WO2023020140A1 - 电子制动踏板调节方法、装置、设备、介质及程序产品 - Google Patents

电子制动踏板调节方法、装置、设备、介质及程序产品 Download PDF

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WO2023020140A1
WO2023020140A1 PCT/CN2022/103598 CN2022103598W WO2023020140A1 WO 2023020140 A1 WO2023020140 A1 WO 2023020140A1 CN 2022103598 W CN2022103598 W CN 2022103598W WO 2023020140 A1 WO2023020140 A1 WO 2023020140A1
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WIPO (PCT)
Prior art keywords
curve
pedal
brake pedal
adjustment
electronic brake
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PCT/CN2022/103598
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English (en)
French (fr)
Inventor
霍晓锋
李果
由佳
柏杨
夏金龙
于江
王俊
王来平
Original Assignee
浙江吉利控股集团有限公司
宁波吉利汽车研究开发有限公司
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Application filed by 浙江吉利控股集团有限公司, 宁波吉利汽车研究开发有限公司 filed Critical 浙江吉利控股集团有限公司
Publication of WO2023020140A1 publication Critical patent/WO2023020140A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
    • B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/82—Brake-by-Wire, EHB

Definitions

  • the present application relates to the technical field of vehicles, and in particular to an electronic brake pedal adjustment method, device, equipment, medium and program product.
  • the existing decoupled electronic power-assisted braking device senses the driver's braking intention through a pedal sensor, thereby controlling the pipeline pressure of the four brake wheel cylinders to achieve the effect of controlling vehicle deceleration.
  • the control strategy of the existing electronic power-assisted braking device is still mainly designed around the vehicle as the core function, ignoring the driver's individual control needs, and can only switch among a limited set of control parameters, and cannot be aimed at driving. Members themselves can make more targeted adjustments.
  • the present application provides an electronic brake pedal adjustment method, device, equipment, medium and program product to solve the technical problem in the prior art that the control parameters of the brake operator cannot be fully adjusted according to the characteristics of the brake operator.
  • an electronic brake pedal adjustment method including:
  • the target characteristic curve of the electronic brake pedal is determined according to the adjustment instruction, so that the operating feeling of the electronic brake pedal can meet the individual needs of the user.
  • the operating characteristic parameters include: a multidimensional characteristic array set, and the characteristic elements of each array in the multidimensional characteristic array set include: deceleration, maximum pedal force, minimum pedal force, and current pedal force;
  • determine and output the characteristic map to be adjusted according to the operating characteristic parameters including:
  • the first upper limit curve, the first lower limit curve and the first current characteristic curve are output on the interactive interface.
  • the adjustment instruction includes an overall offset instruction, and the adjustment instruction input by the user is obtained, including:
  • the target characteristic curve of the electronic brake pedal is determined according to the adjustment command, including:
  • the whole of the first current characteristic curve is shifted to the first upper limit curve or the first lower limit curve by the first preset range, thereby determining the first target characteristic curve of the pedal force, and the target characteristic curve includes the first Target characteristic curve.
  • the adjustment instruction includes a local adjustment instruction, and the adjustment instruction input by the user is obtained, including:
  • the target characteristic curve of the electronic brake pedal is determined according to the adjustment command, including:
  • At least one curve segment of the first current characteristic curve is offset and adjusted between the first upper limit curve or the first lower limit curve with a second preset range, so as to determine the pedal force
  • the second target characteristic curve, the target characteristic curve includes the second target characteristic curve.
  • the characteristic elements include: deceleration, maximum pedal travel, minimum pedal travel, and current pedal travel;
  • determine and output the characteristic map to be adjusted according to the operating characteristic parameters including:
  • the second upper limit curve, the second lower limit curve and the second current characteristic curve are output on the interactive interface.
  • the adjustment instruction includes an overall offset instruction, and the adjustment instruction input by the user is obtained, including:
  • the target characteristic curve of the electronic brake pedal is determined according to the adjustment instruction, including:
  • the whole of the second current characteristic curve is shifted to the second upper limit curve or the second lower limit curve with the first preset range, thereby determining the third target characteristic curve of the pedal stroke, the target characteristic curve includes the third Target characteristic curve.
  • the adjustment instruction includes a local adjustment instruction, and the adjustment instruction input by the user is obtained, including:
  • the target characteristic curve of the electronic brake pedal is determined according to the adjustment command, including:
  • At least one curve segment of the second current characteristic curve is offset-adjusted between the second upper limit curve and the second lower limit curve with a fourth preset range, so as to determine the pedal stroke
  • the fourth target characteristic curve, the target characteristic curve includes the fourth target characteristic curve.
  • the method also includes:
  • the control parameters of the braking system are determined according to the operation command and the target characteristic curve.
  • an electronic brake pedal adjustment device including:
  • An acquisition module configured to acquire operating characteristic parameters of the electronic brake pedal
  • a processing module configured to determine and output a characteristic map to be adjusted according to an operating characteristic parameter
  • the obtaining module is also used to obtain the adjustment instruction input by the user, and the adjustment instruction is used to edit and adjust the characteristic map to be adjusted;
  • the processing module is also used to determine the target characteristic curve of the electronic brake pedal according to the adjustment command, so that the operation feeling of the electronic brake pedal can meet the individual needs of the user.
  • the operating characteristic parameters include: a multidimensional characteristic array set, and the characteristic elements of each array in the multidimensional characteristic array set include: deceleration, maximum pedal force, minimum pedal force, and current pedal force;
  • the processing module is used to determine the first upper limit curve of the pedal force according to the deceleration in each array and the maximum pedal force; determine the first lower limit curve of the pedal force according to the deceleration in each array and the minimum pedal force; according to each The deceleration and the current pedal force in the array determine the first current characteristic curve of the pedal force; the first upper limit curve, the first lower limit curve and the first current characteristic curve are output on the interactive interface.
  • the adjustment instruction includes an overall offset instruction, and an acquisition module is configured to acquire an overall offset instruction input by a user through a preset operation mode;
  • a processing module configured to shift the whole of the first current characteristic curve to the first upper limit curve or the first lower limit curve in a first preset range according to the overall offset command, so as to determine the first target characteristic curve of the pedal force, the target
  • the characteristic curves include a first target characteristic curve.
  • the adjustment instruction includes a local adjustment instruction, and an acquisition module is configured to acquire the local adjustment instruction input by the user through a preset operation mode;
  • a processing module configured to offset and adjust at least one curve segment of the first current characteristic curve between the first upper limit curve or the first lower limit curve with a second preset range according to at least one adjustment interval corresponding to the local adjustment command , so as to determine the second target characteristic curve of the pedal force, the target characteristic curve includes the second target characteristic curve.
  • the characteristic elements include: deceleration, maximum pedal travel, minimum pedal travel, and current pedal travel;
  • Processing modules for:
  • the adjustment instruction includes an overall offset instruction, and an acquisition module is configured to acquire an overall offset instruction input by a user through a preset operation mode;
  • a processing module configured to shift the entirety of the second current characteristic curve to the second upper limit curve or the second lower limit curve in a first preset range according to the overall offset command, so as to determine a third target characteristic curve of the pedal stroke, the target
  • the characteristic curves include a third target characteristic curve.
