An EPB parking caliper control method, device, equipment and storage medium

Abstract

The application discloses an EPB parking caliper control method, device, equipment and storage medium. The method comprises the following steps: acquiring the driving style of the driver of the current vehicle; determining the target compensation value of the current vehicle according to the driving style of the driver; when the wheel-side driving force, target resistance and target compensation value of the current vehicle meet the preset condition, if the EPB parking caliper is in the clamping state, releasing the EPB parking caliper of the current vehicle. Through the technical scheme of the application, different target compensation values can be determined according to the driving styles of different drivers, and then the EPB parking caliper is controlled according to the wheel-side driving force, target resistance and target compensation value, so that the vehicle starting process is not stuck, and the vehicle starting process is ensured not to slide.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to an EPB parking caliper control method, device, equipment and storage medium. Background Technology

[0002] Electronic Parking Brake (EPB) systems have been increasingly used in mid-to-high-end vehicles in recent years to reduce driver workload and ensure vehicle parking safety. As the intelligence of EPB systems continues to improve, more and more automatic control functions are being applied to vehicles, such as automatic clamping upon engine shutdown, automatic clamping upon door opening, automatic release upon gear shifting, and automatic release upon vehicle departure. These functions aim to further reduce driver workload while allowing for seamless vehicle starting and stopping.

[0003] Most existing EPB parking caliper control methods are based on calculations directly using the longitudinal dynamics equations of vehicle driving. That is, when the wheel-side driving force is greater than or equal to the resistance, the EPB parking caliper is released and the vehicle then enters the starting motion phase.

[0004] However, since the above control method does not take into account the delay in the release process of the EPB parking caliper, the release process of the electronic parking brake generally takes about 1-1.5 seconds. Therefore, the parking caliper has residual parking braking force at the moment of starting, which causes starting to be stuck. Summary of the Invention

[0005] This invention provides an EPB parking caliper control method, device, equipment, and storage medium, which can determine different target compensation values ​​for different drivers' driving styles, and then control the EPB parking caliper based on the wheel-side driving force, target resistance, and target compensation value, so as to ensure that the vehicle starts smoothly without jamming and without rolling back.

[0006] According to one aspect of the present invention, an EPB parking caliper control method is provided, comprising:

[0007] Obtain the driving style of the driver of the current vehicle;

[0008] The target compensation value for the current vehicle is determined based on the driver's driving style;

[0009] When the wheel-side driving force, target resistance, and target compensation value of the current vehicle meet the preset conditions, if the EPB parking caliper is in a clamped state, the EPB parking caliper of the current vehicle is released.

[0010] According to another aspect of the present invention, an EPB parking caliper control device is provided, the EPB parking caliper control device comprising:

[0011] The driving style acquisition module is used to acquire the driving style of the current vehicle's driver.

[0012] The target compensation value determination module is used to determine the target compensation value of the current vehicle based on the driver's driving style.

[0013] The EPB parking caliper control module is used to release the EPB parking caliper of the current vehicle when the wheel-side driving force, target resistance and target compensation value of the current vehicle meet preset conditions and the EPB parking caliper is in a clamping state.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the EPB parking caliper control method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the EPB parking caliper control method according to any embodiment of the present invention.

[0019] This invention obtains the driving style of the current vehicle's driver; determines the target compensation value of the current vehicle based on the driver's driving style; and releases the EPB parking caliper if the EPB parking caliper is in a clamped state when the wheel-side driving force, target resistance, and target compensation value of the current vehicle meet preset conditions. This allows for the determination of different target compensation values ​​for different drivers' driving styles, and further control of the EPB parking caliper based on the wheel-side driving force, target resistance, and target compensation value. This ensures that the vehicle starts smoothly without jamming or rolling back.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of an EPB parking caliper control method according to an embodiment of the present invention;

[0023] Figure 2 This is a reference for determining a target compensation value in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of a caliper control device according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of an EPB parking caliper control device according to an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0030] Example 1

[0031] Figure 1 This is a flowchart illustrating an EPB parking caliper control method provided in an embodiment of the present invention. This embodiment is applicable to EPB parking caliper control. The method can be executed by the EPB parking caliper control device in this embodiment, which can be implemented in software and / or hardware, such as... Figure 1 As shown, the method specifically includes the following steps:

[0032] S110: Obtain the driving style of the current vehicle's driver.

