Operation control method, device, braking system, equipment and medium of a braking system

Abstract

The present application provides an operation control method, device, braking system, equipment and medium for a braking system. Among them, the braking system includes a driving module, a driving shaft and an execution module. The driving module drives the driving shaft to rotate to control the execution module to achieve braking, and the driving shaft can also drive a magnetic target wheel to rotate. The method includes: receiving a braking signal, determining a target rotation angle of the driving shaft according to the braking signal, and sending a start signal to the driving module to make the driving module drive the driving shaft to rotate; obtaining the actual rotation angle of the driving shaft, where the actual rotation angle is an angle generated based on the sensor's induction of the change in the magnetic field strength caused by the rotation of the magnetic target wheel; when the difference between the actual rotation angle and the target rotation angle is within a preset range, sending a stop signal to the driving module to make the driving module terminate the driving of the driving shaft.

Description

Technical Field

[0001] The present application relates to the field of engines, and particularly to an operation control method, device, electronic braking system, equipment and computer-readable storage medium for a braking system. Background Art

[0002] At present, electric vehicles have become the development trend of the industry. Compared with traditional fuel vehicles, in addition to the differences in vehicle driving caused by the change of the power source, some systems that require engine assistance will also have corresponding changes, such as the braking system.

[0003] The braking system of an electric vehicle needs to rotate the drive shaft through a drive module to generate hydraulic pressure in the execution module as the power for braking. In order to ensure precise control of the braking pressure, it is necessary to accurately measure the angle rotated by the drive shaft during the operation of the drive module. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present application provides an operation control method, device, equipment and computer-readable storage medium for a braking system, which can solve the above problems.

[0005] According to the first aspect of the embodiments of the present application, an operation control method for a braking system is provided. The braking system includes a drive module, a drive shaft, and an execution module. The drive module drives the drive shaft to rotate to control the execution module to achieve braking, and the drive shaft can also drive a magnetic target wheel to rotate. The method includes:

[0006] Receiving a braking signal, determining a target rotation angle of the drive shaft according to the braking signal, and sending a start signal to the drive module to cause the drive module to drive the drive shaft to rotate;

[0007] Obtaining an actual rotation angle of the drive shaft, where the actual rotation angle is an angle generated based on the sensor's induction of the change in magnetic field strength caused by the rotation of the magnetic target wheel;

[0008] When the difference between the actual rotation angle and the target rotation angle is within a preset range, sending a stop signal to the drive module to cause the drive module to terminate the drive of the drive shaft.

[0009] According to the second aspect of the embodiments of the present application, an operation control device for a braking system is provided. The braking system includes a drive module, a drive shaft, and an execution module. The drive module drives the drive shaft to rotate to control the execution module to achieve braking, and the drive shaft can also drive a magnetic target wheel to rotate. The device includes:

[0010] A receiving unit, configured to receive a braking signal, determine a target rotation angle of the drive shaft according to the braking signal, and send a start signal to the drive module so that the drive module drives the drive shaft to rotate;

[0011] An obtaining unit, configured to obtain an actual rotation angle of the drive shaft, where the actual rotation angle is an angle generated based on the sensor's induction of the change in magnetic field strength caused by the rotation of the magnetic target wheel;

[0012] A verification unit, configured to send a stop signal to the drive module to terminate the driving of the drive shaft by the drive module when the difference between the actual rotation angle and the target rotation angle is within a preset range.

[0013] According to a third aspect of the embodiments of the present application, an electronic braking system is provided, including:

[0014] A drive module, configured to drive the drive shaft to rotate according to a start signal sent by an electronic control unit (ECU), and terminate the rotation of the drive shaft according to a stop signal sent by the ECU;

[0015] The drive shaft is respectively connected to a magnetic target wheel and an execution module at both ends, and is configured to drive the magnetic target wheel to rotate under the drive of the drive motor, and control the execution module to implement braking;

[0016] The execution module is connected to the drive shaft and is configured to perform braking according to the rotation angle of the drive shaft;

[0017] The magnetic target wheel is connected to one end of the drive shaft so as to be able to rotate following the rotation of the drive shaft;

[0018] A sensor, configured to sense the change in magnetic field strength during the rotation of the magnetic target wheel to generate an actual rotation angle;

[0019] The ECU is configured to implement the operation control method of the braking system as described in the first aspect.

[0020] According to a fourth aspect of the embodiments of the present application, an electronic device is provided, including: a processor and a memory;

[0021] The memory is configured to store a computer program;

[0022] The processor is configured to execute the operation control method of the braking system as described in the first aspect by calling the computer program.