  • the adjustment instruction includes a local adjustment instruction, and an acquisition module is configured to acquire the local adjustment instruction input by the user through a preset operation mode;
  • a processing module configured to offset and adjust at least one curve segment of the second current characteristic curve between the second upper limit curve and the second lower limit curve at a fourth preset range according to at least one adjustment interval corresponding to the local adjustment command , so as to determine the fourth target characteristic curve of the pedal stroke, the target characteristic curve includes the fourth target characteristic curve.
  • the obtaining module is also used to obtain operation instructions input by the user;
  • the processing module is also used to determine the control parameters of the braking system according to the operation instruction and the target characteristic curve.
  • the present application provides an electronic device, including:
  • the processor is configured to call and execute the program instructions in the memory, and execute any possible electronic brake pedal adjustment method provided in the first aspect.
  • the present application provides a vehicle, including: an electronic brake pedal and the electronic device provided in the third aspect;
  • the electronic brake pedal is electrically connected with the braking system of the vehicle to control the braking system to achieve vehicle braking, and to feed back the feedback force of the braking process to the user.
  • the present application provides a storage medium, wherein a computer program is stored in the readable storage medium, and the computer program is used to execute any possible electronic brake pedal adjustment method provided in the first aspect.
  • the present application further provides a computer program product, including a computer program.
  • a computer program product including a computer program.
  • the computer program is executed by a processor, any possible electronic brake pedal adjustment system method provided in the first aspect is implemented.
  • the application provides an electronic brake pedal adjustment method, device, equipment, medium and program product, by obtaining the operating characteristic parameters of the electronic brake pedal, determining and outputting the characteristic map to be adjusted according to the operating characteristic parameters, and then obtaining user input
  • the adjustment instruction is used to edit and adjust the characteristic map to be adjusted, and then determine the target characteristic curve of the electronic brake pedal according to the adjustment instruction, so that the operation feeling of the electronic brake pedal can meet the individual needs of the user.
  • FIG. 1 is a schematic diagram of an application scenario of electronic brake pedal adjustment provided by an embodiment of the present application
  • FIG. 2 is a schematic flow chart of an electronic brake pedal adjustment method provided in an embodiment of the present application
  • Fig. 3 is a schematic diagram of a brake pedal force characteristic curve provided by an embodiment of the present application.
  • Fig. 4 is a schematic diagram of a brake pedal stroke characteristic curve provided by the embodiment of the present application.
  • FIG. 5 is a schematic diagram of the hardware principle of an adjustment knob provided in the embodiment of the present application.
  • FIG. 6 is a schematic flowchart of another electronic brake pedal adjustment method provided by the embodiment of the present application.
  • Fig. 7 is a schematic structural diagram of an electronic brake pedal adjustment device provided by an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of an electronic device provided by the present application.
  • FIG. 1 is a schematic diagram of an application scenario of electronic brake pedal adjustment provided by an embodiment of the present application.
  • the electronic device 11 on the electronic brake pedal analyzes the user's braking intention through the pedal force sensor 111 and the pedal travel sensor 112, and then the analyzed
  • the corresponding control parameters generated by the user's braking intention are input into the hydraulic device 13 of the braking system, and the hydraulic pressure corresponding to the parameters of the hydraulic device is sent to the vehicle brake caliper 14 for corresponding braking.
  • the user can personalize the deceleration relationship curve corresponding to the pedal force and the pedal stroke through the vehicle-mounted interface 12 .
  • the user can directly perform personalized adjustments to the characteristic curve 121 and/or the characteristic curve 122 through the button 123 or directly.
  • FIG. 2 is a schematic flowchart of a method for adjusting an electronic brake pedal provided in an embodiment of the present application. As shown in Figure 2, the specific steps of the electronic brake pedal adjustment method include:
  • the operating characteristic parameters include: a multidimensional characteristic array set, and the characteristic elements of each array in the multidimensional characteristic array set include: deceleration, maximum pedal force, minimum pedal force, and current pedal force.
  • the multidimensional characteristic array set can be expressed as formula (1):
  • a n is the deceleration
  • F MAX1 is the maximum pedal force
  • F MINn is the minimum pedal force
  • F 0n is the current pedal force.
  • the characteristic elements include: deceleration, maximum pedal stroke, minimum pedal stroke, and current pedal stroke.
  • the multidimensional characteristic array set can be expressed as formula (2):
  • a n is the deceleration
  • S MAX1 is the maximum pedal stroke
  • S MINn is the minimum pedal stroke
  • S 0n is the current pedal stroke.
  • the characteristic elements include: deceleration, maximum pedal force, minimum pedal force, current pedal force, maximum pedal stroke, minimum pedal stroke, and current pedal stroke.
  • the multidimensional characteristic array set can be expressed as formula (3):
  • characteristic elements may also include other contents, which can be selected by those skilled in the art according to actual conditions, and are not limited here.
  • the multi-dimensional feature array set is converted into a feature curve, and displayed on an interactive interface of the vehicle such as a vehicle display screen.
  • FIG. 3 is a schematic diagram of a brake pedal force characteristic curve provided by an embodiment of the present application. As shown in Fig. 3, formula (1) is plotted as a characteristic curve of brake pedal force by using a preset curve fitting model.
  • the first upper limit curve f1 of the pedal force according to the deceleration in each array and the maximum pedal force determines the first lower limit curve f2 of the pedal force according to the deceleration in each array and the minimum pedal force;
  • the deceleration and the current pedal force in the array determine the first current characteristic curve f0 of the pedal force; the first upper limit curve f1, the first lower limit curve f2 and the first current characteristic curve f0 are output on the interactive interface.
  • FIG. 4 is a schematic diagram of a brake pedal stroke characteristic curve provided by an embodiment of the present application. As shown in Fig. 4, formula (2) is plotted as a characteristic curve of the brake pedal stroke by using the preset curve fitting model.
  • the deceleration in the array and the current pedal stroke determine the second current characteristic curve f0 of the pedal stroke; the second upper limit curve f1, the second lower limit curve f2 and the second current characteristic curve f0 are output on the interactive interface.
  • f0 may also be a standard pedal force or pedal travel characteristic curve set according to input requirements when the braking system is calibrated.
  • the adjustment instruction is used to edit and adjust the characteristic map to be adjusted.
  • the adjustment instruction includes an overall offset instruction, and the overall offset instruction input by the user through a preset operation mode is acquired, and the preset operation mode includes: a button, a knob, a touch screen, and the like.
  • multiple sets of characteristic curves of stepped pedal force or pedal stroke can be realized between f1 and f2 .
  • these characteristic curves have been matched during the calibration and matching process of the braking system, and linear control or nonlinear control with better pedal feeling is realized.
  • Fig. 5 is a schematic diagram of the hardware principle of an adjustment knob provided in the embodiment of the present application. As shown in Figure 5, the mechanical structure of the adjusting knob is connected to the sliding plate on the sliding rheostat R to realize the change of the output voltage U 1 , and finally realize the change of the signal voltage of the output pedal force or pedal travel sensor. It should be noted that the function of the resistor R1 is to limit the current or limit the maximum value of U1 .
  • knob can also be associated with the current value of the signal output when the characteristic curve is adjusted individually.
