CN116643556A - Calibration parameter determining method, device, equipment and storage medium - Google Patents
Calibration parameter determining method, device, equipment and storage medium Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
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Abstract
The embodiment of the disclosure provides a method, a device, equipment and a storage medium for determining calibration parameters. The method is applied to a cloud server, and comprises the following steps: for each braking working condition, receiving braking control data sent by a vehicle end controller; determining initial calibration parameters of a plurality of control stages according to the brake control data; issuing the initial calibration parameters to the vehicle-end controller; receiving a plurality of groups of brake control data determined by the vehicle-end controller based on the initial calibration parameters; according to the multiple groups of brake control data, the target calibration parameters of the corresponding control stage are determined, so that automation and standardization of parameter calibration can be realized, the calibration period can be shortened, the calibration workload can be reduced, the efficiency of parameter calibration can be improved, and meanwhile, the accuracy of parameter calibration can be improved.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of automobiles, in particular to a method, a device, equipment and a storage medium for determining calibration parameters.
Background
With the improvement of the living standard of people and the development of automobile technology, an electronic parking brake system (ElectricalParkBrake, EPB) is increasingly applied to middle-high-end automobile types in recent years, so that the operation of a driver is conveniently lightened, and the parking safety of the automobile is ensured. Along with the continuous improvement of the intelligent degree of the EPB system, more and more automatic control functions are applied to the vehicle, such as flameout automatic clamping, door opening automatic clamping, dynamic braking and the like, so that the operation of a driver is further lightened, the two rear wheels of the vehicle can be dynamically braked when the braking of the driving fails, the deceleration of about 0.3g is provided for the whole vehicle under the condition of ensuring that the rear wheels are not locked, and the driving safety of the vehicle is maintained.
However, the traditional dynamic braking function calibration is carried out manually by testers, the number of calibration parameters is tens, the whole process takes about 2-3 weeks, the efficiency is low, all parameters are difficult to fully consider, the low-attachment calibration working condition environment in a cold region is severe, and the low-attachment calibration working condition environment is difficult and heavy for the testers. And subjective evaluation of different testers feels inconsistent, which easily causes uneven calibration performance.
Disclosure of Invention
The embodiment of the disclosure provides a method, a device, equipment and a storage medium for determining calibration parameters, which can realize the automation and standardization of parameter calibration, shorten the calibration period, reduce the calibration workload, improve the efficiency of parameter calibration and improve the accuracy of parameter calibration.
In a first aspect, an embodiment of the present disclosure provides a method for determining calibration parameters, where the method is applied to a cloud server, and includes: for each braking working condition, receiving braking control data sent by a vehicle end controller; the types of braking working conditions comprise a low-attachment working condition, a high-attachment working condition, a split road surface working condition and a butt road surface working condition; determining initial calibration parameters of a plurality of control stages according to the brake control data; issuing the initial calibration parameters to the vehicle-end controller; receiving a plurality of groups of brake control data determined by the vehicle-end controller based on the initial calibration parameters; and determining target calibration parameters of corresponding control stages according to the multiple groups of brake control data.
In a second aspect, an embodiment of the present disclosure further provides a method for determining calibration parameters, where the method is applied to a vehicle end controller, and includes: for each braking working condition, sending braking control data to the cloud server so that the cloud server can determine initial calibration parameters of a plurality of control stages according to the braking control data; the types of braking working conditions comprise a low-attachment working condition, a high-attachment working condition, a split road surface working condition and a butt road surface working condition; receiving initial calibration parameters issued by the cloud server; determining a plurality of groups of brake control data based on the initial calibration parameters; and uploading the multiple sets of brake control data to the cloud server so that the cloud server can determine target calibration parameters of a corresponding control stage according to the multiple sets of brake control data.
