Vehicle brake control self-learning method and device, vehicle and storage medium

Abstract

The invention provides a vehicle braking control self-learning method and device, a vehicle and a storage medium, and relates to the technical field of vehicles. The method comprises the steps that if a clamping instruction of brake calipers in a vehicle is received, the target position of the brake calipers is obtained; brake calipers corresponding to each tire in the vehicle are controlled to be released to the target position; and if it is detected that the brake caliper corresponding to each tire is released to the target position, the brake caliper corresponding to each tire is controlled to clamp a brake disc from the target position, so that the vehicle is braked. Based on the scheme, the synchronism of vehicle tire braking can be improved when the vehicle is braked.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, vehicle and storage medium for self-learning of vehicle braking control in the field of vehicle technology. Background Art

[0002] When the driver releases the brake pedal, the brake caliper and brake disc in the vehicle's braking system can be released, so that there is a relative gap between the brake caliper and the brake disc, thereby avoiding brake drag on the vehicle.

[0003] However, after the brake caliper and the brake disc are released, the brake calipers corresponding to each tire may not be clamped on the brake disc at the same time when the vehicle brakes, that is, the tires cannot be braked at the same time, affecting the synchronization of the vehicle tire braking.

[0004] Therefore, when a vehicle brakes, how to improve the synchronization of the vehicle tire braking is a problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a method, device, vehicle and storage medium for self-learning of vehicle braking control, which can improve the synchronization of vehicle tire braking when the vehicle brakes.

[0006] In a first aspect, the present application provides a method for self-learning of vehicle braking control, the method comprising:

[0007] If a clamping command of the brake caliper in the vehicle is received, the target position of the brake caliper is obtained; the brake caliper corresponding to each tire in the vehicle is controlled to be released to the target position; if it is detected that the brake caliper corresponding to each tire is released to the target position, the brake caliper corresponding to each tire is controlled to be clamped from the target position to the brake disc to brake the vehicle.

[0008] In the embodiment of the present application, when receiving the clamping instruction of the brake caliper in the vehicle, it does not directly respond to the clamping instruction to control the brake caliper to perform the clamping action corresponding to the clamping instruction; instead, the target position corresponding to the brake caliper is first obtained; and when the target position is obtained, the brake caliper corresponding to each tire in the vehicle is first controlled to be released from its current position to the target position, and then the brake caliper corresponding to each tire is controlled to be clamped to the brake disc from the target position to complete the vehicle braking. By first releasing the brake caliper from its current position to the target position, and then controlling the brake caliper corresponding to each tire to be clamped to the brake disc from the target position, it is possible to avoid the problem that the current position of the brake caliper of each tire in the vehicle is different, resulting in the brake calipers being clamped to the brake disc at different times, and the tires in the vehicle cannot be braked at the same time. Therefore, in the above technical solution, the synchronization of the vehicle tire braking can be improved when the vehicle brakes.

[0009] In combination with the first aspect, in some implementations of the first aspect, the step of obtaining the target position of the brake caliper includes:

[0010] A first position of the brake caliper corresponding to when the brake caliper and the brake disc are fully released is obtained; and the first position is determined as the target position.

[0011] In the embodiment of the present application, the position corresponding to the brake caliper when the brake caliper and the brake disc are fully released is determined as the above-mentioned target position, which can avoid the problem of vehicle brake stagnation caused by the delay in the return of the brake caliper when the brake caliper and the brake disc are not fully released, thereby ensuring normal braking of the vehicle.

[0012] In combination with the first aspect and the above implementations, in some implementations of the first aspect, after obtaining the first position of the brake caliper corresponding to when the brake caliper and the brake disc are completely released, the method further includes:

[0013] The allowable offset of the brake caliper is obtained; the first position is offset by the allowable offset to obtain an offset position, and the offset position is determined as the target position.

[0014] In the embodiment of the present application, there may be a slight deviation when controlling the brake caliper corresponding to each tire in the vehicle to be released from its current position to the target position. Therefore, in order to avoid the adverse effect of the deviation on the release of the brake caliper corresponding to each tire in the vehicle to the same position, the allowable offset of the brake caliper can be obtained, and the position corresponding to the brake caliper when the brake caliper and the brake disc are fully released (i.e., the first position) is offset by the allowable offset, and the corresponding position after the offset is determined as the above-mentioned target position, thereby avoiding the adverse effect of the deviation on the release of the brake caliper corresponding to each tire in the vehicle to the same position, thereby further improving the synchronization of the vehicle tire braking when the vehicle brakes.

