A braking force calibration system for unmanned vehicles

Abstract

The present invention relates to a braking force calibration system for an unmanned vehicle. The braking force calibration system for an unmanned vehicle uses a plurality of calibration modules to determine the braking force output value in an ESP system, and feeds back the comparison result between the braking force output value and a preset braking force output value to the ESP system through a host computer. After the ESP system adjusts the braking force output value according to the feedback result, the calibration module performs the next round of braking force output value detection, and the host computer performs the next round of result feedback until the fluctuation range of the braking force output value outputted by the ESP system twice before and after reaches the preset range, and then the calibration is terminated, thereby achieving the purpose of automatic calibration. In addition, the entire calibration system has a simple structure and can be installed in any driving scene of the unmanned vehicle to reduce the calibration cost.

Description

Technical Field

[0001] The present invention relates to the technical field of data calibration, and in particular to a braking force calibration system for an unmanned vehicle. Background Art

[0002] Automobile braking force calibration generally uses pressure sensors to calibrate the output force of the automobile's brake platform. In the prior art, the method widely used is: one end of the calibration frame is fixed on the enclosure or drum, and the other end is calibrated with weights. The disadvantage of this structure is that too many weights are used, generally 100 to 300 kg of weights of different specifications are required, which is very inconvenient during calibration; another method is to calibrate with a sensor, and its structure is to use a pressure sensor to connect the calibration instrument instead of the weight. The calibration mechanism of this structure is to replace the hanging basket with a sensor, use a tripod, and connect the sensor with a screw in the middle, and the other end of the sensor is connected to the calibration frame. The whole set of tripod mechanisms is complex, requiring a tripod, a rotating force-adding part such as a plane bearing, a screw, a screw nut, etc., and a connector. The connector is directly connected to the pre-buried components on the ground, and the structure is complex and inconvenient to use. In both calibration methods, the force-applying mechanisms are not internally closed systems, and there is an external force relative to the equipment. During calibration, the equipment stand will deform and displace after being subjected to force, resulting in inaccurate calibration force values ​​and inability to achieve automatic cyclic braking force output calibration.

[0003] Moreover, according to different vehicle driving scenarios, the calibration system needs to be set in different driving scenarios, which greatly increases the calibration cost.

[0004] How to provide a braking force calibration system or method capable of automatic circulation to reduce the calibration cost is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0005] The object of the present invention is to provide a braking force calibration system for an unmanned vehicle, so as to reduce the braking force calibration cost while realizing automatic cyclic adjustment of the braking force of the unmanned vehicle.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] A braking force calibration system for an unmanned vehicle, comprising: a host computer and a plurality of calibration modules;

[0008] The plurality of calibration modules are electrically connected to the host computer and the ESP system in the unmanned vehicle respectively;

[0009] The calibration module is used to detect the wheel pressure of the unmanned vehicle; the host computer is used to determine the braking force output value of the ESP system according to the wheel pressure, and is also used to compare the relationship between the braking force output value and the preset braking force output value; the ESP system adjusts its braking force output value according to the relationship between the braking force output value and the preset braking force output value.

[0010] Preferably, the calibration module comprises: a plurality of pressure sensing units;

[0011] Each of the pressure sensing units is electrically connected to the host computer and the ESP system in the unmanned vehicle.

[0012] Preferably, the calibration module further comprises a substrate and a covering film;

[0013] The plurality of pressure sensing units are all adhered to the substrate; and the covering film covers the pressure sensing units.

[0014] Preferably, the substrate and the cover film are both made of flexible materials.

[0015] Preferably, the flexible material is polyimide or polyester fiber.

[0016] Preferably, the pressure sensing unit is a MEMS automobile tire pressure sensor.

[0017] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0018] The unmanned vehicle braking force calibration system provided by the present invention realizes the determination of the braking force output value in the ESP system by adopting multiple calibration modules, and feeds back the comparison result between the braking force output value and the preset braking force output value to the ESP system through the host computer. After the ESP system adjusts the braking force output value according to the feedback result, the calibration module performs the next round of braking force output value detection, and the host computer performs the next round of result feedback until the fluctuation range of the braking force output value outputted by the ESP system twice before and after reaches the preset range, the calibration is terminated, and the purpose of automatic calibration is achieved. In addition, the entire calibration system has a simple structure and can be installed in any driving scene of the unmanned vehicle to reduce the calibration cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 A schematic diagram of the structure of the unmanned vehicle braking force calibration system provided by the present invention;

[0021] Figure 2 A schematic diagram of the structure of the calibration module provided by the present invention;

[0022] Figure 3A side view of the calibration module provided by the present invention;

[0023] Figure 4 A schematic diagram of the structure in which multiple calibration modules provided by the present invention are pasted on a substrate.