In a third aspect, an embodiment of the present disclosure further provides a device for determining calibration parameters, where the device is applied to a cloud server, and includes: the brake control data receiving module is used for receiving brake control data sent by the vehicle end controller for each brake working condition; the types of braking working conditions comprise a low-attachment working condition, a high-attachment working condition, a split road surface working condition and a butt road surface working condition; the initial calibration parameter determining module is used for determining initial calibration parameters of a plurality of control stages according to the brake control data; the initial calibration parameter issuing module is used for issuing the initial calibration parameters to the vehicle-end controller; the multi-group brake control data receiving module is used for receiving the multi-group brake control data determined by the vehicle-end controller based on the initial calibration parameters; and the target calibration parameter determining module is used for determining target calibration parameters of corresponding control stages according to the plurality of groups of brake control data.
In a fourth aspect, an embodiment of the present disclosure further provides a device for determining a calibration parameter, where the device is applied to a vehicle end controller, including: the system comprises a brake control data transmitting module, a cloud server and a control module, wherein the brake control data transmitting module is used for transmitting brake control data to the cloud server for each brake working condition so that the cloud server can determine initial calibration parameters of a plurality of control stages according to the brake control data; the types of braking working conditions comprise a low-attachment working condition, a high-attachment working condition, a split road surface working condition and a butt road surface working condition; the initial calibration parameter receiving module is used for receiving initial calibration parameters issued by the cloud server; the multi-group braking control data determining module is used for determining a plurality of groups of braking control data based on the initial calibration parameters; and the multi-group braking control data uploading module is used for uploading the multi-group braking control data to the cloud server so that the cloud server can determine target calibration parameters of a corresponding control stage according to the multi-group braking control data.
In a fifth aspect, embodiments of the present disclosure further provide an electronic device, including:
one or more processors;
storage means for storing one or more programs,
The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of determining calibration parameters as described in embodiments of the present disclosure.
In a sixth aspect, the disclosed embodiments also provide a storage medium containing computer executable instructions, which when executed by a computer processor, are for performing a method of determining calibration parameters as described in the disclosed embodiments.
According to the technical scheme, for each braking working condition, braking control data sent by a vehicle-end controller are received; determining initial calibration parameters of a plurality of control stages according to the brake control data; issuing the initial calibration parameters to the vehicle-end controller; receiving a plurality of groups of brake control data determined by the vehicle-end controller based on the initial calibration parameters; according to the multiple groups of brake control data, the target calibration parameters of the corresponding control stage are determined, so that automation and standardization of parameter calibration can be realized, the calibration period can be shortened, the calibration workload can be reduced, the efficiency of parameter calibration can be improved, and meanwhile, the accuracy of parameter calibration can be improved.
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The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
FIG. 1 is a flow chart of a method for determining calibration parameters according to an embodiment of the disclosure;
FIG. 2 is a flowchart of a method for determining calibration parameters according to an embodiment of the disclosure;
FIG. 3 is a flowchart of a method for determining calibration parameters according to an embodiment of the disclosure;
FIG. 4 is a schematic diagram showing the effect of varying the clamping force of the caliper corresponding to different control phases according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the effect of the deceleration change of the whole vehicle corresponding to different control phases according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of yaw rate variation effects corresponding to different control phases according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a calibration parameter determining device according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of a calibration parameter determining device according to an embodiment of the present disclosure;
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
It will be appreciated that the data (including but not limited to the data itself, the acquisition or use of the data) involved in the present technical solution should comply with the corresponding legal regulations and the requirements of the relevant regulations.
Fig. 1 is a schematic flow chart of a method for determining calibration parameters provided by an embodiment of the present disclosure, where the embodiment of the present disclosure is applicable to a case of determining calibration parameters of an electronic parking brake system in each control stage through a cloud server, the method may be performed by a device for determining calibration parameters, and the device may be implemented in a form of software and/or hardware, optionally, may be implemented by an electronic device, and the electronic device may be a mobile terminal, a PC end, a server, or the like. As shown in fig. 1, the method includes:
S110, for each braking working condition, receiving braking control data sent by a vehicle-end controller.
The braking working condition types corresponding to the electronic parking braking system comprise a low-attaching working condition, a high-attaching working condition, a split road surface working condition and a butt road surface working condition. Optionally, the braking control data comprises a whole vehicle deceleration, a yaw rate and a control stage zone bit; the control phase zone bit is used for representing different control phases, and the control phases comprise an initial clamping phase, a clamping holding phase, a releasing holding phase, a continuous clamping holding phase, a continuous releasing holding phase and an ending releasing phase.
