estimated brake data is compared with the previous brake data to obtain final current brake data. By the method and the device, the self-adaptive brake control can be performed on the vehicles with different delay characteristics based on one reference calibration table, and the calibration configuration of one vehicle and one table for all the vehicles is not required, so that the deployment and maintenance cost of the vehicles can be reduced, the deployment and maintenance working efficiency can be improved, and the brake control precision can be improved.
To achieve the above object, a first aspect of the embodiments of the present invention provides a brake control method based on real-time feedback and historical deceleration, the method including:
constructing a brake calculation closed loop;
acquiring real-time speed, real-time feedback deceleration and expected deceleration information of a current time point, and generating corresponding current speed data, current feedback deceleration data and current expected deceleration data;
inquiring a preset brake calibration table reflecting the corresponding relation of the speed, the deceleration and the calibrated brake percentage according to the current speed data and the current expected deceleration data to obtain the matched calibrated brake percentage as the current calibrated brake data;
acquiring brake percentage information of a previous time point of a current time point as previous brake data;
acquiring expected deceleration information on a specified historical time point before the current time point as historical deceleration data;
when the historical deceleration data is not lower than a preset minimum deceleration threshold, inputting the historical deceleration data, the current feedback deceleration data, the current calibration brake data and the previous brake data into the brake calculation closed loop to perform closed-loop brake operation, and generating current brake data;
and performing brake control on the vehicle according to the current brake data.
Preferably, the brake calculation closed loop comprises a deceleration difference processing module, a brake increment PID control processing module, a brake pre-estimation processing module, a brake difference processing module and a brake comparison output module.
Preferably, when the brake calculation closed loop performs closed-loop brake calculation, the method further includes:
the brake calculation closed loop inputs the historical deceleration data and the current feedback deceleration data into the deceleration differential processing module for differential operation to generate first deceleration differential data;
inputting the first deceleration differential data into the brake increment PID control processing module to perform PID increment control operation to generate first brake increment data;
inputting the first brake increment data and the current calibrated brake data into the brake pre-estimation processing module for summation operation to generate first brake data;
inputting the first brake data and the previous brake data into the brake differential processing module for differential operation to generate first brake differential data;
and inputting a preset brake differential threshold value, the first brake differential data, the first brake data and the previous brake data into the brake comparison output module for data comparison, and selecting corresponding brake data as the current brake data to be output according to a comparison result.
Further, when the deceleration difference processing module performs the difference operation, the method further includes:
the deceleration difference processing module calculates and generates the first deceleration difference data and outputs the first deceleration difference data, namely current feedback deceleration data-historical deceleration data.
Further, when the brake increment PID control processing module performs PID increment control operation, the method further includes:
the brake increment PID control processing module takes the first deceleration differential data as differential data e of the current PID control period; and gain k according to the preset proportionpAnd performing a proportional operation on the difference data e to generate proportional operation data Cp，Cp＝kpE; and according to a preset integral gain kiAnd a control period T for performing an integral operation on the difference data e to generate integral operation data Ci,
And according to a preset differential gain kdA differential operation is performed on the differential data e to generate differential operation data Cd，
e' is the first deceleration difference number of the previous PID control periodAccordingly; and calculating the ratio data CpThe integral operation data CiAnd the differential operation data CdAnd performing sum operation, and outputting a sum operation result as the first brake increment data.
Further, when the brake differential processing module performs differential operation, the method further includes:
the brake differential processing module calculates and generates the first brake differential data and outputs the first brake differential data, wherein the first brake differential data is the previous brake data-the first brake data.
Further, when the brake comparison output module performs data comparison and selects corresponding brake data as the current brake data to be output according to the comparison result, the method further includes:
the brake comparison output module sets the first comparison state data to be in a first state and outputs the first comparison state data when the first brake differential data is not lower than the brake differential threshold or when the first brake differential data is smaller than 0; when the first brake differential data is lower than the brake differential threshold and the first brake differential data is greater than or equal to 0, setting the first comparison state data to be in a second state;
selecting corresponding brake data to output according to the first comparison state data; and if the first comparison state data is in a first state, outputting the first brake data as the current brake data, and if the first comparison state data is in a second state, outputting the previous brake data as the current brake data.