[0033] The driver's driving style can be aggressive, conservative, or average.

[0034] Specifically, the driving style of the current vehicle's driver can be obtained by: acquiring driving data of the current vehicle during the driving process; and determining the driving style of the current vehicle's driver based on the driving data of the current vehicle during the driving process.

[0035] S120, determine the target compensation value for the current vehicle based on the driver's driving style.

[0036] Specifically, the method for determining the target compensation value of the current vehicle based on the driver's driving style can be as follows: if the driver's driving style is conservative, then a first value is determined as the target compensation value of the current vehicle; if the driver's driving style is moderate, then a second value is determined as the target compensation value of the current vehicle; if the driver's driving style is aggressive, then a third value is determined as the target compensation value of the current vehicle, wherein the first value is less than the second value, and the second value is less than the third value. Alternatively, the method for determining the target compensation value of the current vehicle based on the driver's driving style can be as follows: obtain the wheel-side driving force curve, EPB clamping force release curve, and target resistance corresponding to the driver's driving style; determine the target compensation value of the current vehicle based on the wheel-side driving force curve, EPB clamping force release curve, and target resistance corresponding to the driver's driving style.

[0037] S130, when the wheel-side driving force, target resistance and target compensation value of the current vehicle meet the preset conditions, if the EPB parking caliper is in the clamping state, the EPB parking caliper of the current vehicle is released.

[0038] Specifically, when the current vehicle's wheel-side driving force, target resistance, and target compensation value meet preset conditions, if the EPB parking caliper is in a clamped state, the method to release the current vehicle's EPB parking caliper can be as follows: obtain the current state of the EPB parking caliper; if the EPB parking caliper is in a clamped state, determine whether the current vehicle's wheel-side driving force, target resistance, and target compensation value meet preset conditions; if the current vehicle's wheel-side driving force, target resistance, and target compensation value meet preset conditions, then release the current vehicle's EPB parking caliper.

[0039] Optionally, the target resistance is the sum of rolling resistance, gradient resistance, acceleration resistance, and air resistance;

[0040] When the wheel-side driving force, target resistance, and target compensation value of the current vehicle meet preset conditions, if the EPB parking caliper is in a clamped state, the EPB parking caliper of the current vehicle is released, including:

[0041] When the target compensation value of the current vehicle and the wheel-side driving force of the current vehicle are greater than or equal to the target resistance, if the EPB parking caliper is in a clamped state, the EPB parking caliper of the current vehicle is released.

[0042] Specifically, when the target compensation value of the current vehicle and the wheel-side driving force of the current vehicle are greater than or equal to the target resistance, if the EPB parking caliper is in a clamped state, the EPB parking caliper of the current vehicle is released. For example, when the wheel-side driving force of the current vehicle + the target compensation value of the current vehicle ≥ rolling resistance + slope resistance + acceleration resistance + air resistance, if the EPB parking caliper is in a clamped state, the EPB parking caliper of the current vehicle is released.

[0043] Optional, also includes:

[0044] When the target compensation value of the current vehicle and the wheel-side driving force of the current vehicle are less than the target resistance, if the EPB parking caliper is in a clamped state, the clamped state of the EPB parking caliper of the current vehicle shall remain unchanged.

[0045] The target resistance is the sum of rolling resistance, gradient resistance, acceleration resistance, and air resistance.

[0046] Specifically, when the target compensation value of the current vehicle and the wheel-side driving force of the current vehicle are less than the target resistance, if the EPB parking caliper is in a clamped state, then the clamped state of the EPB parking caliper of the current vehicle remains unchanged. For example, when the wheel-side driving force of the current vehicle + the target compensation value of the current vehicle < rolling resistance + slope resistance + acceleration resistance + air resistance, if the EPB parking caliper is in a clamped state, then the clamped state of the EPB parking caliper of the current vehicle remains unchanged.