Wherein the brake control data further comprises a caliper clamping force. The continuous clamp hold phase may be a continuous "clamp hold" phase. The continuous release hold phase may be a continuous "release hold" phase.
S120, determining initial calibration parameters of a plurality of control stages according to the brake control data.
In this embodiment, the corresponding control stage may be determined according to the control stage flag bit in the brake control data, so that at least one parameter to be calibrated corresponding to the control stage may be determined, and the initial calibration parameter corresponding to the parameter to be calibrated may be determined through the calibration threshold range corresponding to the parameter to be calibrated. The parameter to be calibrated can be understood as a variable, and the initial calibration parameter can be understood as an initial value of the variable.
For example, the initial clamping stage may have an initial clamping force parameter to be calibrated and an initial clamping hold time parameter to be calibrated. The clamping and holding stage can be provided with parameters to be calibrated for controlling the cycle clamping time, parameters to be calibrated for controlling the clamping and holding time, parameters to be calibrated for the highest threshold of the slip rate and parameters to be calibrated for the highest threshold of the wheel deceleration. The release holding stage can be provided with a parameter to be calibrated for controlling the cycle release time, a parameter to be calibrated for controlling the release holding time, a parameter to be calibrated for the lowest threshold of the slip rate and a parameter to be calibrated for the lowest threshold of the wheel deceleration. The continuous clamping and holding stage can be provided with parameters to be calibrated for controlling the cycle clamping time, parameters to be calibrated for controlling the clamping and holding time, parameters to be calibrated for the highest threshold of the slip rate and parameters to be calibrated for the highest threshold of the wheel deceleration. The continuous release holding stage can be provided with a parameter to be calibrated for controlling the cycle release time, a parameter to be calibrated for controlling the release holding time, a parameter to be calibrated for the lowest threshold of the slip rate and a parameter to be calibrated for the lowest threshold of the wheel deceleration. The end release phase may have an end release time to be calibrated parameter. Although the parameters to be calibrated in some control stages are the same, the calibration threshold ranges corresponding to the parameters to be calibrated in different control stages may be different, and the target calibration parameters may be different.
Optionally, determining initial calibration parameters for a plurality of control phases based on the brake control data includes: determining at least one parameter to be calibrated corresponding to the control stage according to the control stage flag bit; obtaining a calibration threshold range corresponding to at least one parameter to be calibrated respectively; extracting initial calibration parameters according to a set step length within a calibration threshold range to obtain a plurality of initial calibration parameters.
In this embodiment, the control phase flag bit may determine a corresponding control phase, and each control phase may have at least one parameter to be calibrated. Since the manner of determining the initial calibration parameter of each parameter to be calibrated is the same, an example of one parameter to be calibrated is described as follows: obtaining a calibration threshold range corresponding to a parameter to be calibrated; extracting initial calibration parameters according to a set step length within a calibration threshold range to obtain a plurality of initial calibration parameters. In the process of determining a target calibration parameter of a parameter to be calibrated, the parameter to be calibrated can have a plurality of initial calibration parameters, and the plurality of initial calibration parameters can be obtained by extracting according to a set step length within a calibration threshold range. Wherein the set step size may be 1.
S130, the initial calibration parameters are issued to the vehicle-end controller.
In this embodiment, after obtaining a plurality of initial calibration parameters, the plurality of initial calibration parameters may be issued to the vehicle-end controller.
And S140, receiving a plurality of groups of brake control data determined by the vehicle-end controller based on the initial calibration parameters.
In this embodiment, one parameter to be calibrated may correspond to a plurality of initial calibration parameters, and one initial calibration parameter corresponds to one set of brake control data, so a plurality of initial calibration parameters may correspond to a plurality of sets of brake control data.
S150, determining target calibration parameters of corresponding control stages according to the multiple groups of brake control data.
In this embodiment, the target brake control data may be determined according to the multiple sets of brake control data, and the initial calibration parameter corresponding to the target brake control data is used as the target calibration parameter of the corresponding parameter to be calibrated, so as to determine the target calibration parameter of each parameter to be calibrated in the corresponding control stage.