[0023] According to a fifth aspect of the embodiments of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the operation control method of the braking system as described in the first aspect.

[0024] The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

[0025] In the present application, by the sensor's induction of the magnetic target wheel, the actual rotation angle of the drive shaft is generated in real time, and then this angle is compared with the pre-determined target rotation angle to achieve precise control of the actual rotation angle, and further achieve precise control of the execution module.

[0026] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings here are incorporated into the specification and form a part of the present application, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0028] Figure 1 is a schematic diagram of the architecture of an electronic braking system shown according to an exemplary embodiment of the present application.

[0029] Figure 2 is a flowchart of an operation control method of a braking system shown according to an exemplary embodiment of the present application.

[0030] Figure 3 is a schematic diagram of the architecture of an electronic braking system shown according to an exemplary embodiment of the present application.

[0031] Figure 4 is a schematic diagram of the architecture of an electronic braking system shown according to an exemplary embodiment of the present application.

[0032] Figure 5 is a schematic diagram of the structure of an electronic device where an operation control device of a braking system is located shown according to an exemplary embodiment of the present application.

[0033] Figure 6 is a block diagram of an operation control device of a braking system shown according to an exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0035] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "the", and "said" used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0036] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0037] Next, embodiments of the present application will be described in detail.

[0038] Figure 1 is an architecture diagram of an electronic braking system shown according to an exemplary embodiment of the present application. As Figure 1 shown, the electronic braking system of the present application may include a drive module 11, a drive shaft 12, an execution module 13, a magnetic target wheel 14, a sensor 15, an Electronic Control Unit (ECU) 16, etc.

[0039] The drive module 11 is configured to drive the drive shaft 12 to rotate according to a start signal issued by the electronic control unit ECU 16, and terminate the rotation of the drive shaft 12 according to the stop signal issued by the ECU 16. In some embodiments, the drive module 11 may include a drive motor, which rotates through electricity and then drives the drive shaft 12 to rotate.

[0040] The drive shaft 12 is connected to the magnetic target wheel 14 and the execution module 13 at both ends respectively, and is used to drive the magnetic target wheel 14 to rotate under the drive of the drive motor 11 and control the execution module 13 to achieve braking. In an embodiment, when the drive shaft 12 rotates, pressure is generated inside the execution module 13 based on the rotation angle. Under the action of this pressure, it is transmitted to the actuators of each wheel, thereby realizing the braking function.

[0041] The execution module 13 is connected to the drive shaft 12 and is used to perform braking according to the rotation angle of the drive shaft 12. The execution module 13 can brake the vehicle based on the rotation of the drive shaft 12. In an embodiment, the execution module 13 may include a master cylinder and an actuator. The rotation of the drive shaft 12 causes pressure to be generated in the master cylinder, and the pressure established in the master cylinder is transmitted to the braking actuators of each wheel through a conduction device. Thus, the actuator realizes braking based on the received pressure. Therefore, to achieve precise control of wheel braking, the pressure in the master cylinder must be ensured, and further, the actual rotation angle of the drive shaft must be ensured to be the target rotation angle.

[0042] The magnetic target wheel 14 is connected to one end of the drive shaft 12 so that it can rotate following the rotation of the drive shaft 12. The magnetic target wheel 14 can be directly connected to one end of the drive shaft 12. At this time, the rotation angle of the magnetic target wheel 14 is the rotation angle of the drive shaft 12; the magnetic target wheel 14 can also be connected to one end of the drive shaft 12 through a transmission device. At this time, there is a corresponding relationship between the rotation angle of the magnetic target wheel 14 and the rotation angle of the drive shaft 12. Based on this corresponding relationship, the actual rotation angle of the drive shaft 12 can be calculated by detecting the rotation angle of the magnetic target wheel 14.

[0043] The sensor 15 is used to sense the change in magnetic field intensity during the rotation of the magnetic target wheel 14 to generate the actual rotation angle. The sensor 15 can include a magnetosensitive element or a magnetosensitive circuit, generate a corresponding current for the change in magnetic field intensity, determine the change value of the magnetic field intensity according to the magnitude of the current, and further determine the rotation angle of the magnetic target wheel; the sensor 15 can also only generate a corresponding detection parameter according to the change in magnetic field intensity, send the detection parameter to the ECU 16, and the ECU generates the corresponding rotation angle of the magnetic target wheel according to the received detection parameter of the sensor.

[0044] The ECU 16 is used to implement the braking system operation control method proposed in this application. The ECU 16 is also the control center of the entire electronic braking system.

