CN117190836A - Calibration method of travel sensor - Google Patents
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Abstract
The application provides a calibration method of a travel sensor, which comprises the following steps: and pushing the first element to move from the zero position to the end position relative to the second element along the first direction by using calibration equipment to obtain displacement detection data and first sensing signal data. And obtaining a stroke sensing calibration model according to the displacement detection data and the first sensing signal data. And pushing the first element to move from the zero position to the end position relative to the second element again along the first direction by using the calibration equipment, and obtaining second sensing signal data. And obtaining displacement calibration data by using a stroke sensing calibration model according to the second sensing signal data. And determining whether the calibration of the travel sensor is successful or not according to the displacement calibration data and the displacement theoretical data. According to the application, a more accurate calibration result can be obtained through a one-time calibration and one-time verification mode, so that the brake control precision of the brake-by-wire product of the automobile is higher, and the driving safety of the automobile is improved.
Description
Technical Field
The application relates to the technical field of measurement and test, in particular to a calibration method of a travel sensor.
Background
The movable magnet of the stroke sensor and the Hall sensing chip have a designed theoretical initial position, namely the relative position in three directions of XYZ, but the initial relative positions of the magnet and the Hall sensing chip are deviated due to superposition of machining errors and assembly errors of respective carrier mechanical parts.
In some cases, the detection accuracy requirements for the travel sensor are high, for example, a travel sensor provided in a brake-by-wire product of a motor vehicle, which is directly related to the actual control of the brake system of the motor vehicle by the driver, and has a great influence on the safety of the driving process. In the assembly process of the stroke sensor, a certain error often exists, so that the installation consistency of the stroke sensor on a wire control brake product of a factory automobile is poor, and the stroke detection results of the same displacement are different even if the stroke sensor is of the same model. If the stroke sensor is not calibrated after being mounted on the brake-by-wire product of the automobile, the driver may not accurately control the braking distance of the automobile, resulting in the occurrence of a safety accident.
Disclosure of Invention
In view of the above, one of the technical problems to be solved by the embodiments of the present application is to provide a calibration method of a travel sensor, which is used to solve the problems in the prior art that the uniformity of installation of the travel sensor on a brake-by-wire product of an automobile is poor, and the detection accuracy of the travel sensor is low, resulting in low brake-by-wire control accuracy.
The embodiment of the application discloses a calibration method of a travel sensor, which comprises a magnetic element and a magnetic field intensity sensing element, wherein the magnetic element is fixedly arranged on a first element of an automobile brake-by-wire product, the magnetic field intensity sensing element is fixedly arranged on a second element of the automobile brake-by-wire product, and the first element and the second element are movably connected;
the method comprises the following steps:
pushing the first element to move from a zero position to an end position relative to the second element along a first direction by using calibration equipment to obtain displacement detection data and first sensing signal data; wherein the displacement detection data is used for representing detection values of the obtained moving distance of the first element from the zero position relative to the second element at N positions between the zero position and the end position; the first sensing signal data is used for representing the obtained magnetic field intensity value detected by the magnetic field intensity sensing element at N positions between the zero position and the end position; n is greater than or equal to 2;
obtaining a stroke sensing calibration model according to the displacement detection data and the first sensing signal data; the stroke sensing calibration model is input into a magnetic field intensity value obtained by detection of the magnetic field intensity sensing element, and the stroke sensing calibration model is input into a calibration value of the moving distance of the first element relative to the second element from the zero point position;
pushing the first element to move from the zero position to the end position relative to the second element again along the first direction by using the calibration equipment to obtain second sensing signal data; wherein the second sensor signal data is used for characterizing the magnetic field intensity value obtained by the detection of the magnetic field intensity sensing element at M positions between the zero position and the end position; the difference between M and N is greater than or equal to 2;
according to the second sensing signal data, obtaining displacement calibration data by using the stroke sensing calibration model; wherein the displacement calibration data is used to characterize a calibration value of a distance of movement of the first element from the zero position relative to the second element at M positions between the zero position and the end position;
determining whether the stroke sensor is calibrated successfully according to the displacement calibration data and the displacement theoretical data; wherein the displacement theory data is used for representing preset values of the moving distance of the first element relative to the second element from the zero position at M positions between the zero position and the end position.