A second aspect of an embodiment of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;
the processor is configured to be coupled to the memory, read and execute instructions in the memory, so as to implement the method steps of the first aspect;
the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.
A third aspect of embodiments of the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a computer, cause the computer to perform the method of the first aspect.
The embodiment of the invention provides a brake control method based on real-time feedback and historical deceleration, an electronic device and a computer readable storage medium, wherein a brake calculation closed loop is constructed, the real-time feedback deceleration and the historical deceleration of a vehicle are differentiated through the brake calculation closed loop to obtain individualized brake delay characteristics of the vehicle, brake increments related to the individualized characteristics of the vehicle are obtained through PID increment control operation, the brake increments are superposed on a calibration value to obtain estimated brake data after self-adaptive processing, and the estimated brake data is compared with the previous brake data to obtain final current brake data. By the method and the device, the self-adaptive brake control can be performed on the vehicles with different delay characteristics based on one reference calibration table, and the calibration configuration of one vehicle and one table for all the vehicles is not required, so that the deployment and maintenance cost of the vehicles is reduced, the deployment and maintenance work efficiency is improved, and the brake control precision is improved.
Drawings
FIG. 1 is a schematic diagram of a braking control method based on real-time feedback and historical deceleration according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a brake calculation closed loop according to an embodiment of the present invention;
fig. 3 is a schematic processing diagram of a brake calculation closed loop according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, which is a schematic diagram of a brake control method based on real-time feedback and historical deceleration provided in an embodiment of the present invention, the method mainly includes the following steps:
step 1, constructing a brake calculation closed loop;
the brake calculation closed loop comprises a deceleration difference processing module, a brake increment PID (proportion integration differential) control processing module, a brake estimation processing module, a brake difference processing module and a brake comparison output module.
Here, the brake calculation closed loop may be a hardware such as a circuit, a chip, a device, a terminal, or a server, or may be a software composed of a set of executable codes; the module structure is shown in fig. 2 as a schematic block diagram of a brake calculation closed loop according to an embodiment of the present invention, and includes a deceleration difference processing module 201, a brake increment PID control processing module 202, a brake prediction processing module 203, a brake difference processing module 204, and a brake comparison output module 205.
And 2, acquiring the real-time speed, the real-time feedback deceleration and the expected deceleration information of the current time point, and generating corresponding current speed data, current feedback deceleration data and current expected deceleration data.
The deceleration referred to in the embodiments of the present invention is actually an acceleration with a negative value, also called braking deceleration, and has a unit of m/s2(ii) a The feedback deceleration is the real-time deceleration actually measured from the vehicle chassis module, and the expected deceleration is the target deceleration transmitted to the motion control module by the vehicle track planning module; if the velocity continuous signal is v and the feedback deceleration is dvfDesired deceleration dvsIf the current time point is t, the current speed data is v (t), and the current feedback deceleration data is dvf(t) the current desired deceleration data is dvs(t)。
And 3, inquiring a preset brake calibration table reflecting the corresponding relation among the speed, the deceleration and the calibrated brake percentage according to the current speed data and the current expected deceleration data to obtain the matched calibrated brake percentage as the current calibrated brake data.
Here, the brake calibration table includes a plurality of brake calibration records, and each brake calibration record includes a speed field, a deceleration field, and a brake percentage field; the braking percentage is related to the opening degree of the vehicle brake pedal or the braking strength, and the larger the braking percentage is, the larger the corresponding opening degree of the vehicle brake pedal or the braking strength is, the larger the braking action is, and the smaller the braking action is otherwise. When inquiring the brake calibration table, polling each brake calibration record, and extracting the speed field to match with the current speed data v (t) and the deceleration field to the current expected deceleration data dvs(t) brake percentage field of matched brake calibration record as current calibration brake data b*(t)。
And 4, acquiring the brake percentage information of the last time point of the current time point as the previous brake data.