Optionally, determining the target calibration parameters of the corresponding control stage according to the multiple sets of brake control data includes: determining target brake control data according to the plurality of groups of brake control data; and taking the initial calibration parameters corresponding to the target brake control data as target calibration parameters of the parameters to be calibrated.
In this embodiment, target brake control data, that is, optimal brake control data, may be determined from a plurality of sets of brake control data; the target braking control data can optimize the comprehensive performance of the whole vehicle. After the target braking control data are determined, taking the initial calibration parameters corresponding to the target braking control data as the target calibration parameters of the corresponding parameters to be calibrated.
Optionally, determining the target brake control data according to the plurality of sets of brake control data includes: among the plurality of sets of brake control data, if the deceleration of the whole vehicle and/or the yaw rate are/is the smallest among the brake control data, the corresponding set of brake control data is set as target brake control data.
In this embodiment, after obtaining a plurality of sets of brake control data, the deceleration and/or yaw rate of the entire vehicle in the brake control data may be compared, and if there is the maximum deceleration and/or minimum yaw rate of the entire vehicle in the set of brake control data, the set of brake control data having the maximum deceleration and/or minimum yaw rate of the entire vehicle is used as the target brake control data.
According to the technical scheme, for each braking working condition, braking control data sent by a vehicle-end controller are received; determining initial calibration parameters of a plurality of control stages according to the brake control data; issuing initial calibration parameters to a vehicle end controller; receiving a plurality of groups of brake control data determined by a vehicle end controller based on initial calibration parameters; according to the multiple groups of brake control data, the target calibration parameters of the corresponding control stage are determined, so that the automation and standardization of parameter calibration can be realized, the calibration period can be shortened, the calibration workload can be reduced, the efficiency of parameter calibration can be improved, and the accuracy of parameter calibration can be improved.
Fig. 2 is a schematic flow chart of a method for determining calibration parameters provided by an embodiment of the present disclosure, where the embodiment of the present disclosure is applicable to a case of determining, by a vehicle end controller, calibration parameters of an electronic parking brake system in each control stage, where the method may be performed by a device for determining calibration parameters, where the device may be implemented in a form of software and/or hardware, and optionally, may be implemented by an electronic device, where the electronic device may be a mobile terminal, a PC end, a server, or the like.
S210, for each braking working condition, sending braking control data to the cloud server so that the cloud server can determine initial calibration parameters of a plurality of control stages according to the braking control data.
The types of braking working conditions comprise a low-attachment working condition, a high-attachment working condition, a split road surface working condition and a butt road surface working condition. In this embodiment, before the brake control data is sent to the cloud server, the vehicle end controller may obtain the brake control data according to any one of the initial calibration parameters in the calibration threshold range.
S220, receiving initial calibration parameters issued by the cloud server.
S230, determining a plurality of groups of brake control data based on the initial calibration parameters.
In this embodiment, after the vehicle end controller obtains a plurality of initial calibration parameters, a plurality of sets of brake control data corresponding to the plurality of initial calibration parameters may be obtained. For each initial calibration parameter, the initial calibration parameter can be input into an actual vehicle, and the actual vehicle is braked according to a control stage corresponding to the initial calibration parameter, so that actual brake control data is obtained.
And S240, uploading a plurality of groups of brake control data to the cloud server so that the cloud server can determine target calibration parameters of a corresponding control stage according to the plurality of groups of brake control data.
According to the technical scheme, the cloud server is enabled to determine initial calibration parameters of a plurality of control stages according to the brake control data by sending the brake control data to the cloud server; receiving initial calibration parameters issued by a cloud server; determining a plurality of sets of brake control data based on the initial calibration parameters; the multiple groups of brake control data are uploaded to the cloud server, so that the cloud server determines target calibration parameters of a corresponding control stage according to the multiple groups of brake control data, automation and standardization of parameter calibration can be achieved, calibration period can be shortened, calibration workload can be reduced, parameter calibration efficiency can be improved, and meanwhile parameter calibration accuracy can be improved.