The calibration method of the travel sensor provided by the application comprises the following steps: and pushing the first element to move from the zero position to the end position relative to the second element along the first direction by using calibration equipment to obtain displacement detection data and first sensing signal data. And obtaining a stroke sensing calibration model according to the displacement detection data and the first sensing signal data. And pushing the first element to move from the zero position to the end position relative to the second element again along the first direction by using the calibration equipment, and obtaining second sensing signal data. And obtaining displacement calibration data by using a stroke sensing calibration model according to the second sensing signal data. And determining whether the calibration of the travel sensor is successful or not according to the displacement calibration data and the displacement theoretical data. According to the application, a more accurate calibration result can be obtained for the travel sensor in a one-time calibration and one-time verification mode, so that the brake control precision of the brake-by-wire product of the automobile is higher, and the driving safety of the automobile is improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a calibration method of a travel sensor according to an embodiment of the present application;
fig. 2 is a flow chart of a calibration method of a stroke sensor according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "first," "second," "third," and "fourth," etc. in the description and claims of the present application are used for distinguishing between different objects and not for describing a particular sequential order. The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or device.
Example one
The first embodiment of the application provides a calibration method of a travel sensor, wherein the travel sensor comprises a magnetic element and a magnetic field intensity sensing element, the magnetic element is fixedly arranged on a first element of an automobile brake-by-wire product, the magnetic field intensity sensing element is fixedly arranged on a second element of the automobile brake-by-wire product, and the first element and the second element are movably connected.
In this embodiment, when the first element drives the magnetic element to move relative to the magnetic field strength sensing element and the second element, the magnetic field strength value obtained by detecting the magnetic field strength sensing element will change, so that the detection of the relative stroke of the first element relative to the second element can be implemented according to the magnetic field strength value obtained by detecting the magnetic field strength sensing element.
Referring to fig. 1, fig. 1 is a schematic flow chart of a calibration method of a travel sensor according to an embodiment of the present application, where the calibration method of the travel sensor includes:
step S101, pushing the first element to move from the zero position to the end position relative to the second element by using the calibration device along the first direction, and obtaining displacement detection data and first sensing signal data.
In this embodiment, the displacement detection data is used to characterize the detection value of the movement distance of the first element from the zero point position with respect to the second element obtained by the calibration device at N positions between the zero point position and the end point position. The first sensor signal data is used to characterize the magnetic field strength value obtained by the magnetic field strength sensing element at N positions between the zero position and the end position. Wherein N is greater than or equal to 2.
In this embodiment, the calibration device may be first used to push the first element to move from a preset zero position to a preset end position relative to the second element along the first direction, and the displacement detection data and the first sensing signal data are respectively obtained by detecting the calibration device and the magnetic field strength sensing element. The determination modes of the zero point position and the end point position are not limited, the selection rules and the number of N positions are also not limited, and the N positions can be reasonably selected according to actual application requirements. For example, the N positions may be uniformly distributed between the zero point position and the end point position, or may be unevenly distributed between the zero point position and the end point position.
Step S102, a stroke sensing calibration model is obtained according to the displacement detection data and the first sensing signal data.
In this embodiment, the input of the stroke sensor calibration model is a magnetic field intensity value obtained by detecting a magnetic field intensity sensing element, and the output of the stroke sensor calibration model is a calibration value of a moving distance of the first element relative to the second element from a zero position, i.e. the stroke sensor calibration model is used for determining the calibration value of the moving distance according to the magnetic field intensity value.
In this embodiment, after N displacement detection data and N first sensing signal data are obtained, a stroke sensing calibration model may be obtained by curve fitting or machine learning training. After the calibration model is built, the storage time and the storage position of the calibration model of the travel sensor are not limited, and reasonable selection can be performed according to practical application requirements, for example, the calibration model can be one of a cache, a local storage chip and a remote server.
Optionally, the automobile line control movable product further includes a sensor chip, and after step S102, the calibration method further includes:
and writing the stroke sensing calibration model into the sensor chip.
The stroke sensing calibration model is written into the sensor chip, so that the calibration value of the automobile line control movable product can be output according to the stroke sensing calibration model.
Alternatively, N may be preferably greater than or equal to 10 and less than or equal to 50.