Here, the previous braking data is b (t-1).
And step 5, acquiring expected deceleration information on a specified historical time point before the current time point as historical deceleration data.
Here, the historical time points are designated as t-n, the time point interval parameter n, which takes an integer greater than or equal to 1, and the historical deceleration data is, in fact, dvs(t-n); the time interval parameter n represents the braking delay characteristic of the vehicle, namely the delay characteristic between the time point of issuing the expected deceleration by the trajectory planning module and the time point of starting braking by the chassis module.
It should be noted that the time point interval parameter n of different vehicle types is different; in order to uniformly set the time interval parameter n, the embodiment of the present invention further provides a processing step of regularly updating the time interval parameter n of the vehicle, which specifically includes: identifying a preset parameter setting mode; if the parameter setting mode is a first mode, regularly recording the time of obtaining the expected deceleration issued by the vehicle track planning module for the first time as the starting time after the vehicle is started, recording the time of obtaining the feedback deceleration fed back by the vehicle chassis module for the first time as the feedback time, calculating a first interval as the feedback time-the starting time, dividing the first interval by the quotient integer of the signal sampling period to obtain first integer data, and setting and updating the time point interval parameter n according to the first integer data; if the parameter setting mode is the second mode, calculating the average value of the feedback-starting time intervals of the appointed times in the starting time period to obtain a second interval periodically after the vehicle is started, dividing the second interval by the quotient rounding of the signal sampling period to obtain second rounding data, and setting and updating the time point interval parameter n according to the second rounding data. Therefore, the brake calibration table of each vehicle does not need to be configured independently manually, and the individualized brake delay characteristic which can be changed continuously of each vehicle can be updated in real time along with different use states and ages of the vehicles.
And 6, inputting the historical deceleration data, the current feedback deceleration data, the current calibration brake data and the previous brake data into a brake calculation closed loop to perform closed loop brake operation when the historical deceleration data is not lower than the preset minimum deceleration threshold value, and generating the current brake data.
Here, the minimum deceleration threshold is a preset system parameter;
when the historical deceleration data is lower than the minimum deceleration threshold, the deceleration state of the vehicle is relatively slow, and the brake data does not need to be finely adjusted by performing subsequent steps, namely the brake data is directly regulated according to the current calibrated brake data b*(t) controlling the brake of the vehicle;
when the historical deceleration data is not lower than the minimum deceleration threshold, it is indicated that the braking data of the vehicle needs to be finely adjusted, specifically, the historical deceleration data, the current feedback deceleration data, the current calibration braking data and the previous braking data are input into a braking calculation closed loop to perform closed-loop braking operation, so that the finely adjusted braking data, namely the current braking data b (t), are obtained; when closed-loop braking operation is carried out, the braking calculation closed-loop meeting base of the embodiment of the inventionLocking the corresponding delay data pair, i.e. the current feedback deceleration data dv, for the individual braking delay characteristic, i.e. the time interval parameter n, of each vehiclef(t) and historical deceleration data dvs(t-n) data pairs, obtaining first deceleration differential data delta dv (t, t-n) by carrying out differential operation on the data pairs, and obtaining personalized brake incremental data caused by personalized brake delay characteristics, namely first brake incremental data delta b, by carrying out PID incremental control operation on the first deceleration differential data delta dv (t, t-n)*(t) then calibrating the braking data b according to the current*(t) + first brake increment data Δ b*(t) obtaining estimated braking data, namely first braking data b1(t), and then the previous braking data b (t-1) and the first braking data b are compared1(t) carrying out difference operation to obtain first braking difference data delta b (t-1, t), and then obtaining first braking data b from the first braking data according to the comparison result of the first braking difference data delta b (t-1, t) and a preset braking difference threshold value1And (t) outputting the alternative one of the previous brake data b (t-1) and the current brake data b (t).