  • the whole of the first current characteristic curve is shifted to the first upper limit curve or the first lower limit curve with a first preset range, so as to determine the first target characteristic curve of the pedal force, the target
  • the characteristic curves include a first target characteristic curve.
  • the user can click the overall adjustment button 123 to shift the overall characteristic curve, click the plus sign, and the characteristic curve of the upper limit will approach, and click the minus sign, and the characteristic curve of the lower limit will approach.
  • This embodiment provides a method for adjusting the electronic brake pedal.
  • the adjustment instruction uses Edit and adjust the characteristic map to be adjusted, and then determine the target characteristic curve of the electronic brake pedal according to the adjustment instruction, so that the operating feeling of the electronic brake pedal can meet the individual needs of the user.
  • FIG. 6 is a schematic flowchart of another electronic brake pedal adjustment method provided by the implementation of the present application. As shown in Figure 6, the specific steps of the electronic brake pedal adjustment method include:
  • S602. Determine and output a characteristic map to be adjusted according to the operating characteristic parameter.
  • steps S601-S602 reference may be made to S201-S202, which will not be repeated here.
  • the adjustment instruction includes a local adjustment instruction.
  • a local adjustment instruction input by the user through a preset operation mode is acquired.
  • the preset operation methods include: (1) The user clicks to select the preset adjustment point on the characteristic curve, and then toggles the adjustment point to move up and down or left and right, or moves the adjustment point through the knob or button, thereby changing the position near the adjustment point.
  • the shape of the characteristic curve
  • the second current characteristic curve includes: a corresponding relationship curve between pedal force and deceleration and a corresponding relationship curve between pedal stroke and deceleration, such as the characteristic curves shown in FIG. 3 and FIG. 4 .
  • the adjustment interval can be a curve on a certain section of the characteristic curve, or it can be the entire characteristic curve.
  • the user can arbitrarily adjust the offset of the characteristic curve between the second upper limit curve (that is, the upper limit curve) and the second lower limit curve (that is, the lower limit curve), but when the user's adjustment command indicates that the characteristic curve
  • the curve exceeds the range limited by the second upper limit curve and the second lower limit curve, the corresponding one can only reach the maximum or minimum limit value.
  • the adjustment result is displayed synchronously on the vehicle screen, and after the user stops inputting, the timing starts. If no adjustment instruction input by the user is received again within the preset time, the reason for starting An evaluation model is set up to evaluate the control safety of the braking system corresponding to the adjusted characteristic curve.
  • the characteristic curve adjusted by the user makes the braking performance too sensitive (that is, the calculated braking response sensitivity is greater than the first preset threshold) or too slow (that is, the calculated braking response sensitivity is smaller than the second preset threshold)
  • a prompt message is sent to the user, or the characteristic curve is automatically optimized to a shape that meets the preset safety performance requirements on the current basis.
  • the user after the user completes the adjustment of the characteristic parameters of the electric pedal, that is, after completing the adjustment of the pedal feel, the user enters the test drive mode.
  • the driving speed of the vehicle is limited to a preset threshold such as 30km/h within. In order to facilitate the user to actually feel and adapt to the change of brake pedal feel.
  • braking is performed according to the adjusted pedal stroke.
  • test drive mode if the user feels that he has adapted to the adjusted pedal feel, he can input the corresponding confirmation command or application command to confirm that the characteristic parameters corresponding to the pedal feel will be updated, and the test drive will end at the same time. model. If the user feels that further adjustments are still required, or needs to be restored, the vehicle needs to be stopped first, and then the corresponding button is clicked on the vehicle interface to set.
  • the driver may pre-store at least one set of corresponding electronic brake pedal feel control parameters in the vehicle controller. Subsequent other drivers can call this characteristic parameter as the adjustment basis for personalized adjustment during debugging.
  • identity recognition means such as face recognition.
  • This embodiment provides a method for adjusting the electronic brake pedal.
  • the adjustment instruction uses Edit and adjust the characteristic map to be adjusted, and then determine the target characteristic curve of the electronic brake pedal according to the adjustment instruction, so that the operating feeling of the electronic brake pedal can meet the individual needs of the user.
  • FIG. 7 is a schematic structural diagram of an electronic brake pedal adjustment device provided by an embodiment of the present application.
  • the electronic brake pedal adjusting device 700 can be implemented by software, hardware or a combination of both.
  • the electronic brake pedal adjustment device 700 includes:
  • a processing module 702 configured to determine and output a characteristic map to be adjusted according to the operating characteristic parameters
  • the obtaining module 701 is also used to obtain the adjustment instruction input by the user, and the adjustment instruction is used to edit and adjust the characteristic map to be adjusted;
  • the processing module 702 is further configured to determine the target characteristic curve of the electronic brake pedal according to the adjustment instruction, so that the operating feeling of the electronic brake pedal can meet the individual needs of the user.
  • the operating characteristic parameters include: a multidimensional characteristic array set, and the characteristic elements of each array in the multidimensional characteristic array set include: deceleration, maximum pedal force, minimum pedal force, and current pedal force;
  • the processing module 702 is used to determine the first upper limit curve of the pedal force according to the deceleration and the maximum pedal force in each array; determine the first lower limit curve of the pedal force according to the deceleration and the minimum pedal force in each array; The deceleration in the array and the current pedal force determine the first current characteristic curve of the pedal force; the first upper limit curve, the first lower limit curve and the first current characteristic curve are output on the interactive interface.
  • the adjustment instruction includes an overall offset instruction
  • the acquisition module 701 is configured to acquire the overall offset instruction input by the user through a preset operation mode
  • the processing module 702 is configured to shift the whole of the first current characteristic curve to the first upper limit curve or the first lower limit curve in a first preset range according to the overall offset command, so as to determine the first target characteristic curve of the pedal force,
  • the target characteristic curves include a first target characteristic curve.
  • the adjustment instruction includes a partial adjustment instruction
  • the acquiring module 701 is configured to acquire the partial adjustment instruction input by the user through a preset operation mode
  • the processing module 702 is configured to shift at least one curve segment of the first current characteristic curve between the first upper limit curve or the first lower limit curve with a second preset range according to at least one adjustment interval corresponding to the local adjustment command adjustment so as to determine a second target characteristic curve of the pedal force, the target characteristic curve including the second target characteristic curve.
  • the characteristic elements include: deceleration, maximum pedal travel, minimum pedal travel, and current pedal travel;
  • Processing module 702 for:
  • the adjustment instruction includes an overall offset instruction
  • the acquisition module 701 is configured to acquire the overall offset instruction input by the user through a preset operation mode
  • the processing module 702 is configured to shift the entirety of the second current characteristic curve to the second upper limit curve or the second lower limit curve in a first preset range according to the overall offset command, so as to determine a third target characteristic curve of the pedal stroke,
  • the target characteristic curve includes a third target characteristic curve.
  • the adjustment instruction includes a partial adjustment instruction
  • the acquiring module 701 is configured to acquire the partial adjustment instruction input by the user through a preset operation mode
  • the processing module 702 is configured to shift at least one curve segment of the second current characteristic curve between the second upper limit curve and the second lower limit curve at a fourth preset range according to at least one adjustment interval corresponding to the local adjustment command adjustment, so as to determine a fourth target characteristic curve of the pedal stroke, the target characteristic curve including the fourth target characteristic curve.