When the value of N is greater than or equal to 10 and less than or equal to 50, the calculation accuracy of the obtained calibration model of the stroke sensor due to the small data volume can be avoided, and the phenomenon that the calibration efficiency is influenced due to the overlarge calculation amount caused by the overlarge data volume can be avoided.
Further, it may be preferable that N is equal to 17 or 33.
When the value of N is equal to 17 or 33, the calibration effect on the stroke sensor is optimal.
Alternatively, it may be preferable that the N positions are uniformly distributed between the zero position and the end position.
In the process that the calibration equipment pushes the first element to move from the zero position to the end position relative to the second element along the first direction, the distances between two adjacent positions in the N positions along the first direction are the same, and accuracy of the calibration value of the moving distance determined by the stroke sensor calibration model is improved.
Step S103, the calibration device is utilized to push the first element to move from the zero point position to the end point position relative to the second element again along the first direction, and second sensing signal data are obtained.
In this embodiment, the second sensor signal data is used to characterize the magnetic field strength values obtained by the magnetic field strength sensing element detection at M positions between the zero point position and the end point position. Wherein the difference between M and N is greater than or equal to 2.
In this embodiment, in order to verify the accuracy of the calibration value of the movement distance determined by the stroke sensing calibration model, the calibration device may be used to push the first element to move from the zero position to the end position with respect to the second element in the first direction again in step S103, so as to obtain the second sensing signal data. On the premise that the difference value between M and N is larger than or equal to 2, the selection rule of M positions is not limited, and the M positions can be reasonably selected according to actual application requirements. For example, the M positions may be uniformly distributed between the zero point position and the end point position, or may be unevenly distributed between the zero point position and the end point position.
Alternatively, it may be preferable that the M positions are uniformly distributed between the zero point position and the end point position.
In the process that the calibration equipment pushes the first element to move from the zero position to the end position relative to the second element along the first direction, the distances between two adjacent positions in the M positions along the first direction are the same, so that the reliability of the verification result is improved.
Further, it may be preferable that M is greater than or equal to 2N.
When the value of M is set to be greater than or equal to 2N, at least N positions may not overlap with N positions in step S101, which is beneficial to improving accuracy and reliability of the verification result.
Further, it may be preferable that M is equal to 2N.
By setting the value of M to 2N, the data calculation amount can be reduced on the premise of ensuring the accuracy and the reliability of the verification result.
And step S104, obtaining displacement calibration data by using the stroke sensing calibration model according to the second sensing signal data.
In this embodiment, the displacement calibration data is used to characterize the calibration value of the moving distance of the first element from the zero position with respect to the second element at M positions between the zero position and the end position. Step S105, determining whether the calibration of the stroke sensor is successful according to the displacement calibration data and the displacement theoretical data.
In this embodiment, the displacement theory data is used to characterize a preset value of the moving distance of the first element from the zero point position with respect to the second element at M positions between the zero point position and the end point position. The displacement theoretical data are determined in advance by other methods, the specific determination method is not limited, and reasonable selection can be performed according to actual application requirements.
In the embodiment, the displacement calibration data is compared with the displacement theoretical data, and when the preset condition is met, the stroke sensor can be considered to be calibrated successfully; when the preset condition is not met, the calibration of the stroke sensor can be considered unsuccessful. The setting mode of the preset conditions is not limited, and the preset conditions can be reasonably selected according to actual application requirements. For example, it may be set such that a calibrated value of a moving distance of the first element from the zero point position with respect to the second element corresponding to a position larger than a preset ratio among the M positions is smaller than a preset value.
Optionally, step S105 may further include:
in sub-step S105a, difference data is obtained from the displacement calibration data and the displacement theory data.
The difference data are used for representing absolute values of maximum differences between the calibration value and the preset value of each position at M positions between the zero position and the end position.
Substep S105b, based on the difference data, determines whether the calibration of the travel sensor was successful.
In the substep S105a, the absolute values of the differences between the calibration values and the preset values at the M positions between the zero position and the end position may be determined, that is, the absolute values of the M differences may be obtained; and then determining the absolute value of the maximum difference value from the absolute values of the M difference values, namely obtaining the difference value data.