[0045] When implementing braking using the above electronic braking system, the braking module generates pressure under the drive control of the drive module, thereby achieving braking control of each wheel. Therefore, to achieve precise control of braking, it is necessary to precisely control the drive module based on the angle of rotation of the drive shaft.

[0046] Figure 2 is a flowchart of an operating control method for a braking system provided by an exemplary embodiment. This operating control method for the braking system can be applied to the above-mentioned Figure 1 shown ECU16. This method may include the following steps:

[0047] S201: Receive a braking signal, determine the target rotation angle of the drive shaft according to the braking signal, and send a start signal to the drive module to cause the drive module to drive the drive shaft to rotate.

[0048] When the vehicle driver performs a braking operation through the brake pedal, handbrake, etc., or when the vehicle performs braking on its own based on the energy recovery system, a braking signal will be sent to the ECU of the braking system. The ECU can determine the pressure that the execution module needs to establish according to the received braking signal, and determine the target rotation angle of the drive shaft that the drive module needs to drive based on a preset calibration data table. Among them, the calibration data table may include the correspondence between the pressure in the execution module and the target rotation angle, or may include the correspondence between the braking signal strength and the target rotation angle.

[0049] After the ECU determines the target rotation angle, it sends a start signal to the drive module. This start signal may include powering on the drive module or a signal to cause the drive module to operate. The start signal sent by the ECU causes the drive module to operate, and the drive module drives the drive shaft to rotate. If the drive shaft is connected to the drive module through a transmission device, there is a mapping relationship between the rotation angle of the drive shaft and the rotation angle of the drive module. If the drive shaft is directly driven by the drive module, the rotation angle of the drive shaft is the same as the rotation angle of the drive module.

[0050] S202: Obtain the actual rotation angle of the drive shaft. The actual rotation angle is an angle generated based on the sensor's induction of the change in magnetic field strength caused by the rotation of the magnetic target wheel.

[0051] The magnetic target wheel can cause the surrounding magnetic field strength to change by rotating, so that the sensor can determine the angle through which the magnetic target wheel has rotated by detecting the magnetic field strength.

[0052] In one embodiment, the magnetic target wheel can be composed of an alternating arrangement of N poles and S poles to form a ring. The more the number of magnetic poles arranged around the magnetic target wheel, the greater the change in the surrounding magnetic field intensity caused by the rotation of the magnetic target wheel, enabling the sensor to measure the rotation angle of the drive shaft more accurately.

[0053] In one embodiment, the magnetic target wheel can be directly connected to one end of the drive shaft. At this time, the determined rotation angle of the magnetic target wheel is the actual rotation angle of the drive shaft.

[0054] In one embodiment, the magnetic target wheel can be connected to the drive shaft through a transmission device such as a gear or a transmission rod. At this time, the determined rotation angle of the magnetic target wheel can generate the actual rotation angle of the drive shaft based on the transmission device through a corresponding mapping relationship.

[0055] Actually, in one embodiment, obtaining the actual rotation angle of the drive shaft includes: receiving the actual rotation angle generated by the sensor sensing the change in the magnetic field intensity, that is, a sensor with a calculation function can calculate the actual rotation angle of the drive shaft according to the detected change in the magnetic field intensity, and then send this actual rotation angle to the ECU.

[0056] For example, the corresponding relationship between the magnetic field intensity change value and the rotation angle of the drive shaft preset inside the sensor is calibration data K. When the sensor senses that the magnetic field intensity change value is B, the sensor can calculate the actual rotation angle A = B / K. Among them, this corresponding relationship K can include the corresponding relationship between the magnetic field intensity change value and the rotation angle of the magnetic target wheel and the corresponding relationship between the rotation angle of the magnetic target wheel and the actual rotation angle of the drive shaft.

[0057] In one embodiment, obtaining the actual rotation angle of the drive shaft includes: receiving the induction data generated by the sensor sensing the change in the magnetic field intensity, and generating the actual rotation angle according to the induction data, that is, the sensor can also only detect the change in the magnetic field intensity, generate corresponding induction data, send this induction data to the ECU, and the ECU generates the corresponding actual rotation angle of the drive shaft through calculation.

[0058] For example, when the sensor senses that the magnetic field intensity change value is B, send this induction data to the ECU. The ECU calculates the actual rotation angle of the drive shaft A = B / K according to the corresponding relationship K between the induction data and the actual rotation angle of the drive shaft. Among them, this corresponding relationship K can include the corresponding relationship between the induction data and the rotation angle of the magnetic target wheel and the corresponding relationship between the rotation angle of the magnetic target wheel and the actual rotation angle of the drive shaft.