  • the obtaining module 701 is also used to obtain the operation instruction input by the user;
  • the processing module 702 is further configured to determine the control parameters of the braking system according to the operation instruction and the target characteristic curve.
  • FIG. 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the electronic device 800 may include: at least one processor 801 and a memory 802 .
  • FIG. 8 shows an electronic device with a processor as an example.
  • the memory 802 is used to store programs.
  • the program may include program code, and the program code includes computer operation instructions.
  • the memory 802 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
  • the processor 801 is configured to execute the computer-executed instructions stored in the memory 802, so as to implement the methods described in the above method embodiments.
  • the processor 801 may be a central processing unit (central processing unit, referred to as CPU), or a specific integrated circuit (application specific integrated circuit, referred to as ASIC), or configured to implement one or more of the embodiments of the present application. multiple integrated circuits.
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • the memory 802 can be independent or integrated with the processor 801 .
  • the electronic device 800 may further include:
  • the bus 803 is used to connect the processor 801 and the memory 802 .
  • the bus may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus, etc.
  • ISA industry standard architecture
  • PCI peripheral component interconnect
  • EISA extended industry standard architecture
  • the bus can be divided into address bus, data bus, control bus, etc., but it does not mean that there is only one bus or one type of bus.
  • the memory 802 and the processor 801 may communicate through an internal interface.
  • An embodiment of the present application also provides a vehicle, including: an electronic brake pedal and any possible electronic device in the embodiment shown in FIG. 8 .
  • the electronic brake pedal is electrically connected with the braking system of the vehicle to control the braking system to achieve vehicle braking, and to feed back the feedback force of the braking process to the user.
  • the embodiment of the present application also provides a computer-readable storage medium
  • the computer-readable storage medium may include: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory) , RAM), a magnetic disk or an optical disk, and other media that can store program codes.
  • the computer-readable storage medium stores program instructions, and the program instructions are used in the methods in the above-mentioned method embodiments.
  • An embodiment of the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the methods in the foregoing method embodiments are implemented.
  • the embodiment of the present application also provides a computer program, including program code.
  • program code executes the methods in the above method embodiments.

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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Braking Elements And Transmission Devices (AREA)

Abstract

提供了一种电子制动踏板（10）调节方法、装置、设备、介质及程序产品，通过获取电子制动踏板（10）的操作特性参数（S201、S601），并根据操作特性参数确定并输出待调节特性图（S202、S602），然后获取用户输入的调节指令（S203、S603），该调节指令用于对待调节特性图进行编辑调整，再根据调节指令确定电子制动踏板（10）的目标特性曲线，以使电子制动踏板（10）的操作感满足用户的个性需求（S204），实现了根据不同操作者的个性化特征来自动调节制动操作器的操作控制参数，提高了操作者的使用体验。