In the substep S105b, whether the calibration of the travel sensor is successful is determined by using the difference data, so that the data processing mode is simpler; and because the absolute value of the maximum difference value is used, if the absolute value of the difference value between the calibration value of one position and the preset value in the M positions does not meet the preset condition, the calibration of the travel sensor is considered to be failed, so that the driving safety of the automobile after the automobile line control movable product is installed on the automobile can be ensured.
Optionally, to improve the success rate of calibrating the stroke sensor, after step S105, the method may further include:
step S106, when determining that the calibration of the travel sensor is unsuccessful, re-executing the steps S101-S105.
Further, considering that the reason for unsuccessful calibration of the travel sensor may be caused by improper calibration operation in the actual application process, and may also be caused by irregular installation of the travel sensor on the brake-by-wire product of the automobile, the calibration method of the travel sensor provided in the embodiment may further include:
and S107, when the calibration of the travel sensor is unsuccessful, determining the automobile line control movable product provided with the travel sensor as an abnormal performance product.
When the stroke sensor is calibrated for two times continuously, the automobile line control movable product provided with the stroke sensor is determined to be an abnormal performance product, and whether the automobile line control movable product is qualified or not can be detected while the calibration is performed, so that the qualification rate of the product delivery is improved, and the user satisfaction is improved.
Optionally, the calibration device comprises a displacement measurement mechanism for obtaining displacement detection data. The displacement measuring mechanism comprises a grating ruler.
The displacement can be measured by using the grating ruler, so that the detection precision can be improved, and the accuracy of a calibration result can be improved.
As can be seen from the above description of the present embodiment, the calibration method of the stroke sensor disclosed in the present embodiment uses the calibration device to push the first element to move from the zero position to the end position relative to the second element along the first direction, so as to obtain the displacement detection data and the first sensing signal data. And obtaining a stroke sensing calibration model according to the displacement detection data and the first sensing signal data. And pushing the first element to move from the zero position to the end position relative to the second element again along the first direction by using the calibration equipment, and obtaining second sensing signal data. And obtaining displacement calibration data by using a stroke sensing calibration model according to the second sensing signal data. And determining whether the calibration of the travel sensor is successful or not according to the displacement calibration data and the displacement theoretical data. According to the embodiment, a more accurate calibration result can be obtained for the travel sensor through a one-time calibration and one-time verification mode, so that the brake control precision of the brake-by-wire product of the automobile is higher, and the driving safety of the automobile is improved.
Example two
The second embodiment of the application provides a calibration method of a travel sensor. The travel sensor comprises a magnetic element and a magnetic field intensity sensing element, wherein the magnetic element is fixedly arranged on a first element of an automobile brake-by-wire product, the magnetic field intensity sensing element is fixedly arranged on a second element of the automobile brake-by-wire product, and the first element is movably connected with the second element. The calibration equipment comprises a pushing mechanism, a stress detection mechanism and a connecting plate.
In this embodiment, the structure and principle of the stroke sensor are the same as those of the stroke sensor in the first embodiment, and will not be described here again.
In this embodiment, the connection plate is at least used for supporting the brake-by-wire product of the car; the pushing mechanism is used for pushing the first element to move along a first direction relative to the second element when the automobile wire control movable product is placed on the connecting plate; the force detection mechanism is used for detecting the magnitude of the extrusion force applied to the first element by the pushing mechanism along the first direction.
The specific structural composition, shape, size and specific installation mode of the pushing mechanism, the stress detection mechanism and the connecting plate are not limited, and the pushing mechanism, the stress detection mechanism and the connecting plate can be reasonably selected according to actual application requirements. For example, to facilitate the overall movement of the calibration device, the pushing mechanism may be mounted on the connection plate, or at least part of the force detection mechanism may be mounted on the connection plate.
As shown in fig. 2, fig. 2 is a schematic flow chart of a calibration method of a travel sensor according to a second embodiment of the present application, where the calibration method of the travel sensor includes:
in step S201, the automotive wire control movable product is placed on the connection plate, and the pushing mechanism and the first member are brought into a separated state.
In this embodiment, when the pushing mechanism and the first element are in the separated state, the pushing mechanism does not apply a force to the first element.
In step S202, the pushing mechanism is driven to contact the first member.