Fig. 3 is a flowchart of a method for determining calibration parameters according to an embodiment of the present disclosure, where the embodiment is suitable for a situation that a vehicle end controller interacts with a cloud server to obtain calibration parameters of an electronic parking brake system in each control stage.
And S310, for each braking working condition, the vehicle end controller sends braking control data to the cloud server.
S311, the cloud server receives brake control data sent by the vehicle-side controller.
S312, the cloud server determines initial calibration parameters of a plurality of control stages according to the brake control data.
S313, the cloud server transmits the initial calibration parameters to the vehicle-end controller.
S314, the vehicle end controller receives initial calibration parameters issued by the cloud server.
S315, the vehicle-end controller determines a plurality of groups of brake control data based on the initial calibration parameters.
S316, the vehicle-end controller uploads a plurality of groups of brake control data to the cloud server.
S317, the cloud server receives a plurality of groups of brake control data.
S318, the cloud server determines target calibration parameters of the corresponding control stage according to the plurality of groups of brake control data.
In this embodiment, an example of a parameter to be calibrated is still described: obtaining a calibration threshold range corresponding to a parameter to be calibrated; extracting initial calibration parameters according to a set step length within a calibration threshold range to obtain a plurality of initial calibration parameters. After the initial calibration parameters are obtained each time, the cloud server transmits the initial calibration parameters to the vehicle-end controller, the vehicle-end controller determines brake control data according to the initial calibration parameters after receiving the initial calibration parameters transmitted by the cloud server, the brake control data are uploaded to the cloud server, the cloud server stores the brake control data until all the initial calibration parameters within the calibration threshold range are traversed, and the cloud server stores a plurality of groups of brake control data. And analyzing the multiple groups of brake control data so as to determine target brake control data, and taking initial calibration parameters corresponding to the target brake control data as target calibration parameters of the parameters to be calibrated.
The control stage includes an initial clamping stage, a clamping holding stage, a releasing holding stage, a continuous clamping holding stage, a continuous releasing holding stage, and an ending releasing stage. Each control stage can have at least one parameter to be calibrated, so that in the process of determining the calibration parameters, each control stage can simultaneously determine the calibration parameters, and can sequentially determine the calibration parameters according to the sequence of the control stages.
Fig. 4, fig. 5 and fig. 6 are schematic diagrams of braking control data changing effects corresponding to different control stages according to an embodiment of the present invention. Specifically, fig. 4 is a schematic diagram of the effect of changing the clamping force of the caliper corresponding to different control stages according to the embodiment of the present invention. Fig. 4 may be a schematic diagram showing the effect of caliper clamping force variation corresponding to a plurality of initial calibration parameters of parameters to be calibrated (for example, one parameter to be calibrated) in different control stages. Fig. 5 is a schematic diagram of the effect of the deceleration change of the whole vehicle corresponding to different control stages according to the embodiment of the present invention. Fig. 5 may be a schematic diagram showing the effect of deceleration change of the whole vehicle corresponding to a plurality of initial calibration parameters of the parameters to be calibrated (for example, one parameter to be calibrated) in different control stages. Fig. 6 is a schematic diagram of yaw rate variation effects corresponding to different control phases according to an embodiment of the present invention. Fig. 6 may be a schematic diagram showing the effect of yaw rate change corresponding to a plurality of initial calibration parameters of the parameters to be calibrated (for example, one parameter to be calibrated) in different control stages. The absolute value of the deceleration of the entire vehicle is set as the value of the deceleration of the entire vehicle, and the absolute value of the yaw rate is set as the value of the yaw rate. In fig. 5, the absolute value of the vehicle deceleration increases as the vehicle deceleration moves in the negative direction of the ordinate. In fig. 6, the closer the yaw rate is to 0, the smaller the absolute value of the yaw rate is.