[0059] S203: When the difference between the actual rotation angle and the target rotation angle is within a preset range, send a stop signal to the drive module to cause the drive module to terminate the drive of the drive shaft.

[0060] In step S201, the ECU determines the target rotation angle of the drive shaft based on the braking signal. Through step S202, the actual rotation angle of the drive shaft can be detected in real time. When the difference between the actual rotation angle and the target rotation angle is within the preset range, that is, the rotation of the drive shaft has reached the target angle required for braking, a stop signal is sent to the drive module, causing the drive module to terminate the drive of the drive shaft, so that the drive shaft can be maintained at this target angle, enabling the control module to have a preset target pressure, and thus achieving precise control of braking.

[0061] Since the actual rotation angle is generated based on the sensor's induction of the magnetic field change caused by the rotation of the magnetic target wheel, there will be a certain deviation in the actual use process. The allowable range of this deviation is the preset range.

[0062] In one embodiment, the preset range may include the upper boundary of the acceptable error and the lower boundary of the error. When the difference between the actual rotation angle and the target rotation angle is between the upper and lower boundaries of the preset range, it can be considered that the drive shaft has reached the target rotation angle, and the pressure provided to the control module is sufficient for this braking.

[0063] For example, the upper and lower boundaries of the preset range can be between -0.5° and +0.5°, that is, the difference between the actual rotation angle and the target rotation angle between -0.5° and +0.5° can be accepted.

[0064] In one embodiment, the upper and lower boundary values of the preset range can be different. For example, the upper and lower boundaries of the preset range can also be -0.3° to +0.5°.

[0065] The operation control method of the braking system proposed in this application can dynamically detect the actual rotation angle of the drive shaft in real time, and stop the rotation of the drive shaft when it is determined that the difference between the actual rotation angle and the target rotation angle of the drive shaft is within the preset range, enabling more precise detection of the rotation angle of the drive shaft based on the induction of the magnetic field change caused by the rotation of the magnetic target wheel, and thus achieving precise control of the pressure required by the control module.

[0066] In the actual application process, if the sensor fails and cannot generate the actual rotation angle, it will lead to the out-of-control or malfunction of the braking system. Therefore, it is necessary to set redundant backup sensors in the braking system to ensure that the braking function can still be used when some sensors fail.

[0067] In one embodiment, as Figure 3 shown, the sensor includes a main sensor and a backup sensor, where: when the main sensor is in a normal state, the actual rotation angle is an angle generated based on the induction of the change in the magnetic field strength caused by the rotation of the magnetic target wheel by the main sensor; when the main sensor is in a fault state, the actual rotation angle is an angle generated based on the induction of the change in the magnetic field strength caused by the rotation of the magnetic target wheel by the backup sensor. In practical applications, the main sensor and the backup sensor can be an identity of the sensor, that is, any sensor can serve as the main sensor or can also become the backup sensor. There is no substantial difference between the main sensor and the backup sensor, and this application does not limit the number of main sensors and the number of backup sensors either.

[0068] By setting a redundant backup sensor, it can be ensured that when the main sensor fails, the above control method switches the sensor to the backup sensor that has not failed, so as to avoid the braking system from failing due to sensor failure.

[0069] When using the operation control method of this braking system, the actual rotation angle is generated by the sensor sensing the change in the magnetic field strength. To a certain extent, the control of the drive module by the ECU depends on this actual rotation angle. Therefore, the accuracy of this actual rotation angle will greatly affect the accuracy of the control of the braking system.

[0070] To avoid the deviation of the actual rotation angle caused by an abnormality of one sensor, in one embodiment, as Figure 4 shown, the execution module may include a hydraulic cylinder and a braking execution mechanism, and the hydraulic cylinder contains a pressure sensor; there are multiple sensors for sensing the rotation of the magnetic target wheel; in step S202 of the above embodiment, obtaining the actual rotation angle of the drive shaft includes:

[0071] S301: Obtain the pressure parameter detected and generated by the pressure sensor, and the pressure parameter corresponds to the rotation of the drive shaft.

[0072] Due to the rotation of the drive shaft, pressure is generated in the hydraulic cylinder. Therefore, there is a corresponding relationship between this pressure parameter and the rotation angle of the drive shaft.

[0073] S302: Determine the rotation angle corresponding to the pressure parameter according to the pre-defined corresponding relationship between the pressure parameter and the rotation angle.

[0074] The corresponding relationship between the pressure parameter generated by the pressure sensor in the hydraulic cylinder and the rotation angle of the drive shaft can be a pre-set calibration data table.