Description

电子制动踏板调节方法、装置、设备、介质及程序产品
本申请要求于2021年8月19日提交中国专利局、申请号为202110956726.2、申请名称为“电子制动踏板调节方法、装置、设备、介质及程序产品”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车辆技术领域，尤其涉及一种电子制动踏板调节方法、装置、设备、介质及程序产品。
背景技术
随着电动汽车的普及，线控技术也在逐渐替代传统的机械结构。近几年各大汽车及零部件厂商相继推出了解耦式电子助力制动装置来替代传统的机械式制动踏板。
目前，现有的解耦式电子助力制动装置通过踏板传感器感知驾驶员的制动意图，从而控制四个制动轮缸的管路压力来实现控制车辆减速的效果。但是现有的电子助力制动装置的控制策略还是主要围绕着车辆为核心进行功能设计，忽略了驾驶员的个性化控制需求，仅能够在有限地几组控制参数中进行切换，而无法针对驾驶员自身进行更有针对性地调整。
因此，现有技术中存在无法针对制动操作者的自身特性充分调整制动操作器的控制参数的技术问题。
发明内容
本申请提供一种电子制动踏板调节方法、装置、设备、介质及程序产品，以解决现有技术存在无法针对制动操作者的自身特性充分调整制动操作器的控制参数的技术问题。
第一个方面，本申请提供一种电子制动踏板调节方法，包括：
获取电子制动踏板的操作特性参数；
根据操作特性参数确定并输出待调节特性图；
获取用户输入的调节指令，调节指令用于对待调节特性图进行编辑调整；
根据调节指令确定电子制动踏板的目标特性曲线，以使电子制动踏板的操作感满足用户的个性需求。
在一种可能的设计中，操作特性参数，包括：多维特性数组集，多维特性数组集中每个数组的特征元素包括：减速度、最大踏板力、最小踏板力、以及当前踏板力；
对应的，根据操作特性参数确定并输出待调节特性图，包括：
根据每个数组中的减速度以及最大踏板力确定踏板力的第一上限曲线；
根据每个数组中的减速度以及最小踏板力确定踏板力的第一下限曲线；
根据每个数组中的减速度以及当前踏板力确定踏板力的第一当前特性曲线；
在交互界面输出第一上限曲线、第一下限曲线以及第一当前特性曲线。
在一种可能的设计中，调节指令包括整体偏移指令，获取用户输入的调节指令，包括：
获取用户通过预设操作方式输入的整体偏移指令；
对应的，根据调节指令确定电子制动踏板的目标特性曲线，包括：
根据整体偏移指令，将第一当前特性曲线的整体以第一预设幅度向第一上限曲线或第一下限曲线偏移，从而确定踏板力的第一目标特性曲线，目标特性曲线包括第一目标特性曲线。
在一种可能的设计中，调节指令包括局部调整指令，获取用户输入的调节指令，包括：
获取用户通过预设操作方式输入的局部调整指令；
对应的，根据调节指令确定电子制动踏板的目标特性曲线，包括：
根据局部调整指令所对应的至少一个调整区间，将第一当前特性曲线的至少一个曲线段以第二预设幅度，在第一上限曲线或第一下限曲线之间偏移调整，从而确定踏板力的第二目标特性曲线，目标特性曲线包括第二目标特性曲线。
在一种可能的设计中，特征元素包括：减速度、最大踏板行程、最小踏板行程、以及当前踏板行程；
对应的，根据操作特性参数确定并输出待调节特性图，包括：
根据每个数组中的减速度以及最大踏板行程确定踏板行程的第二上限曲线；
根据每个数组中的减速度以及最小踏板行程确定踏板行程的第二下限曲线；
根据每个数组中的减速度以及当前踏板行程确定踏板行程的第二当前特性曲线；
在交互界面输出第二上限曲线、第二下限曲线以及第二当前特性曲线。
在一种可能的设计中，调节指令包括整体偏移指令，获取用户输入的调节指令，包括：
获取用户通过预设操作方式输入的整体偏移指令；
对应的，根据调节指令确定电子制动踏板的目标特性曲线，包括：
根据整体偏移指令，将第二当前特性曲线的整体以第一预设幅度向第二上限曲线或第二下限曲线偏移，从而确定踏板行程的第三目标特性曲线，目标特性曲线包括第三目标特性曲线。
在一种可能的设计中，调节指令包括局部调整指令，获取用户输入的调节指令，包括：
获取用户通过预设操作方式输入的局部调整指令；
对应的，根据调节指令确定电子制动踏板的目标特性曲线，包括：
根据局部调整指令所对应的至少一个调整区间，将第二当前特性曲线的至少一个曲线段以第四预设幅度，在第二上限曲线以及第二下限曲线之间偏移调整，从而确定踏板行程的第四目标特性曲线，目标特性曲线包括第四目标特性曲线。
可选的，该方法还包括：
获取用户输入的操作指令；
根据操作指令以及目标特性曲线确定制动系统的控制参数。
第二方面，本申请提供一种电子制动踏板调节装置，包括：
获取模块，用于获取电子制动踏板的操作特性参数；
处理模块，用于根据操作特性参数确定并输出待调节特性图；
获取模块，还用于获取用户输入的调节指令，调节指令用于对待调节特性图进行编辑调整；
处理模块，还用于根据调节指令确定电子制动踏板的目标特性曲线，以使电子制动踏板的操作感满足用户的个性需求。
在一种可能的设计中，操作特性参数，包括：多维特性数组集，多维特性数组集中每 个数组的特征元素包括：减速度、最大踏板力、最小踏板力、以及当前踏板力；
处理模块，用于根据每个数组中的减速度以及最大踏板力确定踏板力的第一上限曲线；根据每个数组中的减速度以及最小踏板力确定踏板力的第一下限曲线；根据每个数组中的减速度以及当前踏板力确定踏板力的第一当前特性曲线；在交互界面输出第一上限曲线、第一下限曲线以及第一当前特性曲线。
在一种可能的设计中，调节指令包括整体偏移指令，获取模块，用于获取用户通过预设操作方式输入的整体偏移指令；
处理模块，用于根据整体偏移指令，将第一当前特性曲线的整体以第一预设幅度向第一上限曲线或第一下限曲线偏移，从而确定踏板力的第一目标特性曲线，目标特性曲线包括第一目标特性曲线。
在一种可能的设计中，调节指令包括局部调整指令，获取模块，用于获取用户通过预设操作方式输入的局部调整指令；
处理模块，用于根据局部调整指令所对应的至少一个调整区间，将第一当前特性曲线的至少一个曲线段以第二预设幅度，在第一上限曲线或第一下限曲线之间偏移调整，从而确定踏板力的第二目标特性曲线，目标特性曲线包括第二目标特性曲线。
在一种可能的设计中，特征元素包括：减速度、最大踏板行程、最小踏板行程、以及当前踏板行程；
处理模块，用于：
根据每个数组中的减速度以及最大踏板行程确定踏板行程的第二上限曲线；根据每个数组中的减速度以及最小踏板行程确定踏板行程的第二下限曲线；根据每个数组中的减速度以及当前踏板行程确定踏板行程的第二当前特性曲线；在交互界面输出第二上限曲线、第二下限曲线以及第二当前特性曲线。
在一种可能的设计中，调节指令包括整体偏移指令，获取模块，用于获取用户通过预设操作方式输入的整体偏移指令；
处理模块，用于根据整体偏移指令，将第二当前特性曲线的整体以第一预设幅度向第二上限曲线或第二下限曲线偏移，从而确定踏板行程的第三目标特性曲线，目标特性曲线包括第三目标特性曲线。
在一种可能的设计中，调节指令包括局部调整指令，获取模块，用于获取用户通过预设操作方式输入的局部调整指令；
处理模块，用于根据局部调整指令所对应的至少一个调整区间，将第二当前特性曲线的至少一个曲线段以第四预设幅度，在第二上限曲线以及第二下限曲线之间偏移调整，从而确定踏板行程的第四目标特性曲线，目标特性曲线包括第四目标特性曲线。
可选的，获取模块，还用于获取用户输入的操作指令；
处理模块，还用于根据操作指令以及目标特性曲线确定制动系统的控制参数。
第三个方面，本申请提供一种电子设备，包括：
存储器，用于存储程序指令；
处理器，用于调用并执行所述存储器中的程序指令，执行第一方面所提供的任意一种可能的电子制动踏板调节方法。
第四方面，本申请提供一种车辆，包括：电子制动踏板以及第三方面所提供的电子设 备；
其中，电子制动踏板与车辆的制动系统电连接，以控制制动系统实现车辆制动，并将制动过程的回馈力反馈给用户。
第五个方面，本申请提供一种存储介质，所述可读存储介质中存储有计算机程序，所述计算机程序用于执行第一方面所提供的任意一种可能的电子制动踏板调节方法。