[0015] In combination with the first aspect and the above implementations, in some implementations of the first aspect, obtaining the target position of the brake caliper includes:

[0016] A second position of the brake caliper is obtained; wherein the second position is used to indicate the position of the brake caliper when the distance between the brake caliper and the brake disc is the maximum allowable distance; and the second position is determined as the target position.

[0017] In an embodiment of the present application, the position corresponding to the brake caliper when the distance between the brake caliper and the brake disc is the maximum allowable distance is determined as the above-mentioned target position, which can ensure to the greatest extent that the brake caliper and brake disc corresponding to each tire in the vehicle can be in the same position after release, thereby further improving the synchronization of vehicle tire braking when the vehicle brakes.

[0018] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the above-mentioned control of releasing the brake caliper corresponding to each tire in the vehicle to the target position includes:

[0019] The current of the brake motor in the vehicle is obtained; if the current current is greater than or equal to a preset current threshold, the current release distance between the brake caliper and the brake disc is determined; and the brake caliper corresponding to each tire is released from a position corresponding to the current release distance to a target position.

[0020] In the embodiment of the present application, when the current current of the brake motor in the vehicle is greater than or equal to the preset current threshold, it indicates that the brake caliper is about to be released to the above-mentioned target position. Therefore, in order to more accurately control the brake caliper and brake disc corresponding to each tire in the vehicle to be in the same position after release, the current release distance between the brake caliper and the brake disc can be obtained; and the brake caliper corresponding to each tire in the vehicle is released from the position corresponding to the current release distance to the target position. By releasing the brake caliper corresponding to each tire from its current position to the target position through the release distance of the brake caliper and the brake disc, the brake caliper and brake disc corresponding to each tire in the vehicle can be more accurately controlled to be in the same position after release, thereby further improving the synchronization of the vehicle tire braking when the vehicle brakes.

[0021] In combination with the first aspect and the above implementations, in some implementations of the first aspect, if it is detected that the brake caliper corresponding to each tire is released to the target position, controlling the brake caliper corresponding to each tire to clamp to the brake disc from the target position includes:

[0022] If it is detected that the brake caliper corresponding to each tire is released to the target position, the brake caliper corresponding to each tire is controlled to be clamped to the brake disc from the target position.

[0023] In an embodiment of the present application, when the brake caliper corresponding to each tire in the vehicle is released from its current position to the target position, the brake caliper corresponding to each tire is simultaneously controlled to clamp to the brake disc from the target position to complete vehicle braking, so that the brake caliper corresponding to each tire in the vehicle can be clamped to the brake disc at the same time, thereby further improving the synchronization of vehicle tire braking when the vehicle brakes.

[0024] In combination with the first aspect and the foregoing implementations, in some implementations of the first aspect, the method further includes:

[0025] Get the power status of the vehicle; if the power status is powered on, receive the clamping instruction.

[0026] In the embodiment of the present application, since the clamping instruction of the brake caliper can be received when the power state of the vehicle is the power-on state, the vehicle brake control self-learning can be performed, thereby avoiding the situation that the distance between the brake caliper and the brake disc corresponding to each tire in the vehicle cannot be read, or when the vehicle is powered off for the last time before the current power-on, if the driver repairs or replaces the components (e.g., friction pads) in the vehicle brake system, then after the vehicle is powered on this time, the driver does not step on the brake pedal, and the distance between the brake caliper and the brake disc corresponding to each tire in the vehicle may not be obtained. At this time, if the distance between the brake caliper and the brake disc corresponding to each tire is different, it may cause the problem that each tire in the vehicle cannot be braked at the same time. Therefore, when the power state of the vehicle is the power-on state, the clamping instruction of the brake caliper is received, and the vehicle brake control self-learning is performed, which can ensure that the position of the brake caliper corresponding to each tire in the vehicle can be timely understood, thereby ensuring the synchronization of the vehicle tire braking.

[0027] In a second aspect, the present application provides a vehicle braking control self-learning device, the device comprising:

[0028] an acquisition module, for acquiring a target position of the brake caliper if a clamping instruction of the brake caliper in the vehicle is received;

[0029] A control module, used for controlling the brake caliper corresponding to each tire in the vehicle to be released to a target position;

[0030] The processing module is used to control the brake caliper corresponding to each tire to clamp to the brake disc from the target position to brake the vehicle if it is detected that the brake caliper corresponding to each tire is released to the target position.

[0031] In a third aspect, the present application provides a vehicle, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0032] In a fourth aspect, the present application provides a computer program product, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0033] In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of a vehicle braking scenario in the related art.

[0035] Figure 2 It is a flow chart of a vehicle braking control self-learning method provided in an embodiment of the present application.

[0036] Figure 3 It is a structural schematic diagram of a vehicle braking control self-learning device provided in an embodiment of the present application.