As can be seen from the foregoing, the brake calculation closed loop shown in fig. 2 includes a deceleration difference processing module 201, a brake increment PID control processing module 202, a brake estimation processing module 203, a brake difference processing module 204, and a brake comparison output module 205, and the following describes a processing procedure of performing closed-loop brake operation on the brake calculation closed loop based on the schematic processing procedure of the brake calculation closed loop provided by the embodiment of the present invention in fig. 3.
When the closed loop is calculated to the brake and closed loop brake operation is carried out, include:
step A1, inputting the historical deceleration data and the current feedback deceleration data into the deceleration difference processing module 201 for difference operation by the brake calculation closed loop to generate first deceleration difference data;
further, the deceleration difference processing module 201, when performing the difference calculation, includes: the deceleration difference processing module 201 calculates and generates first deceleration difference data, which is current feedback deceleration data-historical deceleration data, and outputs the first deceleration difference data;
here, the processing procedure of the deceleration difference processing module 201 is as shown in fig. 3, and is used to calculate the first deceleration difference data as the current feedback deceleration data — the historical deceleration data;
specifically, if the brake calculation closed loop is a circuit, a chip, a device, a terminal or a server, the deceleration difference processing module 201 is actually an adder or a subtractor for feeding back the current deceleration data dvf(t) and historical deceleration data dvs(t-n) performing subtraction and outputting first deceleration difference data Δ dv (t, t-n); when it is an adder, the historical deceleration data dvs(t-n) inverting the result of the inversion with the current feedback deceleration data dvf(t) adding to obtain first deceleration differential data Δ dv (t, t-n); when it is a subtracter, first deceleration difference data Δ dv (t, t-n) is calculated as current feedback deceleration data dvf(t) -historical deceleration data dvs(t-n) and outputting;
if the brake calculation closed loop is software formed by a group of executable codes, the deceleration difference processing module 201 is actually a section of executable codes for realizing the difference operation process;
step A2, inputting the first deceleration difference data into the brake increment PID control processing module 202 to perform PID increment control operation, and generating first brake increment data;
further, when the brake increment PID control processing module 202 performs PID increment control operation, the method includes: the brake increment PID control processing module 202 takes the first deceleration differential data as the differential data e of the current PID control period; and gain k according to the preset proportionpThe difference data e is subjected to proportional operation to generate proportional operation data Cp，Cp＝kpE; and according to a preset integral gain kiAnd a control period T for integrating the differential data e to generate integration data Ci,
And according to a preset differential gain kdThe differential data e is differentiated to generate a differentialDivision operation data Cd，
e' is the first deceleration differential data of the previous PID control period; and comparative example operation data CpIntegral operation data CiAnd differential operation data CdPerforming sum operation, and outputting a sum operation result as first brake increment data;
here, the processing procedure of the brake increment PID control processing module 202 is as shown in fig. 3, and is configured to perform PID increment control operation according to the input first deceleration differential data to obtain corresponding first brake increment data;
specifically, if the brake calculation closed loop is a circuit, a chip, a device, a terminal or a server, the brake increment PID control processing module 202 is a PID controller, which performs proportional, integral and differential operations on the differential data e, i.e., the first deceleration differential data Δ dv (t, t-n), respectively, and sums the three operation results to obtain the final first brake increment data
e' is the first deceleration differential data of the previous PID control period, i.e., Δ dv (t-1, (t-1) -n);
if the brake calculation closed loop is software formed by a group of executable codes, the brake increment PID control processing module 202 is an executable code of a section of calculation item in the PID increment control operation process;
step A3, inputting the first brake increment data and the current calibration brake data into the brake pre-estimation processing module 203 for summation operation to generate first brake data;
further, the brake estimation processing module 203 performs a summation operation, which includes: the brake pre-estimation processing module 203 calculates to generate and output first brake data, wherein the first brake data is current calibration brake data plus first brake increment data;