[0075] S303: In a sensor that senses the rotation of the magnetic target wheel, if the difference between the angle corresponding to at least one sensor and the determined rotation angle is within the preset range, calculate the average angle corresponding to the at least one sensor as the actual rotation angle.

[0076] The pressure sensor in the hydraulic cylinder of the execution module can detect and generate pressure parameters in real time. According to the preset calibration data table, the pressure parameters can correspond to the preset rotation angle of the drive shaft. The determined rotation angle is the rotation angle of the drive shaft corresponding to the pressure parameter preset under ideal conditions. However, due to possible partial sensor failures or large errors, when generating the actual rotation angle, the interference of the sensors with large errors needs to be excluded. Therefore, in the case of multiple sensors, only calculate at least one angle whose difference between the angle corresponding to the sensor and the determined rotation angle is within the preset range, and take the average angle of the at least one angle as the actual rotation angle.

[0077] Through the above embodiments, by means of the pressure sensor in the execution module, when generating the actual rotation angle, it is possible to exclude some angles with large deviations among multiple sensors, so as to prevent the part of the angles with large deviations from affecting the actual rotation angle.

[0078] Furthermore, when it is determined that there are some sensors with large angle deviations in the previous embodiment, it is also possible to correct these sensors with large angle deviations to a certain extent, or determine that they are in an abnormal state. The specific method will be described in detail in the following embodiments.

[0079] In one embodiment, in addition to the at least one sensor, the sensors that sense the rotation of the magnetic target wheel further include: the remaining sensors whose difference from the determined rotation angle exceeds the preset range. The method further includes:

[0080] S401: If the difference between the angle corresponding to the remaining sensors and the determined rotation angle does not change with the change of the pressure parameter, correct the angle corresponding to the remaining sensors according to the difference;

[0081] When there is any remaining sensor whose difference between the corresponding angle and the determined rotation angle is a fixed value, that is, it does not change with the change of the pressure parameter, the angle corresponding to the sensor can be corrected according to the difference. For example, there is a sensor whose corresponding angle is always +10° different from the rotation angle determined by the pressure parameter, exceeding the upper limit of the preset range of +0.5°, and does not change with the change of the pressure parameter, then correct the angle corresponding to the sensor by -10°.

[0082] Similarly, it is also easy to think that when there is a fixed correspondence between the angles corresponding to the remaining sensors and the determined rotation angle, the angles corresponding to the remaining sensors are corrected according to the fixed correspondence. For example, if the fixed correspondence is that the angle corresponding to the remaining sensors is always twice the determined rotation angle, corresponding correction is performed.

[0083] S402: If the difference between the angle corresponding to the remaining sensors and the determined rotation angle changes with the change of the pressure parameter, it is determined that the remaining sensors are in an abnormal working state.

[0084] When there is any remaining sensor whose corresponding angle and the determined rotation angle have a non-fixed difference value, that is, it changes with the change of the pressure parameter and no appropriate correspondence can be found to correct it, it indicates that the remaining sensor has failed, and at this time it is determined that the remaining sensor is in an abnormal working state.

[0085] In one embodiment, the ECU reports the sensors in the abnormal working state, and finally enables the driver to master the information of the sensor failure and perform maintenance.

[0086] In one embodiment, the ECU marks the sensors in the abnormal working state, causes the sensors in the abnormal working state to suspend operation, or discards the actual rotation angle generated corresponding to the sensors in the abnormal working state.

[0087] Through the above embodiments, in the scenario of multiple sensors, the method provided by the present application can implement a certain sensor inspection function and correct some deviation sensors to a certain extent.

[0088] In the above embodiments with pressure sensors, it is also possible that the pressure sensors are abnormal.

[0089] In one embodiment, among the sensors that sense the rotation of the magnetic target wheel, if the differences between the angles corresponding to the respective sensors and the determined rotation angle all exceed the preset range, and the difference between the maximum angles corresponding to the respective sensors is not greater than the difference between the upper and lower boundaries of the preset range, it is determined that the pressure sensor is in an abnormal working state. That is, when two conditions are met, it is determined that the pressure sensor fails: Condition 1, the differences between the angles corresponding to all sensors and the rotation angle determined according to the pressure parameter all exceed the preset range; Condition 2, the maximum difference between the angles corresponding to all sensors is not greater than the difference between the upper and lower boundaries of the preset range, that is, the differences between the angles corresponding to all sensors and a certain angle are within the preset range. Through these two conditions, without considering the extremely low probability that all sensors fail and the angle deviation values caused by the failure and their similarities, it can be determined with a high probability that the pressure sensor fails.