In this embodiment, the calibration apparatus may further include a driving mechanism, where the driving mechanism is at least used to drive the pushing mechanism to contact with the first element; and after the two components are contacted, the pushing mechanism can be further driven to apply pushing force to the first element along the first direction.
In step S203, the pushing mechanism applies a pushing force to the first element along the first direction, and the force detecting mechanism detects the magnitude of the pushing force applied to the first element by the pushing mechanism along the first direction in real time.
In this embodiment, since a pretightening force may exist between the first element and the second element in the design and assembly during the practical application, when the pushing force applied to the first element by the pushing mechanism in the first direction is smaller than the pretightening force, that is, the force transmitted by the first element to the second element is smaller than the pretightening force, the first element will not move relative to the second element in the first direction, so that in order to reasonably and accurately determine the zero position of the first element relative to the second element, the pushing force applied to the first element by the pushing mechanism in the first direction can be detected in real time by the force detection mechanism. In step S204, when the magnitude of the pushing force applied to the first element by the pushing mechanism along the first direction meets the preset force value condition, it is determined that the first element is at the zero position relative to the second element.
In this embodiment, the specific content and the setting manner of the preset force value condition are not limited, and may be reasonably selected according to the actual application requirement.
Optionally, the automobile wire control movable product further comprises an elastic element, wherein the first element is connected with the elastic element, and a pretightening force is arranged between the first element and the elastic element; the preset force value conditions are as follows: the magnitude of the pushing force applied by the pushing mechanism to the first element along the first direction is not equal to 0 and is smaller than or equal to a first threshold value.
The magnitude of the pushing force applied by the pushing mechanism to the first element along the first direction is set to be different from 0 in the preset force value condition, because when the magnitude of the obtained pushing force detected by the force detection mechanism is 0, the determined zero point position is likely to be inaccurate possibly because the pushing mechanism is not in contact with the first element or does not reach the threshold value of the force detection mechanism.
The first threshold value can be determined according to the design value of the pretightening force, the specific value is not limited, and reasonable selection can be performed according to actual application requirements. However, it should be noted that, in the practical application process, the magnitude of the actual pretightening force of different automotive wire control movable products of the same model will also be different, that is, the magnitude of the first threshold value will be smaller than the design value of pretightening force in order to ensure that the zero point position is accurately determined.
Further, it may be preferable that the first threshold value is greater than or equal to 20% of the design value of the pretightening force and less than or equal to 30% of the design value of the pretightening force.
The value of the first threshold is selected to be between 20% and 30% of the design value of the pretightening force, so that the zero point position of most automobile brake-by-wire products of the same model can be accurately determined.
In step S205, the calibration device is used to push the first element to move from the zero position to the end position relative to the second element in the first direction, so as to obtain displacement detection data and first sensing signal data.
The content of step S205 is substantially the same as or similar to that of step S101 in the first embodiment, and will not be described herein.
And S206, obtaining a stroke sensing calibration model according to the displacement detection data and the first sensing signal data.
The content of step S206 is substantially the same as or similar to that of step S102 in the first embodiment, and will not be described herein.
Step S207, the calibration device is utilized to push the first element to move from the zero point position to the end point position relative to the second element again along the first direction, so as to obtain second sensing signal data.
The content of step S207 is substantially the same as or similar to that of step S103 in the first embodiment, and will not be described herein.
And step S208, obtaining displacement calibration data by using the stroke sensing calibration model according to the second sensing signal data.
The content of step S208 is substantially the same as or similar to that of step S104 in the first embodiment, and will not be described herein.
S209, determining whether the calibration of the travel sensor is successful or not according to the displacement calibration data and the displacement theoretical data.
The content of step S209 is substantially the same as or similar to that of step S105 in the first embodiment, and will not be described herein.