here, the processing procedure of the braking prediction processing module 203 is as shown in fig. 3, and is configured to calculate first braking data, which is current calibrated braking data + first braking increment data;
specifically, if the brake calculation closed loop is a circuit, a chip, a device, a terminal or a server, the brake estimation processing module 203 is actually an adder for calculating the first brake data b1(t) current calibration braking data b*(t) + first brake increment data Δ b*(t) and outputting;
if the brake calculation closed loop is software formed by a group of executable codes, the brake pre-estimation processing module 203 is an executable code of a section of calculation items in the summation operation process;
step A4, inputting the first brake data and the previous brake data into the brake differential processing module 204 for differential operation to generate first brake differential data;
further, when the differential processing module 204 performs the differential operation, the method includes: the brake differential processing module 204 calculates to generate and output first brake differential data, where the first brake differential data is previous brake data — first brake data;
here, the processing procedure of the braking difference processing module 204 is as shown in fig. 3, and is used for calculating the first braking difference data as the previous braking data — the first braking data;
specifically, if the brake calculation closed loop is a circuit, a chip, a device, a terminal or a server, the brake differential processing module 204 is actually an adder or a subtractor for adding the previous brake data b (t-1) and the first brake data b (t-1) to the input data1(t) carrying out subtraction operation and outputting first brake differential data delta b (t-1, t); when it is an adder, the first brake data b is added1(t) negating, and adding the negation result and the previous brake data b (t-1) to obtain first brake differential data delta b (t-1, t); when the subtracter is used, the first braking difference data delta b (t-1, t) is calculated to be the previous braking data b (t-1) -the first braking data b1(t) and outputting;
if the brake calculation closed loop is software formed by a group of executable codes, the brake differential processing module 204 is actually a section of executable codes for realizing the differential operation process;
step a5, inputting a preset brake differential threshold, first brake differential data, first brake data and previous brake data into the brake comparison output module 205 for data comparison, and selecting corresponding brake data as current brake data to be output according to the comparison result;
further, when the brake comparison output module 205 performs data comparison and selects the corresponding brake data as the current brake data according to the comparison result for output, the method further includes:
step a5-1, the brake comparison output module 205 sets the first comparison state data to be the first state and outputs the first comparison state data when the first brake differential data is not lower than the brake differential threshold or when the first brake differential data is smaller than 0; when the first brake differential data is lower than the brake differential threshold and the first brake differential data is greater than or equal to 0, setting the first comparison state data as a second state;
step A5-2, selecting corresponding brake data to output according to the first comparison state data; and if the first comparison state data is in the first state, outputting the first brake data as the current brake data, and if the first comparison state data is in the second state, outputting the previous brake data as the current brake data.
Here, the processing procedure of the braking comparison output module 205 is as shown in fig. 3, and is used for determining whether the first braking difference data Δ b (t-1, t) is greater than or equal to the braking difference threshold value, and is less than 0; if the first braking differential data delta b (t-1, t) is less than 0 or the first braking differential data delta b (t-1, t) is more than or equal to the braking differential threshold, outputting first comparison state data as a first state; if the first brake differential data delta b (t-1, t) is not less than 0 and less than a brake differential threshold, outputting first comparison state data as a second state;
when the first comparison state data is in the first state, it indicates that the braking force needs to be continuously increased or decreased at the current time point, in this case, the braking comparison output module 205 may use the currently calculated first braking data b1(t) as output, i.e. the first braking data b1(t) outputting the current braking data b (t) for subsequent braking control; the first comparison state data is the secondIn the state, it indicates that the braking force does not need to be increased or decreased at the current time point, and in this case, the braking comparison output module 205 continues to use the braking data at the previous time as output, that is, the previous braking data b (t-1) is output as the current braking data b (t) for subsequent braking control.