第六方面，本申请还提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现第一方面所提供的任意一种可能的电子制动踏板调节系统方法。
本申请提供了一种电子制动踏板调节方法、装置、设备、介质及程序产品，通过获取电子制动踏板的操作特性参数，并根据操作特性参数确定并输出待调节特性图，然后获取用户输入的调节指令，该调节指令用于对待调节特性图进行编辑调整，再根据调节指令确定电子制动踏板的目标特性曲线，以使电子制动踏板的操作感满足用户的个性需求。解决了现有技术存在的无法针对制动操作者的自身特性充分调整制动操作器的控制参数的技术问题。实现了根据不同操作者的个性化特征来自动调节制动操作器的操作控制参数，提高了操作者的使用体验的技术效果。
附图说明
图1为本申请实施例提供的一种电子制动踏板调节的应用场景示意图；
图2为本申请实施例提供的一种电子制动踏板调节方法的流程示意图；
图3为本申请实施例提供的一种制动踏板力特性曲线的示意图；
图4为本申请实施例提供的一种制动踏板行程特性曲线的示意图；
图5为本申请实施例提供的一种调节旋钮的硬件原理示意图；
图6为本申请实施例提供的另一种电子制动踏板调节方法的流程示意图；
图7为本申请实施例提供的一种电子制动踏板调节装置的结构示意图；
图8为本申请提供的一种电子设备的结构示意图。
通过上述附图，已示出本申请明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本申请构思的范围，而是通过参考特定实施例为本领域技术人员说明本申请的概念。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，包括但不限于对多个实施例的组合，都属于本申请保护的范围。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例例如能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
本申请的发明构思是：
对于制动操作器的不同操作者的生理特性和操作习惯，进行预设的分类或者是针对于个人的个性化定制，让操作者能够在操作时既能感受到操作的舒适，又能够准确感知到车辆回馈的情况。
下面以具体地实施例对本申请的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本申请的实施例进行描述。
图1为本申请实施例提供的一种电子制动踏板调节的应用场景示意图。如图1所示，用户踩下电子制动踏板10时，电子制动踏板上的电子装置11，通过踏板力传感器111和踏板行程传感器112将用户的制动意图进行分析，然后将分析出的用户制动意图生成对应的控制参数输入到制动系统的液压装置13中，由液压装置参数对应的液压输送到车辆制动钳14上进行相应的制动。用户可以通过车载交互界面12对踏板力和踏板行程所对应的减速度关系曲线进行个性化设置。在车载交互界面12上，用户可以通过按钮123或者直接对特性曲线121和/或特性曲线122直接进行个性化调整。
下面对如何实现本申请所提供的电子制动踏板调节方法进行详细介绍。
图2为本申请实施例提供的一种电子制动踏板调节方法的流程示意图。如图2所示，该电子制动踏板调节方法的具体步骤，包括：
S201、获取电子制动踏板的操作特性参数。
在本步骤中，操作特性参数，包括：多维特性数组集，多维特性数组集中每个数组的特征元素包括：减速度、最大踏板力、最小踏板力、以及当前踏板力。
具体的，多维特性数组集可以表示为公式(1)：
Figure PCTCN2022103598-appb-000001
其中，a n为减速度，F MAX1为最大踏板力，F MINn为最小踏板力，F 0n为当前踏板力。
在一种可能的设计中，特征元素包括：减速度、最大踏板行程、最小踏板行程、以及当前踏板行程。
具体的，多维特性数组集可以表示为公式(2)：
Figure PCTCN2022103598-appb-000002
其中，a n为减速度，S MAX1为最大踏板行程，S MINn为最小踏板行程，S 0n为当前踏板行程。
在一种可能的设计中，特征元素包括：减速度、最大踏板力、最小踏板力、当前踏板力、最大踏板行程、最小踏板行程、以及当前踏板行程。
具体的，多维特性数组集可以表示为公式(3)：
Figure PCTCN2022103598-appb-000003
需要说明的是，特征元素还可以包括其它的内容，本领域技术人员可以根据实际情况进行选用，在此不作限定。
S202、根据操作特性参数确定并输出待调节特性图。
在本步骤中，将多维特征数组集转换为特征曲线，并在车辆的交互界面如车载显示屏上进行显示。
图3为本申请实施例提供的一种制动踏板力特性曲线的示意图。如图3所示，利用预设的曲线拟合模型，将公式(1)绘制成制动踏板力的特性曲线。
具体的，根据每个数组中的减速度以及最大踏板力确定踏板力的第一上限曲线f1；根据每个数组中的减速度以及最小踏板力确定踏板力的第一下限曲线f2；根据每个数组中的减速度以及当前踏板力确定踏板力的第一当前特性曲线f0；在交互界面输出第一上限曲线f1、第一下限曲线f2以及第一当前特性曲线f0。
图4为本申请实施例提供的一种制动踏板行程特性曲线的示意图。如图4所示，利用预设的曲线拟合模型，将公式(2)绘制成制动踏板行程的特性曲线。
具体的，根据每个数组中的减速度以及最大踏板行程确定踏板行程的第二上限曲线f1；根据每个数组中的减速度以及最小踏板行程确定踏板行程的第二下限曲线f2；根据每个数组中的减速度以及当前踏板行程确定踏板行程的第二当前特性曲线f0；在交互界面输出第二上限曲线f1、第二下限曲线f2以及第二当前特性曲线f0。
需要说明的是，在图3和图4中f0也可以为制动系统标定时，根据输入需求设定的标准的踏板力或踏板行程特性曲线。
S203、获取用户输入的调节指令。
在本步骤中，调节指令用于对待调节特性图进行编辑调整。
在本实施例中，调节指令包括整体偏移指令，获取用户通过预设操作方式输入的整体偏移指令，预设操作方式包括：按钮、旋钮、触摸屏等。
具体的，如图3和图4所示，在f1和f2之间可以实现多组阶梯踏板力或踏板行程的特性曲线。可选的，这些特性曲线在制动系统的标定匹配过程中都已经进行匹配，且实现了较好踏板感的线性控制或非线性控制。
图5为本申请实施例提供的一种调节旋钮的硬件原理示意图。如图5所示，调节旋钮的机械结构与滑动变阻器R 变上的滑动片连接，实现输出的电压U 1变化,最终实现输出踏板力或踏板行程传感器的信号电压变化。需要说明的是电阻R 1的作用是限流或限制U 1的最大值。
还需要说明的是，旋钮在对特性曲线进行个性化调整时，还可以和信号输出的电流值关联。
S204、根据调节指令确定电子制动踏板的目标特性曲线，以使电子制动踏板的操作感满足用户的个性需求。
在本步骤中，根据整体偏移指令，将第一当前特性曲线的整体以第一预设幅度向第一上限曲线或第一下限曲线偏移，从而确定踏板力的第一目标特性曲线，目标特性曲线包括第一目标特性曲线。
具体的，如图1所示，用户可以通过点击整体调节按钮123将特性曲线整体进行偏移，点击加号，则向上极限的特征曲线靠近，点击减号，则向下极限的特征曲线靠近。
进一步地，在调整了制动踏板的响应特性后，还包括：
获取用户输入的操作指令；根据操作指令以及目标特性曲线确定制动系统的控制参数。即用户在调整制动踏板的响应特性，使得制动踏板的操作感满足用户的个性化需求后，通过电子式制动踏板对车辆的制动系统进行操作。
本实施例提供了一种电子制动踏板调节方法，通过获取电子制动踏板的操作特性参数，并根据操作特性参数确定并输出待调节特性图，然后获取用户输入的调节指令，该调节指令用于对待调节特性图进行编辑调整，再根据调节指令确定电子制动踏板的目标特性曲线，以使电子制动踏板的操作感满足用户的个性需求。解决了现有技术存在的无法针对制动操作者的自身特性充分调整制动操作器的控制参数的技术问题。实现了根据不同操作者的个性化特征来自动调节制动操作器的操作控制参数，提高了操作者的使用体验的技术效果。
图6为本申请实施提供的另一种电子制动踏板调节方法的流程示意图。如图6所示，该电子制动踏板调节方法的具体步骤包括：
S601、获取电子制动踏板的操作特性参数。