[0037] Figure 4 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0039] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0040] Figure 1 It is a schematic diagram of a vehicle braking scenario in the related art.

[0041] For example, Figure 1 As shown in (a), Figure 1 (a) includes a vehicle 110, and the braking system of the vehicle 110 may be a wheel-side braking system, so that the vehicle 110 can brake. The wheel-side braking system may include but is not limited to a motor, a brake caliper, a brake disc, a speed loop, a current loop, and a displacement loop; the wheel-side braking system refers to a braking system that can directly act on the edges of each tire in the vehicle 110, usually referring to a brake installed near the tire, which slows down or stops the rotation of the tire through friction. The wheel-side braking system may include but is not limited to a drum brake and a disc brake.

[0042] For example, when the driver steps on the brake pedal in the vehicle 110 to brake, the motor can push the brake caliper 111 forward until the friction pad in the brake caliper 111 is completely clamped with the brake disc 112. This process can be referred to as the "clamping control state of the brake caliper" (e.g. Figure 1 Also, when the driver releases the stepped brake pedal, the brake caliper 111 can be driven by the motor to move backward, so that the distance between the friction plate and the brake disc 112 is A (also referred to as "relative gap"), so that the friction plate is away from the brake disc 112 to avoid the vehicle from braking. This process can be referred to as the "release control state of the brake caliper" (such as Figure 1 , as shown in (c) in the figure).

[0043] For example, when the vehicle is stationary or in motion, in order to ensure the synchronization of braking of each tire, the distance between the brake caliper and the brake disc corresponding to each tire (also referred to as "relative clearance") needs to be the same. However, when the braking system of the vehicle 110 is a wheel-side braking system, there may be different reasons that cause the distance between the brake caliper and the brake disc corresponding to each tire in the vehicle to be different.

[0044] Optionally, when the braking system of vehicle 110 is a wheel-side braking system, since the brake calipers corresponding to each tire in the vehicle are controlled by independent motors (also referred to as "brake motors") instead of the same motor, this may cause the brake calipers corresponding to each tire to be released asynchronously when the brake calipers are in the release control state, resulting in different distances between the brake calipers and brake discs corresponding to each tire of the vehicle. For example, the distance between the brake caliper and the brake disc corresponding to the left front tire is greater than the distance between the brake caliper and the brake disc corresponding to the right rear tire. Alternatively, when the vehicle is powered on, the distance between each brake caliper and the brake disc may not be read in the storage unit in the vehicle. At this time, if the distances between the brake calipers and the brake discs corresponding to each tire of the vehicle are different, it may also cause the brake calipers corresponding to each tire to be unable to clamp with the brake disc at the same time, that is, the tires cannot be braked at the same time.

[0045] It should be noted that in the clamping control state of the brake caliper, the clamping force between the friction plate and the brake disc can be collected in real time through the clamping force sensor in the vehicle. When the clamping force is greater than or equal to the pre-calibrated clamping force threshold, it can be said that the friction plate and the brake disc are fully clamped. Among them, the clamping force threshold is calibrated in advance when the vehicle is offline, and the embodiment of the present application does not limit this.

[0046] Therefore, in order to solve the problem that the vehicle tires may not be braked simultaneously when the vehicle brakes, the present application proposes a method, device, vehicle and storage medium for self-learning of vehicle braking control.

[0047] Below through Figure 2 The vehicle braking control self-learning method provided in an embodiment of the present application is described in detail.

[0048] Figure 2 FIG. 1 is a flow chart of a method for self-learning of vehicle braking control provided by an embodiment of the present application. The method can be Figure 1 The vehicle 110 in the vehicle 110 is executed, or the electronic control unit (Electronic Control Unit, ECU) in the vehicle 110 is executed.

[0049] For example, Figure 2 As shown, the method 200 is a self-learning process of the distance between the brake caliper (also the friction pad in the brake caliper) and the brake disc, and the method 200 includes the following implementation process:

[0050] S210: If a clamping instruction of a brake caliper in the vehicle is received, a target position of the brake caliper is obtained.

[0051] For example, in order to solve the problem that the vehicle tires may not be braked at the same time when the vehicle brakes, the vehicle braking control can be self-learned to generate a clamping instruction corresponding to the brake caliper in the vehicle. When the clamping instruction of the brake caliper in the vehicle is received, it is not to directly respond to the clamping instruction to control the brake caliper to perform the clamping action corresponding to the clamping instruction so that the brake caliper and the brake disc in the vehicle are in a fully clamped state, thereby braking the vehicle, but first obtain the target position corresponding to the brake caliper.