It should be noted that, if the brake calculation closed loop is a circuit, a chip, a device, a terminal, or a server, the brake comparison output module 205 is actually composed of a data comparison unit 2051 and a condition control output unit 2052;
the input of the data comparing unit 2051 is first braking difference data Δ b (t-1, t) and a braking difference threshold, and outputs first comparison state data to the condition control output unit 2052; the data comparing unit 2051 is specifically configured to determine whether the input first braking differential data Δ b (t-1, t) is greater than or equal to a braking differential threshold and is less than 0; if the first braking differential data Δ b (t-1, t) <0 or the first braking differential data Δ b (t-1, t) > is greater than or equal to the braking differential threshold, outputting first comparison state data, which is specifically a first state, to the condition control output unit 2052; if the first braking differential data Δ b (t-1, t) < the braking differential threshold value is not less than 0, first comparison state data specifically in the second state is output to the condition control output unit 2052;
the condition control output unit 2052 receives as input first comparison state data and first brake data b1(t) and previous brake data b (t-1), and the output is the current brake data b (t); the condition control output unit 2052 is specifically configured to perform condition judgment using the input first comparison state data as an output control condition; if the output control condition is the first state, the first brake data b is input1(t) output as current braking data b (t); if the output control condition is in a second state, outputting the input previous brake data b (t-1) as the current brake data b (t);
if the brake calculation loop is software formed by a set of executable codes, the brake comparison output module 205 is actually a piece of executable codes for implementing the processing procedures of the data comparison unit 2051 and the condition control output unit 2052.
And 7, performing braking control on the vehicle according to the current braking data.
Here, according to the known corresponding relationship between the braking percentage and the opening degree of the mechanical brake pedal or the electric control brake intensity, the braking percentage of the current braking data b (t) is converted into the corresponding expected opening degree of the brake pedal or the expected electric control brake intensity, and the expected opening degree of the brake pedal or the expected electric control brake intensity is output to the mechanical brake pedal or the electric control brake system to perform the braking operation on the vehicle.
Fig. 4 is a schematic structural diagram of an electronic device according to a second embodiment of the present invention. The electronic device may be the terminal device or the server, or may be a terminal device or a server connected to the terminal device or the server and implementing the method according to the embodiment of the present invention. As shown in fig. 4, the electronic device may include: a processor 301 (e.g., a CPU), a memory 302, a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiving operation of the transceiver 303. Various instructions may be stored in memory 302 for performing various processing functions and implementing the processing steps described in the foregoing method embodiments. Preferably, the electronic device according to an embodiment of the present invention further includes: a power supply 304, a system bus 305, and a communication port 306. The system bus 305 is used to implement communication connections between the elements. The communication port 306 is used for connection communication between the electronic device and other peripherals.
The system bus 305 mentioned in fig. 4 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The Memory may include a Random Access Memory (RAM) and may also include a Non-Volatile Memory (Non-Volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a Graphics Processing Unit (GPU), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
It should be noted that the embodiment of the present invention also provides a computer-readable storage medium, which stores instructions that, when executed on a computer, cause the computer to execute the method and the processing procedure provided in the above-mentioned embodiment.
The embodiment of the present invention further provides a chip for executing the instructions, where the chip is configured to execute the processing steps described in the foregoing method embodiment.
The embodiment of the invention provides a brake control method based on real-time feedback and historical deceleration, an electronic device and a computer readable storage medium, wherein a brake calculation closed loop is constructed, the real-time feedback deceleration and the historical deceleration of a vehicle are differentiated through the brake calculation closed loop to obtain individualized brake delay characteristics of the vehicle, brake increments related to the individualized characteristics of the vehicle are obtained through PID increment control operation, the brake increments are superposed on a calibration value to obtain estimated brake data after self-adaptive processing, and the estimated brake data is compared with the previous brake data to obtain final current brake data. By the method and the device, the self-adaptive brake control can be performed on the vehicles with different delay characteristics based on one reference calibration table, and the calibration configuration of one vehicle and one table for all the vehicles is not required, so that the deployment and maintenance cost of the vehicles is reduced, the deployment and maintenance work efficiency is improved, and the brake control precision is improved.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A method for brake control based on real-time feedback and historical deceleration, the method comprising:
constructing a brake calculation closed loop;
acquiring real-time speed, real-time feedback deceleration and expected deceleration information of a current time point, and generating corresponding current speed data, current feedback deceleration data and current expected deceleration data;
inquiring a preset brake calibration table reflecting the corresponding relation of the speed, the deceleration and the calibrated brake percentage according to the current speed data and the current expected deceleration data to obtain the matched calibrated brake percentage as the current calibrated brake data;
acquiring brake percentage information of a previous time point of a current time point as previous brake data;
acquiring expected deceleration information on a specified historical time point before the current time point as historical deceleration data;
when the historical deceleration data is not lower than a preset minimum deceleration threshold, inputting the historical deceleration data, the current feedback deceleration data, the current calibration brake data and the previous brake data into the brake calculation closed loop to perform closed-loop brake operation, and generating current brake data;
and performing brake control on the vehicle according to the current brake data.