[0024] Description of reference numerals:

[0025] 1-host computer, 2-calibration module, 21-pressure sensing unit, 22-substrate, 23-covering film, 3-ESP system. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The object of the present invention is to provide a braking force calibration system for an unmanned vehicle, so as to reduce the braking force calibration cost while realizing automatic cyclic adjustment of the braking force of the unmanned vehicle.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Figure 1 The schematic diagram of the structure of the unmanned vehicle braking force calibration system provided by the present invention is as follows: Figure 1 As shown, a braking force calibration system for an unmanned vehicle includes: a host computer 1 and multiple calibration modules 2.

[0030] The plurality of calibration modules 2 are electrically connected to the host computer 1 and the ESP (Electronic Stability Program) system 3 in the unmanned vehicle, respectively.

[0031] The calibration module 2 is used to detect the wheel pressure of the unmanned vehicle. The host computer 1 is used to determine the braking force output value of the ESP system 3 according to the wheel pressure, and is also used to compare the relationship between the braking force output value and the preset braking force output value. The ESP system 3 adjusts its braking force output value according to the relationship between the braking force output value and the preset braking force output value.

[0032] like Figure 2 and Figure 3 As shown, the calibration module includes: a plurality of pressure sensing units 21 , a substrate 22 and a covering film 23 .

[0033] Each of the pressure sensing units 21 is electrically connected to the host computer 1 and the ESP system 3 in the unmanned vehicle. The pressure sensing unit 21 is a microelectromechanical system (MEMS) automobile tire pressure sensor.

[0034] like Figure 3 As shown, the plurality of pressure sensing units 21 are all adhered to the substrate 22. The covering film 23 covers the pressure sensing units 21.

[0035] The substrate 22 between the multiple calibration modules can be the same flexible substrate, that is, the multiple calibration modules are attached to the same flexible substrate according to specific rules (such as Figure 4 As shown), the entire calibration system can be moved and installed easily, so that one calibration system can be used in multiple scenarios, thereby reducing the cost of the calibration system. The material of the flexible substrate is preferably polyimide or polyester fiber, but is not limited thereto. In the present invention, the calibration module pasting rule is manually determined based on the actual usage scenario.

[0036] Alternatively, multiple calibration modules may be respectively attached to a flexible substrate, that is, each calibration module forms a separate calibration device for easy replacement and maintenance. In addition, the calibration personnel may also select the specific number of calibration modules to be used according to actual calibration needs.

[0037] The use of a flexible substrate in the present invention can further improve the accuracy of determining the brake output force value of the entire calibration system, thereby improving the calibration accuracy.

[0038] The calibration process of the unmanned vehicle braking force calibration system provided by the present invention is as follows: after multiple calibration modules 2 determine the braking force output value in the ESP system 3, the host computer 1 compares the relationship between the braking force output value and the preset braking force output value, obtains the comparison result and feeds the result back to the ESP system 3, after the ESP system 3 adjusts the braking force output value according to the feedback result, the calibration module 2 performs the next round of braking force output value detection, and the host computer 1 feeds back the next round of results until the fluctuation range of the braking force output value outputted by the ESP system 3 twice before and after reaches the preset range, the calibration is terminated. Among them, the preset braking force output value and the preset range of the braking force output value fluctuation are both determined artificially according to the specific vehicle model being calibrated.

[0039] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0040] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An unmanned vehicle braking force calibration system, characterized in that: include: Host computer and multiple calibration modules; The plurality of calibration modules are electrically connected to the host computer and the ESP system in the unmanned vehicle respectively; The calibration module comprises: a substrate, a covering film, and a plurality of pressure sensing units; each of the pressure sensing units is electrically connected to the host computer and the ESP system in the unmanned vehicle; the plurality of pressure sensing units are adhered to the substrate; the covering film covers the pressure sensing units; and the plurality of calibration modules are adhered to the same flexible substrate according to specific rules; The calibration module is used to detect the wheel pressure of the unmanned vehicle; the host computer is used to determine the braking force output value of the ESP system according to the wheel pressure, and is also used to compare the relationship between the braking force output value and the preset braking force output value; the ESP system adjusts its braking force output value according to the relationship between the braking force output value and the preset braking force output value; The host computer compares the relationship between the braking force output value and the preset braking force output value, obtains the comparison result and feeds the result back to the ESP system. After the ESP system adjusts the braking force output value according to the feedback result, the calibration module performs the next round of braking force output value detection, and the host computer feeds back the next round of results until the fluctuation range of the braking force output value outputted by the ESP system twice reaches the preset range, and then the calibration is terminated.

2. The unmanned vehicle braking force calibration system according to claim 1, characterized in that: The substrate and the cover film are both made of flexible materials.

3. The unmanned vehicle braking force calibration system according to claim 2, characterized in that: The flexible material is polyimide or polyester fiber.

4. The unmanned vehicle braking force calibration system according to claim 1, characterized in that: The pressure sensing unit is a MEMS automobile tire pressure sensor.

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