[0047] Optionally, obtain the driving style of the current vehicle's driver, including:

[0048] Obtain driving data of the vehicle during the current driving process;

[0049] The driving style of the current vehicle's driver is determined based on the driving data during the current vehicle's operation.

[0050] The driving data of the current vehicle during driving includes: pedal opening, brake pedal opening, vehicle speed, longitudinal acceleration, lateral acceleration, and yaw rate, among other driving data containing characteristic factors that can distinguish driver style. Specifically, the driving data of the current vehicle during driving can be obtained by receiving driver driving data transmitted via the CAN bus.

[0051] Specifically, the method for determining the driving style of the current vehicle's driver based on the driving data during the current driving process can be as follows: Feature processing and extraction of similar data are performed on multi-dimensional driving data. Invalid information from the multi-dimensional data is removed, and feature information from a few dimensions is retained for cluster analysis of driver styles. Clustering is performed on the dimensionality-reduced feature data to obtain standard centroids for three types of driver styles: conservative, general, and aggressive. Based on the obtained standard centroids for the three types of driver styles, the data of any driver is analyzed and compared to determine which type of driver style's standard centroid is closest to. This determines the driver's style and thus identifies their driving style.

[0052] Optionally, the target compensation value for the current vehicle is determined based on the driver's driving style, including:

[0053] If the driver's driving style is conservative, then the first value is determined as the target compensation value for the current vehicle.

[0054] If the driver's driving style is normal, then the second value is determined as the target compensation value for the current vehicle.

[0055] If the driver's driving style is aggressive, then the third value is determined as the target compensation value for the current vehicle.

[0056] Wherein, the first value is less than the second value, and the second value is less than the third value.

[0057] It should be noted that, considering the delay in the EPB parking caliper release process, the parking caliper is released in advance before the wheel-side driving force reaches the longitudinal force required for the vehicle to start. This ensures that the parking caliper braking force is exactly zero when the wheel-side driving force reaches the required longitudinal force for the vehicle to start, allowing for a smooth start. A larger compensation value would result in releasing the parking brake when the wheel-side driving force is low, potentially causing the vehicle to roll back on an incline; a smaller compensation value would result in releasing the parking brake when the wheel-side driving force is high, potentially causing a stalled start. Furthermore, the rate of increase in wheel-side driving force during the start-up process differs for different driving styles. Aggressive drivers experience a faster increase in wheel-side driving force, so a larger compensation value can be set to allow the caliper to release earlier for a smooth start without stalling; conservative drivers experience a slower increase in wheel-side driving force, so a smaller compensation value can be set to allow the caliper to release later for a smooth start without rolling back.

[0058] In a specific example, for aggressive drivers, whose Ft increases rapidly, a larger compensation value is set to release the parking caliper braking force when Ft is small, allowing the vehicle to start smoothly without jamming. For conservative drivers, whose Ft increases slowly, a smaller compensation value is set to release the parking caliper braking force when Ft is large, allowing the vehicle to start smoothly without rolling back. For average drivers, a compensation value in the middle range is sufficient. During real-vehicle calibration, the basic F compensation value can be calibrated first for average drivers, and then the F compensation values ​​for aggressive and conservative drivers can be calibrated based on this.

[0059] Optionally, the target compensation value for the current vehicle is determined based on the driver's driving style, including:

[0060] Obtain the wheel-side driving force curve, EPB clamping force release curve, and target resistance corresponding to the driver's driving style;

[0061] The target time corresponding to the driver's driving style is determined based on the wheel-side driving force curve and the target resistance corresponding to the driver's driving style, wherein the driving force corresponding to the target time is equal to the target resistance.

[0062] The duration of the maximum EPB clamping force corresponding to the driver's driving style is determined based on the target time and EPB clamping force release curve corresponding to the driver's driving style.

[0063] The target compensation value of the current vehicle is determined based on the target resistance corresponding to the driver's driving style, the duration of the maximum EPB clamping force, and the wheel-side driving force curve.

[0064] Specifically, the method for determining the target time corresponding to the driver's driving style based on the wheel-side driving force curve and the target resistance can be as follows: determine the driving force angle corresponding to the driver's driving style based on the wheel-side driving force curve; and determine the target time corresponding to the driver's driving style based on the driving force angle and the target resistance.