In the embodiment, the dynamic braking function calibration process in the EPB function is innovated. Dynamic braking function: when the service hydraulic braking system is completely disabled, a driver can pull up the EPB switch at any vehicle speed, the EPB parking system can dynamically brake two rear wheel calipers, namely, the clamping-holding-releasing cycle control is carried out on the calipers according to the traditional anti-lock brake system (ABS) control process, on one hand, the rear wheel slip rate and the wheel deceleration are controlled within a reasonable interval to ensure that the rear wheels are not locked, and on the other hand, the situation that the tail flicking is caused by overlarge transverse swing angular speed of the whole vehicle is avoided. Therefore, the calibration of the dynamic braking function is necessary, and the final aim is to give consideration to the longitudinal deceleration and the transverse stability of the whole vehicle under the different conditions of the low-attachment working condition, the high-attachment working condition, the split road surface working condition and the butt road surface working condition, so that the maximum deceleration of the whole vehicle and the minimum yaw rate in the dynamic braking process are realized.
According to the embodiment of the invention, the cloud server is used for communicating with the vehicle end controller, the vehicle end uploads the brake control data in real time in the dynamic brake calibration test process, the cloud server automatically modifies the initial calibration parameters of the parameters to be calibrated one by one after analyzing the data until the deceleration of the whole vehicle corresponding to the current initial calibration parameters is maximum and the yaw rate is minimum (namely, the current initial calibration parameters reach the optimal solution), and then the self-calibration process of the next parameter to be calibrated is carried out. And (3) carrying out the self-calibration process of all the parameters to be calibrated in a circulating way, and finally realizing the optimal solution of all the calibration parameters, namely the optimal condition that the dynamic braking performance of the whole vehicle realizes the maximum deceleration of the whole vehicle and the minimum yaw rate. In the process, a tester only needs to repeatedly trigger the dynamic braking function under four working conditions, does not need to pay attention to a specific parameter calibration process, the cloud server can automatically modify initial calibration parameters of each parameter to be calibrated, finally prompts a driver to finish the whole calibration process after the self-calibration process is finished, and records target calibration parameters of the parameter to be calibrated, namely a final value.
The technical scheme provided by the invention can shorten the calibration period, lighten the calibration workload, avoid the influence of different subjective evaluations of different testers on the calibration performance of the whole vehicle, and realize the automation and standardization of the dynamic braking function calibration.
FIG. 7 is a schematic structural diagram of a calibration parameter determining device according to an embodiment of the present disclosure; the device is applied to a cloud server, and the device comprises: the system comprises a brake control data receiving module 710, an initial calibration parameter determining module 720, an initial calibration parameter issuing module 730, a plurality of groups of brake control data receiving modules 740 and a target calibration parameter determining module 750;
the brake control data receiving module 710 is configured to receive, for each braking condition, brake control data sent by the vehicle-end controller; the types of braking working conditions comprise a low-attachment working condition, a high-attachment working condition, a split road surface working condition and a butt road surface working condition;
an initial calibration parameter determining module 720, configured to determine initial calibration parameters of a plurality of control phases according to the brake control data;
an initial calibration parameter issuing module 730, configured to issue the initial calibration parameter to the vehicle-end controller;
a multi-group brake control data receiving module 740, configured to receive multi-group brake control data determined by the vehicle-end controller based on the initial calibration parameters;
The target calibration parameter determining module 750 is configured to determine target calibration parameters of a corresponding control stage according to the multiple sets of brake control data.
According to the technical scheme of the embodiment of the disclosure, for each braking working condition, braking control data sent by a vehicle end controller are received through a braking control data receiving module; determining initial calibration parameters of a plurality of control stages according to the brake control data by an initial calibration parameter determination module; the initial calibration parameters are issued to the vehicle end controller through an initial calibration parameter issuing module; receiving a plurality of groups of brake control data determined by the vehicle-end controller based on the initial calibration parameters through a plurality of groups of brake control data receiving modules; the target calibration parameters of the corresponding control stage are determined according to the multiple groups of brake control data by the target calibration parameter determining module, so that automation and standardization of parameter calibration can be realized, the calibration period can be shortened, the calibration workload can be reduced, the efficiency of parameter calibration can be improved, and meanwhile, the accuracy of parameter calibration can be improved.
Optionally, the braking control data comprises a whole vehicle deceleration, a yaw rate and a control stage zone bit; the control phase zone bit is used for representing different control phases, and the control phases comprise an initial clamping phase, a clamping holding phase, a releasing holding phase, a continuous clamping holding phase, a continuous releasing holding phase and an ending releasing phase.