S602、根据操作特性参数确定并输出待调节特性图。
对于步骤S601-S602可以参考S201-S202，在此不再赘述。
S603、获取用户输入的调节指令。
在本步骤中，调节指令包括局部调整指令。获取用户通过预设操作方式输入的局部调整指令。预设操作方式包括：(1)用户单击选中特性曲线上的预设调整点，然后拨动调整点进行上下或左右移动，或者是通过旋钮或按钮移动调整点，从而改变该调整点附近的特性曲线的形状；
(2)用户双击特性曲线上任意一点，将该点设置为调整点，然后拨动调整点对特性曲线上的对应区间段进行调整。
(3)用户先后点击特性曲线上的两个点，将这两个点之间的曲线设置为调整目标，然后拖动该调整目标上的至少一个点，改变该曲线的形状。
S604、根据局部调整指令所对应的至少一个调整区间，将第二当前特性曲线的至少一个曲线段以第四预设幅度，在第二上限曲线以及第二下限曲线之间偏移调整。
在本步骤中，第二当前特性曲线包括：踏板力与减速度的对应关系曲线以及踏板行程与减速度的对应关系曲线，例如图3和图4所示的特性曲线。
调整区间可以是特性曲线上的某个区间段上的曲线，也可以是整条特性曲线。
需要说明的是，用户可以在在第二上限曲线(即上极限曲线)以及第二下限曲线(即下极限曲线)之间任意地对特性曲线进行偏移调整，但是当用户的调整指令指示特性曲线超出了第二上限曲线以及第二下限曲线所限制的范围时，对应的只能够达到最大或最小极限值。
进一步的，在用户输入调整指令的同时，在车载屏幕上同步显示调整结果，并且在用户停止输入后，开始计时，若在预设时间内没有再次接收到用户输入的调整指令时，开始理由预设评价模型，对调整后的特性曲线所对应的制动系统控制安全性进行评价。
比如，若用户调整的特性曲线使得制动性能过于灵敏(即计算出的制动响应灵敏度大于第一预设阈值)或者过于迟钝(即计算出的制动响应灵敏度小于第二预设阈值)，则向用户发出提示信息，或者将特性曲线在当前基础上自动优化为满足预设安全性能要求的形 状。
S605、获取用户输入的操作指令。
在本实施例中，用户完成对电动知道踏板的特性参数调整后，即完成踏板感的调节后，进入试驾模式，在该模式下，车辆的行驶速度被限制在预设阈值如30km/h以内。以便于用户实际感受和适应制动踏板感的变化。
S606、根据操作指令以及目标特性曲线确定制动系统的控制参数。
在本步骤中，用户对制动踏板进行操作后，根据调整后的目标特性曲线来反馈用户的操作意图，进而对制动系统生成对应的控制参数。
比如，用户调整踏板行程特性曲线，缩短了最大制动力所对应的踏板行程，那么就根据该调整后的踏板行程来进行制动。
还需要说明的是，在试驾模式中，若用户感觉已经适应了调整后的踏板感时，可以输入对应的确认指令或应用指令，确定将踏板感对应的特性参数进行更新，同时结束试驾模式。若用户感觉仍需要进一步调节，或者需要还原，则需要先将车辆停止，然后在车载交互界面上点击对应的按钮进行设置。
还需要说明的是，在本实施例中，驾驶员可以在车载控制器中预先存储好自己对应的至少一套电子制动踏板感控制参数。后续其他驾驶员可以在调试时调用此特性参数作为调整基础进行个性化调整。当然，也可以通过人脸识别等身份识别手段，在传感器检测到驾驶员身份发生变化时，自动进行控制参数的切换。
本实施例提供了一种电子制动踏板调节方法，通过获取电子制动踏板的操作特性参数，并根据操作特性参数确定并输出待调节特性图，然后获取用户输入的调节指令，该调节指令用于对待调节特性图进行编辑调整，再根据调节指令确定电子制动踏板的目标特性曲线，以使电子制动踏板的操作感满足用户的个性需求。解决了现有技术存在的无法针对制动操作者的自身特性充分调整制动操作器的控制参数的技术问题。实现了根据不同操作者的个性化特征来自动调节制动操作器的操作控制参数，提高了操作者的使用体验的技术效果。
图7为本申请实施例提供的一种电子制动踏板调节装置的结构示意图。该电子制动踏板调节装置700可以通过软件、硬件或者两者的结合实现。
如图7所示，该电子制动踏板调节装置700包括：
获取模块701，用于获取电子制动踏板的操作特性参数；
处理模块702，用于根据操作特性参数确定并输出待调节特性图；
获取模块701，还用于获取用户输入的调节指令，调节指令用于对待调节特性图进行编辑调整；
处理模块702，还用于根据调节指令确定电子制动踏板的目标特性曲线，以使电子制动踏板的操作感满足用户的个性需求。
在一种可能的设计中，操作特性参数，包括：多维特性数组集，多维特性数组集中每个数组的特征元素包括：减速度、最大踏板力、最小踏板力、以及当前踏板力；
处理模块702，用于根据每个数组中的减速度以及最大踏板力确定踏板力的第一上限曲线；根据每个数组中的减速度以及最小踏板力确定踏板力的第一下限曲线；根据每个数组中的减速度以及当前踏板力确定踏板力的第一当前特性曲线；在交互界面输出第一上限曲线、第一下限曲线以及第一当前特性曲线。
在一种可能的设计中，调节指令包括整体偏移指令，获取模块701，用于获取用户通过预设操作方式输入的整体偏移指令；
处理模块702，用于根据整体偏移指令，将第一当前特性曲线的整体以第一预设幅度向第一上限曲线或第一下限曲线偏移，从而确定踏板力的第一目标特性曲线，目标特性曲线包括第一目标特性曲线。
在一种可能的设计中，调节指令包括局部调整指令，获取模块701，用于获取用户通过预设操作方式输入的局部调整指令；
处理模块702，用于根据局部调整指令所对应的至少一个调整区间，将第一当前特性曲线的至少一个曲线段以第二预设幅度，在第一上限曲线或第一下限曲线之间偏移调整，从而确定踏板力的第二目标特性曲线，目标特性曲线包括第二目标特性曲线。
在一种可能的设计中，特征元素包括：减速度、最大踏板行程、最小踏板行程、以及当前踏板行程；
处理模块702，用于：
根据每个数组中的减速度以及最大踏板行程确定踏板行程的第二上限曲线；根据每个数组中的减速度以及最小踏板行程确定踏板行程的第二下限曲线；根据每个数组中的减速度以及当前踏板行程确定踏板行程的第二当前特性曲线；在交互界面输出第二上限曲线、第二下限曲线以及第二当前特性曲线。
在一种可能的设计中，调节指令包括整体偏移指令，获取模块701，用于获取用户通过预设操作方式输入的整体偏移指令；
处理模块702，用于根据整体偏移指令，将第二当前特性曲线的整体以第一预设幅度向第二上限曲线或第二下限曲线偏移，从而确定踏板行程的第三目标特性曲线，目标特性曲线包括第三目标特性曲线。
在一种可能的设计中，调节指令包括局部调整指令，获取模块701，用于获取用户通过预设操作方式输入的局部调整指令；
处理模块702，用于根据局部调整指令所对应的至少一个调整区间，将第二当前特性曲线的至少一个曲线段以第四预设幅度，在第二上限曲线以及第二下限曲线之间偏移调整，从而确定踏板行程的第四目标特性曲线，目标特性曲线包括第四目标特性曲线。
可选的，获取模块701，还用于获取用户输入的操作指令；
处理模块702，还用于根据操作指令以及目标特性曲线确定制动系统的控制参数。
值得说明的是，图7所示实施例提供的装置，可以执行上述任一方法实施例中所提供的方法，其具体实现原理、技术特征、专业名词解释以及技术效果类似，在此不再赘述。
图8为本申请实施例提供的一种电子设备的结构示意图。如图8所示，该电子设备800，可以包括：至少一个处理器801和存储器802。图8示出的是以一个处理器为例的电子设备。
存储器802，用于存放程序。具体地，程序可以包括程序代码，程序代码包括计算机操作指令。
存储器802可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
处理器801用于执行存储器802存储的计算机执行指令，以实现以上各方法实施例所 述的方法。
其中，处理器801可能是一个中央处理器(central processing unit，简称为CPU)，或者是特定集成电路(application specific integrated circuit，简称为ASIC)，或者是被配置成实施本申请实施例的一个或多个集成电路。
可选地，存储器802既可以是独立的，也可以跟处理器801集成在一起。当所述存储器802是独立于处理器801之外的器件时，所述电子设备800，还可以包括：