[0065] Specifically, the method for determining the duration of the maximum EPB clamping force corresponding to the driver's driving style based on the target time and EPB clamping force release curve can be as follows: determine the EPB release force angle and the maximum EPB clamping force corresponding to the driver's driving style based on the EPB clamping force release curve; and determine the duration of the maximum EPB clamping force based on the target time, the maximum EPB clamping force, and the EPB release force angle.

[0066] Specifically, the method for determining the target compensation value of the current vehicle based on the target resistance corresponding to the driver's driving style, the duration of the maximum EPB clamping force, and the wheel-side driving force curve can be as follows: determine the driving force angle corresponding to the driver's driving style based on the wheel-side driving force curve, and determine the target compensation value based on the target resistance corresponding to the driver's driving style, the duration of the maximum EPB clamping force corresponding to the driver's driving style, and the driving force angle corresponding to the driver's driving style. For example, the target compensation value can be determined based on the following formula:

[0067] C = F x -Btanα;

[0068] Where C is the target compensation value corresponding to the driver's driving style, and F x Let B be the target resistance corresponding to the driver's driving style, B be the duration of the maximum EPB clamping force corresponding to the driver's driving style, and α be the driving force angle corresponding to the driver's driving style.

[0069] Optionally, the target time corresponding to the driver's driving style is determined based on the wheel-side driving force curve and target resistance corresponding to the driver's driving style, including:

[0070] The driving force angle corresponding to the driver's driving style is determined based on the wheel-side driving force curve corresponding to the driver's driving style.

[0071] The target time corresponding to the driver's driving style is determined based on the driving force angle corresponding to the driver's driving style and the target resistance.

[0072] Specifically, the method for determining the driving force angle corresponding to the driver's driving style based on the wheel-side driving force curve corresponding to the driver's driving style can be as follows: determine the driving force rise slope based on the wheel-side driving force curve corresponding to the driver's driving style, and determine the driving force angle corresponding to the driver's driving style based on the driving force rise slope.

[0073] Specifically, the target time corresponding to the driver's driving style, based on the driving force angle corresponding to the driver's driving style and the target resistance, can be determined using the following formula:

[0074]

[0075] Where A is the target time, which is the time when the driving force and the target resistance are exactly in equilibrium.

[0076] Optionally, the duration of the maximum EPB clamping force corresponding to the driver's driving style is determined based on the target time corresponding to the driver's driving style and the EPB clamping force release curve, including:

[0077] The EPB release force angle and maximum EPB clamping force corresponding to the driver's driving style are determined based on the EPB clamping force release curve corresponding to the driver's driving style.

[0078] The duration of the maximum EPB clamping force is determined based on the target time corresponding to the driver's driving style, the maximum EPB clamping force, and the angle between the EPB release force and the target time.

[0079] Specifically, the duration of the maximum EPB clamping force can be determined based on the target time corresponding to the driver's driving style, the maximum EPB clamping force, and the angle between the maximum EPB release force and the target time. This can be achieved by using the following formula:

[0080]

[0081] Where β is the angle between the EPB release forces.

[0082] In a specific example, such as Figure 2 As shown, the target compensation value is determined based on the following formula:

[0083] C = F x -Btanα;

[0084] Where C is the target compensation value corresponding to the driver's driving style, and F x Let α be the target resistance corresponding to the driver's driving style, α be the driving force angle corresponding to the driver's driving style, and B be the duration of the maximum EPB clamping force corresponding to the driver's driving style. β is the angle between the EPB release force and the angle between the two forces. A represents the target time, which is the time when the driving force and the target resistance are exactly in equilibrium.

[0085] In another specific example, embodiments of the present invention provide a caliper control device, such as... Figure 3 As shown, the caliper control device includes a cloud-based driving style recognition module and a vehicle-side EPB automatic departure release module. The cloud-based driving style recognition module receives driver data transmitted from the vehicle's CAN bus, automatically identifies the driver's driving style, and then transmits the driving style recognition result to the vehicle-side EPB automatic departure release module. Based on the currently identified driving style, the vehicle-side EPB automatic departure release module automatically adjusts the F-compensation array so that the software function can adapt to different types of driver styles, ensuring that the automatic departure release control moment perfectly matches the vehicle's start-up instant, achieving both smooth start-up and preventing rollback.