Optionally, the initial calibration parameter determining module is specifically configured to: determining at least one parameter to be calibrated of a corresponding control stage according to the control stage flag bit; obtaining the calibration threshold ranges corresponding to the at least one parameter to be calibrated respectively; and extracting initial calibration parameters within the calibration threshold range according to a set step length to obtain a plurality of initial calibration parameters.
Optionally, the initial calibration parameter issuing module is specifically configured to: and transmitting the initial calibration parameters to the vehicle-end controller.
Optionally, the target calibration parameter determining module is specifically configured to: determining target brake control data according to the plurality of groups of brake control data; and taking the initial calibration parameters corresponding to the target brake control data as target calibration parameters of the parameters to be calibrated.
Optionally, the target calibration parameter determining module is further configured to: and in the plurality of sets of brake control data, if the deceleration of the whole vehicle and/or the yaw rate are/is the largest in the brake control data, the corresponding set of brake control data is used as target brake control data.
FIG. 8 is a schematic structural diagram of a calibration parameter determining device according to an embodiment of the present disclosure; the device is applied to a vehicle end controller, and comprises: the system comprises a brake control data transmitting module 810, an initial calibration parameter receiving module 820, a plurality of groups of brake control data determining modules 830 and a plurality of groups of brake control data uploading modules 840;
The brake control data sending module 810 is configured to send brake control data to the cloud server for each brake condition, so that the cloud server determines initial calibration parameters of a plurality of control stages according to the brake control data; the types of braking working conditions comprise a low-attachment working condition, a high-attachment working condition, a split road surface working condition and a butt road surface working condition;
the initial calibration parameter receiving module 820 is configured to receive initial calibration parameters issued by the cloud server;
a multi-set brake control data determination module 830 configured to determine a plurality of sets of brake control data based on the initial calibration parameters;
and the multi-group braking control data uploading module 840 is configured to upload the multi-group braking control data to the cloud server, so that the cloud server determines target calibration parameters of a corresponding control stage according to the multi-group braking control data.
According to the technical scheme, brake control data are sent to the cloud server through a brake control data sending module, so that the cloud server can determine initial calibration parameters of a plurality of control stages according to the brake control data; receiving initial calibration parameters issued by the cloud server through an initial calibration parameter receiving module; determining a plurality of groups of brake control data based on the initial calibration parameters through a plurality of groups of brake control data determining modules; the multi-group braking control data is uploaded to the cloud server through the multi-group braking control data uploading module, so that the cloud server determines target calibration parameters of a corresponding control stage according to the multi-group braking control data, automation and standardization of parameter calibration can be achieved, calibration period can be shortened, calibration workload is reduced, parameter calibration efficiency is improved, and meanwhile parameter calibration accuracy is improved.
The calibration parameter determining device provided by the embodiment of the disclosure can execute the calibration parameter determining method provided by any embodiment of the disclosure, and has the corresponding functional modules and beneficial effects of the executing method.
It should be noted that each unit and module included in the above apparatus are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for convenience of distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present disclosure.
Fig. 9 shows a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 9, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM12 and the RAM13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the determination of calibration parameters.
In some embodiments, the method of determining calibration parameters may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM12 and/or the communication unit 19. When the computer program is loaded into the RAM13 and executed by the processor 11, one or more steps of the above-described determination method of calibration parameters may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method of determining the calibration parameters in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device 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) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may 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 input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically 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. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. The method for determining the calibration parameters is applied to a cloud server and is characterized by comprising the following steps:
for each braking working condition, receiving braking control data sent by a vehicle end controller; the types of braking working conditions comprise a low-attachment working condition, a high-attachment working condition, a split road surface working condition and a butt road surface working condition;
determining initial calibration parameters of a plurality of control stages according to the brake control data;
issuing the initial calibration parameters to the vehicle-end controller;
Receiving a plurality of groups of brake control data determined by the vehicle-end controller based on the initial calibration parameters;
and determining target calibration parameters of corresponding control stages according to the multiple groups of brake control data.