总线803，用于连接所述处理器801以及所述存储器802。总线可以是工业标准体系结构(industry standard architecture，简称为ISA)总线、外部设备互连(peripheral component，PCI)总线或扩展工业标准体系结构(extended industry standard architecture，EISA)总线等。总线可以分为地址总线、数据总线、控制总线等，但并不表示仅有一根总线或一种类型的总线。
可选的，在具体实现上，如果存储器802和处理器801集成在一块芯片上实现，则存储器802和处理器801可以通过内部接口完成通信。
本申请实施例还提供一种车辆，包括：电子制动踏板以及图8所示的实施例中任意一种可能的电子设备。
其中，电子制动踏板与车辆的制动系统电连接，以控制制动系统实现车辆制动，并将制动过程的回馈力反馈给用户。
本申请实施例还提供了一种计算机可读存储介质，该计算机可读存储介质可以包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁盘或者光盘等各种可以存储程序代码的介质，具体的，该计算机可读存储介质中存储有程序指令，程序指令用于上述各方法实施例中的方法。
本申请实施例还提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现上述各方法实施例中的方法。
本申请实施例还提供一种计算机程序，包括程序代码，当计算机运行所述计算机程序时，所述程序代码执行如上述各方法实施例中的方法。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本申请的真正范围和精神由本申请的权利要求书指出。
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求书来限制。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (14)

  1. 一种电子制动踏板调节方法，其特征在于，包括：
    获取电子制动踏板的操作特性参数；
    根据所述操作特性参数确定并输出待调节特性图；
    获取用户输入的调节指令，所述调节指令用于对所述待调节特性图进行编辑调整；
    根据所述调节指令确定所述电子制动踏板的目标特性曲线，以使所述电子制动踏板的操作感满足所述用户的个性需求。
  2. 根据权利要求1所述的电子制动踏板调节方法，其特征在于，所述操作特性参数，包括：多维特性数组集，所述多维特性数组集中每个数组的特征元素包括：减速度、最大踏板力、最小踏板力、以及当前踏板力；
    对应的，所述根据所述操作特性参数确定并输出待调节特性图，包括：
    根据每个所述数组中的所述减速度以及所述最大踏板力确定踏板力的第一上限曲线；
    根据每个所述数组中的所述减速度以及所述最小踏板力确定踏板力的第一下限曲线；
    根据每个所述数组中的所述减速度以及所述当前踏板力确定踏板力的第一当前特性曲线；
    在交互界面输出所述第一上限曲线、所述第一下限曲线以及所述第一当前特性曲线。
  3. 根据权利要求2所述的电子制动踏板调节方法，其特征在于，所述调节指令包括整体偏移指令，所述获取用户输入的调节指令，包括：
    获取所述用户通过预设操作方式输入的所述整体偏移指令；
    对应的，所述根据所述调节指令确定所述电子制动踏板的目标特性曲线，包括：
    根据所述整体偏移指令，将所述第一当前特性曲线的整体以第一预设幅度向所述第一上限曲线或所述第一下限曲线偏移，从而确定踏板力的第一目标特性曲线，所述目标特性曲线包括所述第一目标特性曲线。
  4. 根据权利要求2或3所述的电子制动踏板调节方法，其特征在于，所述调节指令包括局部调整指令，所述获取用户输入的调节指令，包括：
    获取所述用户通过预设操作方式输入的所述局部调整指令；
    对应的，所述根据所述调节指令确定所述电子制动踏板的目标特性曲线，包括：
    根据所述局部调整指令所对应的至少一个调整区间，将所述第一当前特性曲线的至少一个曲线段以第二预设幅度，在所述第一上限曲线或所述第一下限曲线之间偏移调整，从而确定踏板力的第二目标特性曲线，所述目标特性曲线包括所述第二目标特性曲线。
  5. 根据权利要求1-4中任意一项所述的电子制动踏板调节方法，其特征在于，所述操作特性参数，包括：多维特性数组集，所述多维特性数组集中每个数组的特征元素包括：减速度、最大踏板行程、最小踏板行程、以及当前踏板行程；
    对应的，所述根据所述操作特性参数确定并输出待调节特性图，包括：
    根据每个所述数组中的所述减速度以及所述最大踏板行程确定踏板行程的第二上限曲线；
    根据每个所述数组中的所述减速度以及所述最小踏板行程确定所述踏板行程的第二下限曲线；
    根据每个所述数组中的所述减速度以及所述当前踏板行程确定所述踏板行程的第 二当前特性曲线；
    在交互界面输出所述第二上限曲线、所述第二下限曲线以及所述第二当前特性曲线。
  6. 根据权利要求5所述的电子制动踏板调节方法，其特征在于，所述调节指令包括整体偏移指令，所述获取用户输入的调节指令，包括：
    获取所述用户通过预设操作方式输入的所述整体偏移指令；
    对应的，所述根据所述调节指令确定所述电子制动踏板的目标特性曲线，包括：
    根据所述整体偏移指令，将所述第二当前特性曲线的整体以第一预设幅度向所述第二上限曲线或所述第二下限曲线偏移，从而确定所述踏板行程的第三目标特性曲线，所述目标特性曲线包括所述第三目标特性曲线。
  7. 根据权利要求5或6所述的电子制动踏板调节方法，其特征在于，所述调节指令包括局部调整指令，所述获取用户输入的调节指令，包括：
    获取所述用户通过预设操作方式输入的所述局部调整指令；
    对应的，所述根据所述调节指令确定所述电子制动踏板的目标特性曲线，包括：
    根据所述局部调整指令所对应的至少一个调整区间，将所述第二当前特性曲线的至少一个曲线段以第四预设幅度，在所述第二上限曲线以及所述第二下限曲线之间偏移调整，从而确定所述踏板行程的第四目标特性曲线，所述目标特性曲线包括所述第四目标特性曲线。
  8. 根据权利要求1-7中任意一项所述的电子制动踏板调节方法，其特征在于，还包括：
    获取所述用户输入的操作指令；
    根据所述操作指令以及所述目标特性曲线确定制动系统的控制参数。
  9. 一种电子制动踏板调节装置，其特征在于，包括：
    获取模块，用于获取电子制动踏板的操作特性参数；
    处理模块，用于根据所述操作特性参数确定并输出待调节特性图；
    所述获取模块，还用于获取用户输入的调节指令，所述调节指令用于对所述待调节特性图进行编辑调整；
    所述处理模块，还用于根据所述调节指令确定所述电子制动踏板的目标特性曲线，以使所述电子制动踏板的操作感满足所述用户的个性需求。
  10. 一种电子设备，其特征在于，包括：处理器以及存储器；
    所述存储器，用于存储所述处理器的计算机程序；
    所述处理器配置为经由执行所述计算机程序来执行权利要求1至8任一项所述的电子制动踏板调节方法。
  11. 一种车辆，其特征在于，包括：电子制动踏板以及权利要求10所述的电子设备；
    其中，所述电子制动踏板与车辆的制动系统电连接，以控制所述制动系统实现车辆制动，并将制动过程的回馈力反馈给用户。
  12. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至8任一项所述的电子制动踏板调节方法。
  13. 一种计算机程序产品，包括计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至8任一项所述的电子制动踏板调节方法。
  14. 一种计算机程序，其特征在于，包括程序代码，当计算机运行所述计算机程序时，所述程序代码执行如权利要求1至8任一项所述的电子制动踏板调节方法。
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