[0052] Among them, the target position of the brake caliper can be achieved by the brake motor pushing the friction pad in the brake caliper to clamp the brake disc or release the friction pad; when the distance between the brake caliper and the brake disc is large, the brake caliper needs to be clamped, and when the distance between the brake caliper and the brake disc is small, the brake caliper needs to be released.

[0053] Optionally, the power state of the vehicle is obtained; if the power state is a power-on state, a clamping instruction is received.

[0054] The power state is a power-on state or a power-off state.

[0055] For example, before receiving a clamping instruction from a brake caliper in a vehicle, the current power state of the vehicle may be acquired first. When the power state of the vehicle is in the powered-on state, the clamping instruction from the brake caliper in the vehicle may be received to perform self-learning on the vehicle braking control. This avoids the problem that when the distance between the brake caliper and the brake disc corresponding to each tire of the vehicle cannot be read in a storage unit in the vehicle and the distance between the brake caliper and the brake disc corresponding to each tire is different, the tires may not be braked at the same time.

[0056] In addition, if the driver repaired or replaced the components (e.g., friction pads) in the vehicle's brake system when the vehicle was powered off before the current power-on, then after the vehicle is powered on this time, the driver may not step on the brake pedal and may not be able to obtain the distance between the brake caliper and the brake disc corresponding to each tire in the vehicle. Therefore, in order to ensure the synchronization of the vehicle tire braking, the vehicle brake control can be self-learned each time the vehicle is powered on, that is, when the vehicle power state is in the power-on state, the clamping instruction of the brake caliper in the vehicle is received.

[0057] In the embodiment of the present application, since the clamping instruction of the brake caliper can be received when the power state of the vehicle is the power-on state, and the vehicle brake control self-learning can be performed, it can be avoided that the distance between the brake caliper and the brake disc corresponding to each tire in the vehicle cannot be read, or when the vehicle is powered off for the last time before the current power-on, if the driver repairs or replaces the components (for example, friction pads) in the vehicle braking system, then after the vehicle is powered on this time, the driver does not step on the brake pedal, and the distance between the brake caliper and the brake disc corresponding to each tire in the vehicle may not be obtained. At this time, if the distance between the brake caliper and the brake disc corresponding to each tire is different, it may cause the problem that each tire in the vehicle cannot be braked at the same time. Therefore, when the power state of the vehicle is the power-on state, the clamping instruction of the brake caliper is received, and the vehicle brake control self-learning is performed, it can ensure that the position of the brake caliper corresponding to each tire in the vehicle can be timely understood, thereby ensuring the synchronization of the vehicle tire braking.

[0058] In a possible implementation, the above-mentioned obtaining the target position of the brake caliper includes: obtaining a first position of the brake caliper corresponding to when the brake caliper and the brake disc are completely released; and determining the first position as the target position.

[0059] For example, when self-learning the vehicle brake control, the release position (which may be referred to as the "first position") corresponding to the brake caliper when the brake caliper and the brake disc are fully released may be first obtained. Since the vehicle will not have a brake drag problem when the brake caliper and the brake disc are fully released, the first position may be determined as the target position.

[0060] It should be noted that in order to ensure the synchronization of vehicle tire braking and braking release, the position of the brake caliper corresponding to each tire in the vehicle is the same when the brake disc is fully released, and the position of the brake caliper is also the same when the brake caliper is fully clamped.

[0061] In the embodiment of the present application, the position corresponding to the brake caliper when the brake caliper and the brake disc are fully released is determined as the above-mentioned target position, which can avoid the problem of vehicle brake stagnation caused by the delay in the return of the brake caliper when the brake caliper and the brake disc are not fully released, thereby ensuring normal braking of the vehicle.

[0062] Furthermore, after obtaining the first position of the brake caliper corresponding to when the brake caliper and the brake disc are fully released, the method further includes: obtaining an allowable offset of the brake caliper; offsetting the first position by the allowable offset to obtain an offset position, and determining the offset position as the target position.

[0063] For example, when the brake caliper is released to the target position, there may be a slight deviation. In order to avoid the influence of the deviation on the release position of the brake caliper, an allowable deviation (which may be referred to as an “allowable offset”) may be set.

[0064] For example, when the brake caliper and the brake disc are fully released, the corresponding position of the brake caliper is A. However, due to the influence of the accuracy of the device itself, the position of the brake caliper when the brake caliper and the brake disc are fully released may become A±0.1, and "±0.1" is the allowable offset.

[0065] Furthermore, when the allowable offset corresponding to the brake caliper is obtained, position A can be offset by ±0.1 to obtain the offset position corresponding to position A, and the offset position is "A±0.1", so that A±0.1 can be determined as the above target position. That is, position A is taken as the reference position and position A is offset by ±0.1.