2. The brake control method based on real-time feedback and historical deceleration according to claim 1,
the brake calculation closed loop comprises a deceleration difference processing module, a brake increment PID control processing module, a brake pre-estimation processing module, a brake difference processing module and a brake comparison output module.
3. The method of claim 2, wherein when the brake calculation loop performs a closed-loop brake operation, the method further comprises:
the brake calculation closed loop inputs the historical deceleration data and the current feedback deceleration data into the deceleration differential processing module for differential operation to generate first deceleration differential data;
inputting the first deceleration differential data into the brake increment PID control processing module to perform PID increment control operation to generate first brake increment data;
inputting the first brake increment data and the current calibrated brake data into the brake pre-estimation processing module for summation operation to generate first brake data;
inputting the first brake data and the previous brake data into the brake differential processing module for differential operation to generate first brake differential data;
and inputting a preset brake differential threshold value, the first brake differential data, the first brake data and the previous brake data into the brake comparison output module for data comparison, and selecting corresponding brake data as the current brake data to be output according to a comparison result.
4. The brake control method based on real-time feedback and historical deceleration as claimed in claim 3, wherein when the deceleration difference processing module performs the difference operation, the method further comprises:
the deceleration difference processing module calculates and generates the first deceleration difference data and outputs the first deceleration difference data, namely current feedback deceleration data-historical deceleration data.
5. The brake control method based on real-time feedback and historical deceleration as claimed in claim 3, wherein when the brake increment PID control processing module performs PID increment control operation, the method further comprises:
the brake increment PID control processing module takes the first deceleration differential data as differential data e of the current PID control period; and gain k according to the preset proportionpAnd performing a proportional operation on the difference data e to generate proportional operation data Cp，Cp＝kpE; and according to a preset integral gain kiAnd a control period T for performing an integral operation on the difference data e to generate integral operation data Ci,
And according to a preset differential gain kdA differential operation is performed on the differential data e to generate differential operation data Cd，
e' is the first deceleration differential data of the previous PID control period; and calculating the ratio data CpThe integral operation data CiAnd the differential operation data CdAnd performing sum operation, and outputting a sum operation result as the first brake increment data.
6. The brake control method based on real-time feedback and historical deceleration as claimed in claim 3, wherein when the brake difference processing module performs the difference operation, the method further comprises:
the brake differential processing module calculates and generates the first brake differential data and outputs the first brake differential data, wherein the first brake differential data is the previous brake data-the first brake data.
7. The method for controlling braking based on real-time feedback and historical deceleration as claimed in claim 3, wherein when the braking comparison output module performs data comparison and selects corresponding braking data as the current braking data to output according to the comparison result, the method further comprises:
the brake comparison output module sets the first comparison state data to be in a first state and outputs the first comparison state data when the first brake differential data is not lower than the brake differential threshold or when the first brake differential data is smaller than 0; when the first brake differential data is lower than the brake differential threshold and the first brake differential data is greater than or equal to 0, setting the first comparison state data to be in a second state;
selecting corresponding brake data to output according to the first comparison state data; and if the first comparison state data is in a first state, outputting the first brake data as the current brake data, and if the first comparison state data is in a second state, outputting the previous brake data as the current brake data.
8. An electronic device, comprising: a memory, a processor, and a transceiver;
the processor is used for being coupled with the memory, reading and executing the instructions in the memory to realize the method steps of any one of claims 1 to 7;
the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.
9. A computer-readable storage medium having stored thereon computer instructions which, when executed by a computer, cause the computer to perform the method of any of claims 1-7.
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