2. The method of claim 1, wherein the brake control data includes vehicle deceleration, yaw rate, and control phase flags; the control phase zone bit is used for representing different control phases, and the control phases comprise an initial clamping phase, a clamping holding phase, a releasing holding phase, a continuous clamping holding phase, a continuous releasing holding phase and an ending releasing phase.
3. The method of claim 2, wherein determining initial calibration parameters for a plurality of control phases from the brake control data comprises:
determining at least one parameter to be calibrated of a corresponding control stage according to the control stage flag bit;
obtaining the calibration threshold ranges corresponding to the at least one parameter to be calibrated respectively;
extracting initial calibration parameters according to a set step length within the calibration threshold range to obtain a plurality of initial calibration parameters;
correspondingly, the initial calibration parameters are issued to the vehicle-end controller, which comprises the following steps:
And transmitting the initial calibration parameters to the vehicle-end controller.
4. A method according to claim 3, wherein determining target calibration parameters for corresponding control phases from the plurality of sets of brake control data comprises:
determining target brake control data according to the plurality of groups of brake control data;
and taking the initial calibration parameters corresponding to the target brake control data as target calibration parameters of the parameters to be calibrated.
5. The method of claim 4, wherein determining target brake control data from the plurality of sets of brake control data comprises:
and in the plurality of sets of brake control data, if the deceleration of the whole vehicle and/or the yaw rate are/is the largest in the brake control data, the corresponding set of brake control data is used as target brake control data.
6. The method for determining the calibration parameters is applied to a vehicle-end controller and is characterized by comprising the following steps:
for each braking working condition, sending braking control data to the cloud server so that the cloud server can determine initial calibration parameters of a plurality of control stages according to the braking control data; the types of braking working conditions comprise a low-attachment working condition, a high-attachment working condition, a split road surface working condition and a butt road surface working condition;
Receiving initial calibration parameters issued by the cloud server;
determining a plurality of groups of brake control data based on the initial calibration parameters;
and uploading the multiple sets of brake control data to the cloud server so that the cloud server can determine target calibration parameters of a corresponding control stage according to the multiple sets of brake control data.
7. A calibration parameter determining device, which is applied to a cloud server, and is characterized by comprising:
the brake control data receiving module is used for receiving brake control data sent by the vehicle end controller for each brake working condition; the types of braking working conditions comprise a low-attachment working condition, a high-attachment working condition, a split road surface working condition and a butt road surface working condition;
the initial calibration parameter determining module is used for determining initial calibration parameters of a plurality of control stages according to the brake control data;
the initial calibration parameter issuing module is used for issuing the initial calibration parameters to the vehicle-end controller;
the multi-group brake control data receiving module is used for receiving the multi-group brake control data determined by the vehicle-end controller based on the initial calibration parameters;
and the target calibration parameter determining module is used for determining target calibration parameters of corresponding control stages according to the plurality of groups of brake control data.
8. A calibration parameter determining device, the device being applied to a vehicle end controller, comprising:
the system comprises a brake control data transmitting module, a cloud server and a control module, wherein the brake control data transmitting module is used for transmitting brake control data to the cloud server for each brake working condition so that the cloud server can determine initial calibration parameters of a plurality of control stages according to the brake control data; the types of braking working conditions comprise a low-attachment working condition, a high-attachment working condition, a split road surface working condition and a butt road surface working condition;
the initial calibration parameter receiving module is used for receiving initial calibration parameters issued by the cloud server;
the multi-group braking control data determining module is used for determining a plurality of groups of braking control data based on the initial calibration parameters;
and the multi-group braking control data uploading module is used for uploading the multi-group braking control data to the cloud server so that the cloud server can determine target calibration parameters of a corresponding control stage according to the multi-group braking control data.
9. An electronic device, the electronic device comprising:
one or more processors;
storage means for storing one or more programs,
when executed by the one or more processors, causes the one or more processors to implement the method of determining calibration parameters of any one of claims 1-5 or 6.
10. A storage medium containing computer executable instructions for performing the method of determining a calibration parameter according to any one of claims 1-5 or 6 when executed by a computer processor.
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