[0066] In the embodiment of the present application, there may be a slight deviation when controlling the brake caliper corresponding to each tire in the vehicle to be released from its current position to the target position. Therefore, in order to avoid the adverse effect of the deviation on the release of the brake caliper corresponding to each tire in the vehicle to the same position, the allowable offset of the brake caliper can be obtained, and the position corresponding to the brake caliper when the brake caliper and the brake disc are fully released (i.e., the first position) is offset by the allowable offset, and the corresponding position after the offset is determined as the above-mentioned target position, thereby avoiding the adverse effect of the deviation on the release of the brake caliper corresponding to each tire in the vehicle to the same position, thereby further improving the synchronization of the vehicle tire braking when the vehicle brakes.

[0067] In a possible implementation, the above-mentioned obtaining the target position of the brake caliper includes: obtaining a second position of the brake caliper; wherein the second position is used to indicate the position of the brake caliper when the distance between the brake caliper and the brake disc is the maximum allowable distance; and determining the second position as the target position.

[0068] For example, in order to ensure that the brake caliper and brake disc corresponding to each tire in the vehicle are in the same position after release, the limit distance between the brake caliper and the brake disc, that is, the maximum allowable distance, can be obtained; and the position of the brake caliper at the maximum allowable distance (which can be called the "second position") is determined as the above target position. The distance between the brake caliper and the brake disc corresponding to the second position is greater than or equal to the distance between the brake caliper and the brake disc corresponding to the first position.

[0069] Among them, the maximum allowable distance is the farthest distance that the brake caliper can be from the brake disc under the operating conditions; when the brake caliper is in the position corresponding to the maximum allowable distance, it will not affect its own clamping action.

[0070] In an embodiment of the present application, the position corresponding to the brake caliper when the distance between the brake caliper and the brake disc is the maximum allowable distance is determined as the above-mentioned target position, which can ensure to the greatest extent that the brake caliper and brake disc corresponding to each tire in the vehicle can be in the same position after release, thereby further improving the synchronization of vehicle tire braking when the vehicle brakes.

[0071] S220, controlling the brake caliper corresponding to each tire in the vehicle to be released to a target position.

[0072] For example, when the target position corresponding to the brake caliper is obtained, the brake caliper corresponding to each tire may be controlled to be released from its current position to the target position.

[0073] In one possible implementation, the above-mentioned control of releasing the brake caliper corresponding to each tire in the vehicle to the target position includes: obtaining the current current of the brake motor in the vehicle; if the current current is greater than or equal to a preset current threshold, determining the current release distance between the brake caliper and the brake disc; and releasing the brake caliper corresponding to each tire from the position corresponding to the current release distance to the target position.

[0074] Exemplarily, when controlling the brake caliper corresponding to each tire in the vehicle to be released from its current position to a target position, the control may be divided into two stages.

[0075] Speed ​​control stage:

[0076] Exemplarily, when the brake caliper corresponding to each tire in the vehicle is controlled to be released from its current position to the target position, the brake caliper can be released to the target position at a relatively constant speed. In addition, when the brake caliper is released to the target position at a relatively constant speed, the current current of the brake motor can also be collected in real time. When the current current of the brake motor is greater than or equal to the preset current threshold, it means that the current clamping force between the brake caliper and the brake disc is small, that is, the current clamping force is less than or equal to the preset clamping force, and the brake caliper is about to be released to the above-mentioned target position. Among them, the relatively constant speed can be calibrated when the vehicle is offline, or when there is no load on the vehicle, the speed at which the brake caliper is released when it can overcome the resistance when the brake caliper moves, and the embodiments of the present application are not limited to this.

[0077] However, when there is clamping force between the brake caliper and the brake disc, since the brake caliper corresponding to each tire in the vehicle is released under closed-loop control, there may be control overshoot and other reasons when the brake caliper is controlled at speed. Control overshoot and other reasons can easily cause the clamping force between the brake caliper and the brake disc corresponding to each tire in the vehicle to be different, thereby causing the distance between the brake caliper and the brake disc corresponding to each tire in the vehicle to be different, that is, the relative zero point position to be different.

[0078] Therefore, in order to ensure that the distance between the brake caliper and the brake disc corresponding to each tire in the vehicle is the same, when the current current of the brake motor is greater than or equal to the preset current threshold, the speed control of the brake caliper can be switched to the distance control due to the higher accuracy of the distance control. The speed control can be achieved through the speed loop in the vehicle, and the distance control can be achieved through the displacement loop in the vehicle.

[0079] Distance control stage:

[0080] Exemplarily, when the current current of the brake motor is greater than or equal to a preset current threshold, the current release distance between the brake caliper and the brake disc can be obtained; and the brake caliper corresponding to each tire is released from the position corresponding to the current release distance to the target position through the displacement ring.