[0086] The cloud-based driving style recognition module includes: a driving data recording submodule, a data dimensionality reduction processing submodule, a cluster center analysis submodule, and a driving style recognition submodule. Driving data recording generally refers to recording driving data during vehicle operation, including accelerator pedal opening, brake pedal opening, vehicle speed, longitudinal acceleration, lateral acceleration, and yaw rate. This driving data implicitly contains characteristic factors that can distinguish driver styles. Data dimensionality reduction processing refers to performing feature processing on the aforementioned multi-dimensional driving data and merging and extracting similar data, removing invalid information from the multi-dimensional data, and retaining a few dimensional feature information for cluster analysis of driver styles. Cluster center analysis refers to clustering the dimensionality-reduced feature data to obtain standard centroids for three types of driver styles: conservative, general, and aggressive. Driving style recognition refers to analyzing and comparing the data of any driver based on the obtained standard centroids for the three types of driver styles, determining which type of driver style's standard centroid the driver's driving characteristic data is closest to, and thus identifying the driver's driving style. The vehicle-side EPB automatic departure release module includes four sub-modules: compensation driving force determination, slope resistance calculation, wheel-side driving force judgment, and automatic departure release control.

[0087] The system automatically identifies the driver's driving style via a cloud server and sends the results to the vehicle. The compensation value is then automatically adjusted based on the driver's style. For aggressive drivers, a larger compensation value is set to release the parking brake when wheel-side traction is low, allowing for a smooth start without hesitation. For conservative drivers, a smaller compensation value is set to release the parking brake when wheel-side traction is high, ensuring a smooth start without rolling back. For average drivers, a compensation value in the middle range is sufficient. This invention uses a cloud server to identify the driver's style, enabling the automatic departure release function to adapt to the operating habits of drivers with various driving styles, ensuring overall vehicle performance is suitable for most drivers and improving the driving experience.

[0088] The technical solution of this embodiment obtains the driving style of the current vehicle's driver; determines the target compensation value of the current vehicle based on the driver's driving style; when the wheel-side driving force, target resistance, and target compensation value of the current vehicle meet preset conditions, if the EPB parking caliper is in a clamped state, the EPB parking caliper of the current vehicle is released. Through the technical solution of this invention, different target compensation values ​​can be determined for different drivers' driving styles, and then the EPB parking caliper can be controlled according to the wheel-side driving force, target resistance, and target compensation value to ensure that the control moment of automatic release can perfectly match the moment of vehicle start-up, so as to ensure that the start-up process is not stuck and that the vehicle does not roll back.

[0089] Example 2

[0090] Figure 4 This is a schematic diagram of an EPB parking caliper control device provided in an embodiment of the present invention. This embodiment is applicable to EPB parking caliper control. The device can be implemented using software and / or hardware, and can be integrated into any device that provides EPB parking caliper control functionality, such as… Figure 4 As shown, the EPB parking caliper control device specifically includes: a driving style acquisition module 210, a target compensation value determination module 220, and an EPB parking caliper control module 230.

[0091] Among them, the driving style acquisition module is used to acquire the driving style of the current vehicle's driver;

[0092] The target compensation value determination module is used to determine the target compensation value of the current vehicle based on the driver's driving style.

[0093] The EPB parking caliper control module is used to release the EPB parking caliper of the current vehicle when the wheel-side driving force, target resistance and target compensation value of the current vehicle meet preset conditions and the EPB parking caliper is in a clamping state.

[0094] The above-described products can perform the methods provided in any embodiment of the present invention, and have the corresponding functional modules and beneficial effects for performing the methods.

[0095] Example 3

[0096] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0097] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0098] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0099] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the EPB parking caliper control method.

[0100] In some embodiments, the EPB parking caliper control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the EPB parking caliper control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the EPB parking caliper control method by any other suitable means (e.g., by means of firmware).