Compared with the previous embodiment, the present embodiment judges whether the pushing mechanism is in contact with the first element or not and judges whether a preset force value condition is satisfied or not by detecting the pushing force applied to the first element by the pushing mechanism; when the pushing force applied to the first element by the pushing mechanism along the first direction meets the preset force value condition, the zero position of the first element relative to the second element can be accurately determined, and the calibration accuracy and reliability of the stroke sensor are improved.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer storage media (including, but not limited to, magnetic disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. The calibration method of the travel sensor is characterized in that the travel sensor comprises a magnetic element and a magnetic field intensity sensing element, wherein the magnetic element is fixedly arranged on a first element of an automobile brake-by-wire product, the magnetic field intensity sensing element is fixedly arranged on a second element of the automobile brake-by-wire product, and the first element and the second element are movably connected;
the method comprises the following steps:
pushing the first element to move from a zero position to an end position relative to the second element along a first direction by using calibration equipment to obtain displacement detection data and first sensing signal data; wherein the displacement detection data is used for representing detection values of the obtained moving distance of the first element from the zero position relative to the second element at N positions between the zero position and the end position; the first sensing signal data is used for representing the obtained magnetic field intensity value detected by the magnetic field intensity sensing element at N positions between the zero position and the end position; n is greater than or equal to 2;
obtaining a stroke sensing calibration model according to the displacement detection data and the first sensing signal data; the stroke sensing calibration model is input into a magnetic field intensity value obtained by detection of the magnetic field intensity sensing element, and output of the stroke sensing calibration model is a calibration value of a moving distance of the first element relative to the second element from the zero position;
pushing the first element to move from the zero position to the end position relative to the second element again along the first direction by using the calibration equipment to obtain second sensing signal data; wherein the second sensor signal data is used for characterizing the magnetic field intensity value obtained by the detection of the magnetic field intensity sensing element at M positions between the zero position and the end position; the difference between M and N is greater than or equal to 2;
according to the second sensing signal data, obtaining displacement calibration data by using the stroke sensing calibration model; wherein the displacement calibration data is used to characterize a calibration value of a distance of movement of the first element from the zero position relative to the second element at M positions between the zero position and the end position;
determining whether the stroke sensor is calibrated successfully according to the displacement calibration data and the displacement theoretical data; wherein the displacement theory data is used for representing preset values of the moving distance of the first element relative to the second element from the zero position at M positions between the zero position and the end position.
2. The method of claim 1, wherein the calibration device comprises a pushing mechanism, a force detection mechanism, and a connection plate; the method further comprises the steps of:
placing the automotive line control mobile product on the connection plate and enabling the pushing mechanism and the first element to be in a separated state;
driving the pushing mechanism into contact with the first element;
the pushing mechanism applies pushing force to the first element along the first direction, and the force applied to the first element by the pushing mechanism along the first direction is detected in real time through the force detection mechanism;
and when the pushing force applied by the pushing mechanism to the first element along the first direction meets the preset force value condition, determining that the first element is at the zero position relative to the second element.
3. The method of claim 2, wherein the automotive wire controlled live product further comprises a resilient element, the first element and the resilient element are connected with a preload force therebetween; the preset force value condition is as follows: the pushing force applied by the pushing mechanism to the first element along the first direction is not equal to 0 and is smaller than or equal to a first threshold value; the first threshold is determined according to the design value of the pretightening force.
4. A method according to claim 3, wherein the first threshold value is greater than or equal to 20% and less than or equal to 30% of the design value of the preload force.
5. The method of claim 1, wherein N is greater than or equal to 10 and less than or equal to 50.
6. The method of claim 1, wherein M is greater than or equal to 2N.
7. The method of claim 1, wherein determining whether calibration of the travel sensor was successful based on the displacement calibration data and displacement theory data comprises:
obtaining difference data according to the displacement calibration data and the displacement theoretical data; the difference data are used for representing the maximum difference value between the calibration value and the preset value of each position at M positions between the zero position and the end position;
and determining whether the stroke sensor is calibrated successfully or not according to the difference data.
8. The method according to claim 1, wherein the method further comprises: and when the calibration of the travel sensor is unsuccessful, determining the automobile line control movable product provided with the travel sensor as an abnormal performance product.
9. The method according to claim 1, wherein the calibration device comprises a displacement measurement mechanism for obtaining the displacement detection data; the displacement measuring mechanism comprises a grating ruler.
10. The method of claim 1, wherein the automotive line control mobile product further comprises a sensor chip, and wherein after obtaining the travel sensing calibration model from the displacement detection data and the first sensor signal data, the method further comprises:
and writing the stroke sensing calibration model into the sensor chip.
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