[0081] Optionally, when the brake caliper is controlled in distance, the clamping force between the brake caliper and the brake disc can be collected through the clamping force sensor in the vehicle. The current release distance is obtained through the clamping force. The greater the clamping force, the smaller the corresponding current release distance, and the greater the distance that the brake caliper needs to continue to release; the smaller the clamping force, the larger the corresponding current release distance, and the smaller the distance that the brake caliper needs to continue to release; that is, the clamping force and the current release distance are negatively correlated. Among them, when the clamping force is 0, it can be said that the brake caliper and the brake disc are in a completely released state.

[0082] Optionally, when the brake caliper is controlled at a distance, the current of the brake motor may be collected, and the collected current may be input into a clamping force calculation model to simulate the clamping force between the brake caliper and the brake disc.

[0083] In the embodiment of the present application, when the current current of the brake motor in the vehicle is greater than or equal to the preset current threshold, it indicates that the brake caliper is about to be released to the above-mentioned target position. Therefore, in order to more accurately control the brake caliper and brake disc corresponding to each tire in the vehicle to be in the same position after release, the current release distance between the brake caliper and the brake disc can be obtained; and the brake caliper corresponding to each tire in the vehicle is released from the position corresponding to the current release distance to the target position. By releasing the brake caliper corresponding to each tire from its current position to the target position through the release distance of the brake caliper and the brake disc, the brake caliper and brake disc corresponding to each tire in the vehicle can be more accurately controlled to be in the same position after release, thereby further improving the synchronization of the vehicle tire braking when the vehicle brakes.

[0084] S230: If it is detected that the brake caliper corresponding to each tire is released to the target position, the brake caliper corresponding to each tire is controlled to be clamped to the brake disc from the target position to brake the vehicle.

[0085] For example, when it is detected that the brake caliper corresponding to each tire in the vehicle is released to the target position, it means that the brake caliper corresponding to each tire is in the same release position at this time, and can respond to the clamping instruction of the brake caliper to control the brake caliper corresponding to each tire to perform a clamping action from the same release position to clamp to the brake disc, thereby braking the vehicle.

[0086] Among them, when the brake caliper corresponding to each tire is clamped to the brake disc from the same release position, the brake caliper corresponding to each tire can be released from the position clamped with the brake disc to the same release position, and then continue to clamp to the brake disc from the same release position..., and repeat this cycle to perform self-learning on the vehicle braking control.

[0087] Alternatively, when it is detected that the vehicle braking is completed, the brake caliper corresponding to each tire can be released from the position clamped on the brake disc to the same release position, so that when the vehicle needs to brake next time, it can be clamped to the brake disc from the same release position, thereby quickly braking.

[0088] It should be understood that in the embodiment of the present application, the self-learning of the vehicle braking control can be performed within a short period of time (for example, 2S) when the vehicle is powered on, which does not affect the normal driving of the vehicle. Alternatively, the self-learning of the vehicle braking control can also be performed during the driving process of the vehicle, which also does not affect the normal driving of the vehicle.

[0089] Optionally, when controlling the brake caliper corresponding to each tire to be released from its current position to the maximum allowable position, the current current of the brake motor can be collected in real time. When the current current of the brake motor is greater than or equal to the set current threshold, it indicates that the brake caliper has been released to the extreme position; then the brake caliper corresponding to each tire is controlled to perform a clamping action from the maximum allowable position to clamp to the brake disc.

[0090] Furthermore, when controlling the brake caliper corresponding to each tire to perform a clamping action from the maximum allowable position to clamp to the brake disc, the current current of the brake motor can also be collected in real time. When the current current of the brake motor is less than or equal to the default current threshold, it indicates that the brake caliper and the brake disc are fully clamped, that is, the friction pad in the brake caliper is in contact with the brake disc.

[0091] Optionally, if it is detected that the brake caliper corresponding to each tire is released to the target position, the brake caliper corresponding to each tire is controlled to be clamped to the brake disc from the target position, including: if it is detected that the brake caliper corresponding to each tire is released to the target position, the brake caliper corresponding to each tire is controlled to be clamped to the brake disc from the target position.

[0092] For example, when it is detected that the brake caliper corresponding to each tire in the vehicle is released to the target position, in order to ensure that the brake caliper corresponding to each tire can be clamped to the brake disc at the same time, the brake caliper corresponding to each tire can be controlled to perform a clamping action from the same release position at the same time to achieve synchronization when the brake caliper is clamped to the brake disc.