[0090] Through this embodiment, it is possible to detect possible faults in the pressure sensor.

[0091] Corresponding to the embodiment of the operation control method of the above braking system, the present application also provides an embodiment of an operation control device for a braking system.

[0092] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of the electronic device where the operation control device of the braking system is located in an embodiment of the present application. At the hardware level, the device includes a processor 510, a network interface 520, a memory 530, and a non-volatile memory 540. Of course, there may also be other hardware required for other services. One or more embodiments of the present application can be implemented in a software manner. For example, the processor 510 reads the corresponding computer program from the non-volatile memory 540 into the memory 530 and then runs it. Of course, in addition to the software implementation manner, one or more embodiments of the present application do not exclude other implementation manners, such as logical devices or a combination of software and hardware, etc. That is to say, the execution subject of the following processing flow is not limited to each logical unit, but can also be hardware or logical devices.

[0093] Please refer to Figure 6 , Figure 6 which is a block diagram of the operation control device of the braking system in an embodiment of the present application. The operation control device of the braking system can be applied to the electronic device as shown in Figure 5 to implement the technical solution of the present application. Among them, the operation control device of the braking system may include:

[0094] A receiving unit 610, configured to receive a braking signal, determine a target rotation angle of the drive shaft according to the braking signal, and send a start signal to the drive module to cause the drive module to drive the drive shaft to rotate;

[0095] An obtaining unit 620, configured to obtain an actual rotation angle of the drive shaft, where the actual rotation angle is an angle generated based on the sensor's induction of the change in magnetic field strength caused by the rotation of the magnetic target wheel;

[0096] A verification unit 630, configured to send a stop signal to the drive module to cause the drive module to terminate the drive of the drive shaft when the difference between the actual rotation angle and the target rotation angle is within a preset range.

[0097] Optionally, the sensor includes a main sensor and a backup sensor, where:

[0098] When the main sensor is in a normal state, the actual rotation angle is an angle generated based on the induction of the main sensor to the change in magnetic field intensity caused by the rotation of the magnetic target wheel;

[0099] When the main sensor is in a fault state, the actual rotation angle is an angle generated based on the induction of the backup sensor to the change in magnetic field intensity caused by the rotation of the magnetic target wheel.

[0100] Optionally, the execution module includes a hydraulic cylinder and a brake actuator, and the hydraulic cylinder contains a pressure sensor; there are multiple sensors for sensing the rotation of the magnetic target wheel; obtaining the actual rotation angle of the drive shaft includes:

[0101] Obtain the pressure parameter detected and generated by the pressure sensor, and the pressure parameter corresponds to the rotation of the drive shaft;

[0102] According to the predefined correspondence between the pressure parameter and the rotation angle, determine the rotation angle corresponding to the pressure parameter;

[0103] Among the sensors for sensing the rotation of the magnetic target wheel, if the difference between the angle corresponding to at least one sensor and the determined rotation angle is within the preset range, calculate the average angle corresponding to the at least one sensor as the actual rotation angle.

[0104] Optionally, in addition to the at least one sensor, among the sensors for sensing the rotation of the magnetic target wheel, there are also remaining sensors whose difference from the determined rotation angle exceeds the preset range, and the method further includes:

[0105] If the difference between the angle corresponding to the remaining sensor and the determined rotation angle does not change with the change of the pressure parameter, correct the angle corresponding to the remaining sensor according to the difference;

[0106] If the difference between the angle corresponding to the remaining sensor and the determined rotation angle changes with the change of the pressure parameter, determine that the remaining sensor is in an abnormal working state.

[0107] Optionally, it further includes:

[0108] Among the sensors for sensing the rotation of the magnetic target wheel, if the differences between the angles corresponding to each sensor and the determined rotation angle all exceed the preset range, and the difference between the maximum angle and the minimum angle corresponding to each sensor is not greater than the difference between the upper and lower boundaries of the preset range, determine that the pressure sensor is in an abnormal working state.

[0109] Optionally, obtaining the actual rotation angle of the drive shaft includes:

[0110] Receiving the actual rotation angle generated by the sensor sensing the change in the magnetic field intensity; or,

[0111] Receiving the induction data generated by the sensor sensing the change in the magnetic field intensity, and generating the actual rotation angle according to the induction data.

[0112] For the implementation processes of the functions and roles of each unit in the above device, please refer to the implementation processes of the corresponding steps in the above method for details, which will not be elaborated here.