[0101] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0102] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0103] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0104] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0105] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0106] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0107] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0108] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An EPB parking caliper control method, characterized by, The method comprises the following steps: acquiring a driving style of a driver of a current vehicle; determining a target compensation value of the current vehicle according to the driving style of the driver; when wheel edge driving force, target resistance and the target compensation value of the current vehicle meet preset conditions, releasing an EPB parking caliper of the current vehicle if the EPB parking caliper is in a clamping state; determining the target compensation value of the current vehicle according to the driving style of the driver comprises: acquiring a wheel edge driving force curve, an EPB clamping force release curve and a target resistance corresponding to the driving style of the driver; determining a target time corresponding to the driving style of the driver according to the wheel edge driving force curve and the target resistance corresponding to the driving style of the driver, wherein driving force corresponding to the target time is equal to the target resistance; determining a duration of maximum EPB clamping force corresponding to the driving style of the driver according to the target time corresponding to the driving style of the driver and the EPB clamping force release curve; determining the target compensation value of the current vehicle according to the target resistance, the duration of maximum EPB clamping force and the wheel edge driving force curve corresponding to the driving style of the driver.

2. The method of claim 1, wherein, The target resistance is the sum of rolling resistance, slope resistance, acceleration resistance and air resistance. When the wheel edge driving force, the target resistance and the target compensation value of the current vehicle meet preset conditions, releasing the EPB parking caliper of the current vehicle if the EPB parking caliper is in a clamping state comprises: When the target compensation value of the current vehicle and the wheel edge driving force of the current vehicle are greater than or equal to the target resistance, releasing the EPB parking caliper of the current vehicle if the EPB parking caliper is in a clamping state.

3. The method of claim 1, wherein, Further comprising: When the target compensation value of the current vehicle and the wheel edge driving force of the current vehicle are less than the target resistance, maintaining the clamping state of the EPB parking caliper of the current vehicle unchanged if the EPB parking caliper is in a clamping state.

4. The method of claim 1, wherein, The method comprises the following steps: acquiring driving data of the current vehicle in a driving process; determining the driving style of the driver of the current vehicle according to the driving data of the current vehicle in the driving process.

5. The method of claim 1, wherein, The method comprises the following steps: If the driving style of the driver is conservative, determining a first value as the target compensation value of the current vehicle; If the driving style of the driver is general, determining a second value as the target compensation value of the current vehicle; If the driving style of the driver is aggressive, determining a third value as the target compensation value of the current vehicle, wherein the first value is less than the second value, and the second value is less than the third value.

6. The method of claim 1, wherein, The method comprises the following steps: determining a driving force clamping angle corresponding to the driving style of the driver according to the wheel edge driving force curve corresponding to the driving style of the driver; The target time corresponding to the driving style of the driver is determined according to the driving force included angle corresponding to the driving style of the driver and the target resistance.

7. The method of claim 1, wherein, The duration of the maximum EPB clamping force corresponding to the driving style of the driver is determined according to the target time corresponding to the driving style of the driver and the EPB clamping force release curve, and includes: The EPB clamping force release curve corresponding to the driving style of the driver is determined according to the target time corresponding to the driving style of the driver and the EPB clamping force release curve. The duration of the maximum EPB clamping force is determined according to the target time corresponding to the driving style of the driver, the maximum EPB clamping force, and the EPB release force included angle.

8. An EPB parking calliper control device for carrying out the method of any one of claims 1-7, characterised in that, It includes: A driving style acquisition module is configured to acquire the driving style of a driver of a current vehicle. A target compensation value determination module is configured to determine a target compensation value of the current vehicle according to the driving style of the driver. An EPB parking caliper control module is configured to release the EPB parking caliper of the current vehicle if the EPB parking caliper is in a clamped state when the wheel-side driving force, the target resistance, and the target compensation value of the current vehicle meet a preset condition.

9. An electronic device, comprising: The electronic device includes: At least one processor; and The memory is in communication with the at least one processor; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the EPB parking caliper control method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing the processor to execute the EPB parking caliper control method of any one of claims 1-7 when executed.

Images