[0093] In an embodiment of the present application, when the brake caliper corresponding to each tire in the vehicle is released from its current position to the target position, the brake caliper corresponding to each tire is simultaneously controlled to clamp to the brake disc from the target position to complete vehicle braking, so that the brake caliper corresponding to each tire in the vehicle can be clamped to the brake disc at the same time, thereby further improving the synchronization of vehicle tire braking when the vehicle brakes.

[0094] In the related art, in order to achieve synchronization of vehicle tire braking, after the vehicle is started, the brake caliper is first controlled to clamp to the brake disc, and when the friction pad of the brake caliper is clamped to the brake disc, the friction pad in the brake caliper is released to the braking position, so that the brake caliper corresponding to each tire in the vehicle is in the same position, achieving the purpose of four-wheel braking synchronization. That is, during the vehicle braking process, the brake caliper is first clamped, then released to the designated position, and then clamped to the brake disc from the designated position.

[0095] However, if the brake caliper itself is clamped to the brake disc, the current of the brake motor will be relatively stable, so that the process of controlling the brake caliper to clamp to the brake disc cannot be detected, and then the friction pad in the brake caliper cannot be released to the braking position when the friction pad of the brake caliper is clamped to the brake disc; that is, this solution cannot be implemented when the brake caliper itself is clamped to the brake disc. Also, when the vehicle tire is braking, if the brake caliper is released after the brake caliper is clamped, the vehicle may also be at risk of losing control of the brakes.

[0096] In the above embodiment of the present application, there is no problem that the subsequent control cannot be realized when the brake caliper itself is clamped to the brake disc. The embodiment of the present application first releases the brake drum caliper to the target position. During the release process, the current of the brake motor will change accordingly. When the current reaches the set current corresponding to the target position, the brake caliper is controlled to clamp to the brake disc from the target position. That is, during the vehicle braking process, the brake caliper first reaches the target position, and then clamps to the brake disc from the target position, thereby avoiding the problem that the subsequent control cannot be realized when the brake caliper itself is clamped to the brake disc, ensuring the synchronization of the vehicle tire braking and the normal braking of the vehicle.

[0097] Furthermore, in the embodiment of the present application, the brake caliper is not controlled to be clamped first and then released, but is directly controlled to be released to the target position first and then clamped to the brake disc from the target position, thereby avoiding the problem that the brake caliper is released after the brake caliper is clamped, resulting in the risk of the vehicle being out of control. Furthermore, by self-learning the vehicle brake control when the vehicle is powered on, adverse effects on the normal braking of the vehicle can be avoided.

[0098] In such Figure 2 In the method 200 shown, when a clamping instruction of the brake caliper in the vehicle is received, the brake caliper is not directly responded to in response to the clamping instruction to control the brake caliper to perform the clamping action corresponding to the clamping instruction; instead, the target position corresponding to the brake caliper is first obtained; and when the target position is obtained, the brake caliper corresponding to each tire in the vehicle is first controlled to be released from its current position to the target position, and then the brake caliper corresponding to each tire is controlled to be clamped to the brake disc from the target position to complete the vehicle braking. By first releasing the brake caliper from its current position to the target position, and then controlling the brake caliper corresponding to each tire to be clamped to the brake disc from the target position, the problem that the current position of the brake caliper of each tire in the vehicle is different, resulting in the brake caliper being clamped to the brake disc at different times and the tires in the vehicle cannot be braked at the same time can be avoided. Therefore, in the above technical solution, the synchronization of the vehicle tire braking can be improved when the vehicle brakes.

[0099] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0100] Combination of the above Figure 1 to Figure 2 The vehicle braking control self-learning method provided by the embodiment of the present application is described in detail; Figure 3 and Figure 4 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0101] Figure 3 It is a structural schematic diagram of a vehicle braking control self-learning device provided in an embodiment of the present application.

[0102] For example, Figure 3 As shown, the device 300 includes:

[0103] The acquisition module 310 is used to acquire the target position of the brake caliper if a clamping instruction of the brake caliper in the vehicle is received;

[0104] A control module 320, for controlling the brake caliper corresponding to each tire in the vehicle to be released to a target position;

[0105] The processing module 330 is used to control the brake caliper corresponding to each tire to clamp to the brake disc from the target position to brake the vehicle if it is detected that the brake caliper corresponding to each tire is released to the target position.

[0106] In a possible implementation, the acquisition module 310 is specifically used to: acquire a first position of the brake caliper corresponding to when the brake caliper and the brake disc are completely released; and determine the first position as the target position.

[0107] In one possible implementation, after obtaining the first position corresponding to the brake caliper when the brake caliper and the brake disc are fully released, the acquisition module 310 is specifically used to: obtain the allowable offset of the brake caliper; offset the first position by the allowable offset to obtain the offset position, and determine the offset position as the target position.