[0113] For the device embodiment, since it basically corresponds to the method embodiment, relevant descriptions can refer to the partial descriptions of the method embodiment. The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this application. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0114] In the 1990s, it was obvious to distinguish whether an improvement in a technology was a hardware improvement (for example, the improvement of circuit structures such as diodes, transistors, switches, etc.) or a software improvement (the improvement of method processes). However, with the development of technology, many improvements in current method processes can be regarded as direct improvements in hardware circuit structures. Almost all designers obtain the corresponding hardware circuit structure by programming the improved method process into the hardware circuit. Therefore, it cannot be said that an improvement in a method process cannot be implemented by a hardware entity module. Those skilled in the art should also be clear that only by slightly logically programming the method process with the above several hardware description languages and programming it into an integrated circuit, it is easy to obtain the hardware circuit that implements the logical method process.

[0115] The controller can be implemented in any appropriate manner. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, the method steps can be logically programmed to enable the controller to be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. to achieve the same function. Therefore, such a controller can be regarded as a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and the structures within the hardware component.

[0116] The systems, devices, modules or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a server system. Of course, with the development of future computer technologies, the computers that implement the functions of the above embodiments may include, for example, personal computers, laptop computers, in-vehicle human-machine interaction devices, cellular phones, camera phones, smart phones, personal digital assistants, media players, navigation devices, email devices, game consoles, tablet computers, wearable devices, or any combination of these devices.

[0117] Although one or more embodiments of the present application provide method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-creative means. The order of steps listed in the embodiments is only one way among many execution orders of steps and does not represent the only execution order. When the actual device or terminal product executes, it can be executed in the order of the method shown in the embodiments or the drawings or in parallel (for example, in an environment of parallel processors or multi-threaded processing, or even in a distributed data processing environment). The term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, product or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, product or device. Without further limitation, there is no exclusion of additional identical or equivalent elements in the process, method, product or device including the said elements. For example, if terms such as first and second are used to denote names, they do not indicate any particular order.

[0118] For convenience of description, the above devices are described by dividing them into various modules according to functions. Of course, when implementing one or more of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware, or the modules implementing the same function can be realized by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0119] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, as well as the combination of flows and / or blocks in the flowchart and / or block diagram. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate an apparatus for implementing the functions specified in one or more flows Figure 1 or more flows and / or blocks Figure 1 or more blocks.

[0120] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction apparatus that implements the functions specified in one or more flows Figure 1 or more flows and / or blocks Figure 1 or more blocks.

[0121] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more flows Figure 1 or more flows and / or blocks Figure 1 or more blocks.

[0122] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0123] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0124] A computer-readable medium includes both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage, graphene storage or other magnetic storage devices, or any other non-transitory medium that can store information accessible by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0125] Those skilled in the art will appreciate that one or more embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, one or more embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, one or more embodiments of the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0126] One or more embodiments of the present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. One or more embodiments of the present application may also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including storage devices.

[0127] The various embodiments in this application are described in a progressive manner. For the same or similar parts among the various embodiments, reference can be made to each other, and the key point of each embodiment is to illustrate the differences from other embodiments. In particular, for system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and reference can be made to the corresponding parts of the method embodiments for relevant content. In the description of this application, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this application, the schematic expression of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this application and the features of different embodiments or examples.

[0128] The above description is only for the embodiments of one or more embodiments of this application and does not limit one or more embodiments of this application. For those skilled in the art, various changes and modifications can be made to one or more embodiments of this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims.

Claims

1. A method for operating control of a braking system, characterized in that, The braking system includes a driving module, a driving shaft, and an execution module. The driving module drives the driving shaft to rotate to control the execution module to achieve braking, and the driving shaft can also drive a magnetic target wheel to rotate; There are multiple sensors for sensing the rotation of the magnetic target wheel; The method includes: Receiving a braking signal, determining a target rotation angle of the driving shaft according to the braking signal, and sending a start signal to the driving module to cause the driving module to drive the driving shaft to rotate; Obtaining an actual rotation angle of the driving shaft, where the actual rotation angle is an angle generated based on the induction of the change in magnetic field strength caused by the rotation of the magnetic target wheel by the sensor; When the difference between the actual rotation angle and the target rotation angle is within a preset range, sending a stop signal to the driving module to cause the driving module to terminate driving the driving shaft; where the execution module includes a hydraulic cylinder, and the hydraulic cylinder contains a pressure sensor; Obtaining a pressure parameter detected and generated by the pressure sensor, where the pressure parameter corresponds to the rotation of the driving shaft; Determining a rotation angle corresponding to the pressure parameter according to a predefined correspondence between the pressure parameter and the rotation angle; Among the sensors for sensing the rotation of the magnetic target wheel, there are remaining sensors whose difference from the determined rotation angle exceeds the preset range. The method further includes: If the difference between the angle corresponding to the remaining sensor and the determined rotation angle does not change with the change of the pressure parameter, then correcting the angle corresponding to the remaining sensor according to the difference.

2. The method according to claim 1, wherein The sensors include a main sensor and a backup sensor, where: When the main sensor is in a normal state, the actual rotation angle is an angle generated based on the induction of the change in magnetic field strength caused by the rotation of the magnetic target wheel by the main sensor; When the main sensor is in a faulty state, the actual rotation angle is an angle generated based on the induction of the change in magnetic field strength caused by the rotation of the magnetic target wheel by the backup sensor.

3. The method according to claim 1, characterized in that, The execution module further includes a braking actuator. Obtaining the actual rotation angle of the driving shaft includes: Among the sensors for sensing the rotation of the magnetic target wheel, if there is at least one sensor whose difference from the determined rotation angle is within the preset range, then calculating the average angle corresponding to the at least one sensor as the actual rotation angle.

4. The method according to claim 3, wherein The method further includes: If the difference between the angle corresponding to the remaining sensor and the determined rotation angle changes with the change of the pressure parameter, then it is determined that the remaining sensor is in an abnormal working state.

5. The method according to claim 3, characterized in that, It further includes: Among the sensors for sensing the rotation of the magnetic target wheel, if the difference between the angle corresponding to each sensor and the determined rotation angle exceeds the preset range, and the difference between the maximum angles corresponding to each sensor is not greater than the difference between the upper and lower boundaries of the preset range, then it is determined that the pressure sensor is in an abnormal working state.

6. The method according to claim 1, characterized in that Obtaining the actual rotation angle of the drive shaft includes: Receiving the actual rotation angle generated by the sensor sensing the change in the magnetic field strength; or, Receiving the sensing data generated by the sensor sensing the change in the magnetic field strength, and generating the actual rotation angle according to the sensing data.

7. An operating control device for a braking system, characterized in that, The braking system includes a drive module, a drive shaft, and an execution module. The drive module drives the drive shaft to rotate to control the execution module to achieve braking, and the drive shaft can also drive a magnetic target wheel to rotate. The device includes: A receiving unit, configured to receive a braking signal, determine the target rotation angle of the drive shaft according to the braking signal, and send a start signal to the drive module to cause the drive module to drive the drive shaft to rotate; An obtaining unit, configured to obtain the actual rotation angle of the drive shaft, where the actual rotation angle is an angle generated based on the sensor sensing the change in the magnetic field strength caused by the rotation of the magnetic target wheel; there are multiple sensors for sensing the rotation of the magnetic target wheel; A verification unit, configured to send a stop signal to the drive module to cause the drive module to terminate driving the drive shaft when the difference between the actual rotation angle and the target rotation angle is within a preset range; Wherein, the execution module includes a hydraulic cylinder, and the hydraulic cylinder contains a pressure sensor; Obtaining the pressure parameter detected and generated by the pressure sensor, where the pressure parameter corresponds to the rotation of the drive shaft; Determining the rotation angle corresponding to the pressure parameter according to the predefined correspondence between the pressure parameter and the rotation angle; Among the sensors for sensing the rotation of the magnetic target wheel, there are remaining sensors whose difference from the determined rotation angle exceeds the preset range. If the difference between the angle corresponding to the remaining sensors and the determined rotation angle does not change with the change of the pressure parameter, the angle corresponding to the remaining sensors is corrected according to the difference.

8. An electronic braking system, characterized in that, The system includes: A drive module, configured to drive the drive shaft to rotate according to a start signal sent by an electronic control unit (ECU), and terminate the rotation of the drive shaft according to a stop signal sent by the ECU; The drive shaft, with both ends respectively connected to the magnetic target wheel and the execution module, is configured to drive the magnetic target wheel to rotate under the drive of the drive module, and control the execution module to achieve braking; The execution module, connected to the drive shaft, is configured to perform braking according to the rotation angle of the drive shaft; The magnetic target wheel, connected to one end of the drive shaft, so as to be able to rotate following the rotation of the drive shaft; A sensor, configured to sense the change in the magnetic field strength during the rotation of the magnetic target wheel to generate an actual rotation angle; The ECU is configured to implement the method according to any one of claims 1-6.

9. An electronic device, characterized in that, Including: A processor and a memory; The memory is configured to store a computer program; The processor is configured to execute the operation control method of the braking system according to any one of claims 1-6 by calling the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the operation control method of the braking system described in any one of claims 1-6.

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