[0108] In a possible implementation, the acquisition module 310 is specifically used to: acquire a second position of the brake caliper; wherein the second position is used to indicate the position of the brake caliper when the distance between the brake caliper and the brake disc is the maximum allowable distance; and determine the second position as the target position.

[0109] In one possible implementation, the control module 320 is specifically used to: obtain the current current of the brake motor in the vehicle; if the current current is greater than or equal to a preset current threshold, determine the current release distance between the brake caliper and the brake disc; and release the brake caliper corresponding to each tire from the position corresponding to the current release distance to the target position.

[0110] In a possible implementation, the processing module 330 is specifically configured to: if it is detected that the brake caliper corresponding to each tire is released to the target position, simultaneously control the brake caliper corresponding to each tire to be clamped to the brake disc from the target position.

[0111] In a possible implementation, the acquisition module 310 is further used to: acquire the power state of the vehicle; and if the power state is a power-on state, receive a clamping instruction.

[0112] It should be noted that the above device 300 is embodied in the form of a functional module. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0113] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0114] Therefore, the modules of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0115] Figure 4 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0116] For example, Figure 4 As shown, the vehicle 400 includes: a memory 410 and a processor 420, wherein the memory 410 stores an executable program code 4101, and the processor 420 is used to call and execute the executable program code 4101 to perform a method for self-learning of vehicle braking control.

[0117] The present application can divide the functional modules of the vehicle according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0118] In the case of dividing each functional module according to each function, the vehicle may include: an acquisition module, a control module, a processing module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0119] The vehicle provided in the present application is used to execute the above-mentioned method of vehicle braking control self-learning, and thus can achieve the same effect as the above-mentioned implementation method.

[0120] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes and data.

[0121] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0122] The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD (Digital Video Disc), a CD-ROM (Compact Disc Read-Only Memory), a micro drive and a magneto-optical disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), a DRAM (Dynamic Random Access Memory), a VRAM (Video Random Access Memory), a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0123] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle braking control self-learning method in the above-mentioned embodiment.

[0124] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle braking control self-learning method in the above-mentioned embodiment.

[0125] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0126] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0127] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0128] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle braking control self-learning method, characterized in that: The method comprises: If a clamping instruction of a brake caliper in the vehicle is received, obtaining a target position of the brake caliper; Controlling the brake caliper corresponding to each tire of the vehicle to be released to the target position; If it is detected that the brake caliper corresponding to each tire is released to the target position, the brake caliper corresponding to each tire is controlled to be clamped to the brake disc from the target position to brake the vehicle.

2. The method according to claim 1, characterized in that The obtaining of the target position of the brake caliper comprises: Acquire a first position of the brake caliper corresponding to when the brake caliper and the brake disc are completely released; The first position is determined as the target position.

3. The method according to claim 2, characterized in that After obtaining the first position of the brake caliper corresponding to when the brake caliper and the brake disc are completely released, the method further includes: Obtaining an allowable offset of the brake caliper; The first position is offset by the allowable offset to obtain an offset position, and the offset position is determined as the target position.

4. The method according to claim 1, characterized in that: The obtaining of the target position of the brake caliper comprises: Acquire a second position of the brake caliper; wherein the second position is used to indicate the position of the brake caliper when the distance between the brake caliper and the brake disc is the maximum allowable distance; The second position is determined as the target position.

5. The method according to any one of claims 1 to 4, characterized in that The controlling the brake caliper corresponding to each tire of the vehicle to be released to the target position includes: Obtaining a current of a brake motor in the vehicle; If the current current is greater than or equal to a preset current threshold, determining a current release distance between the brake caliper and the brake disc; The brake caliper corresponding to each tire is released from the position corresponding to the current release distance to the target position.

6. The method according to any one of claims 1 to 4, characterized in that If it is detected that the brake caliper corresponding to each tire is released to the target position, controlling the brake caliper corresponding to each tire to be clamped to the brake disc from the target position includes: If it is detected that the brake caliper corresponding to each tire is released to the target position, the brake caliper corresponding to each tire is controlled to be clamped to the brake disc from the target position.

7. The method according to any one of claims 1 to 4, characterized in that The method further comprises: Acquiring a power status of the vehicle; If the power state is the power-on state, the clamping instruction is received.

8. A vehicle brake control self-learning device, characterized in that: The device comprises: an acquisition module, configured to acquire a target position of a brake caliper in a vehicle upon receiving a clamping instruction of the brake caliper; A control module, used for controlling the brake caliper corresponding to each tire of the vehicle to be released to the target position; The processing module is used for controlling the brake caliper corresponding to each tire to be clamped to the brake disc from the target position to brake the vehicle if it is detected that the brake caliper corresponding to each tire is released to the target position.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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