Calibration parameter determination method and device, equipment and storage medium

Abstract

Embodiments of the present disclosure provide a method, device and equipment for determining calibration parameters, and a storage medium. The method is applied to a cloud server, and comprises: receiving brake control data sent by a vehicle-side controller for each brake condition; determining initial calibration parameters of multiple control stages according to the brake control data; sending the initial calibration parameters to the vehicle-side controller; receiving multiple groups of brake control data determined by the vehicle-side controller based on the initial calibration parameters; and determining target calibration parameters of corresponding control stages according to the multiple groups of brake control data. The method can realize automation and standardization of parameter calibration, shorten the calibration period, reduce the workload of calibration, improve the efficiency of parameter calibration, and improve the accuracy of parameter calibration.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of automobiles, and in particular, to a method and device for determining calibration parameters, an apparatus, and a storage medium. BACKGROUND

[0002] With the improvement of people's living standards and the development of automobile technology, the electrical park brake (EPB) system has been increasingly applied in medium and high-end vehicles in recent years, which facilitates the operation of the driver and ensures the safety of the vehicle when parking. With the increasing intelligence of the EPB system, more and more automatic control functions are applied to vehicles, such as automatic clamping when the engine is off, automatic clamping when the door is opened, dynamic braking, and the like, which aims to further reduce the operation of the driver and to provide dynamic braking to the two rear wheels of the vehicle when the service brake fails, to ensure that the rear wheels do not lock and to provide a deceleration of about 0.3g to the entire vehicle to maintain the safety of the vehicle.

[0003] However, the traditional dynamic braking function calibration is still mostly performed manually by test personnel, and there are dozens of calibration parameters, which takes about 2-3 weeks to complete the process, is low in efficiency, and it is difficult to consider all parameters comprehensively, and the environment of the low-attachment calibration in cold regions is harsh, which is also difficult for test personnel. Moreover, different test personnel have different subjective evaluation feelings, which can easily lead to uneven calibration performance. SUMMARY

[0004] Embodiments of the present disclosure provide a method and device for determining calibration parameters, an apparatus, and a storage medium, which can realize the automation and standardization of parameter calibration, shorten the calibration period, reduce the calibration workload, improve the efficiency of parameter calibration, and also improve the accuracy of parameter calibration.

[0005] In a first aspect, embodiments of the present disclosure provide a method for determining calibration parameters, which is applied to a cloud server, and includes: receiving, for each type of braking condition, braking control data sent by a vehicle-side controller; the types of braking conditions include a low-attachment condition, a high-attachment condition, a two-open-road condition, and a two-junction-road condition; determining initial calibration parameters of multiple control stages according to the braking control data; sending the initial calibration parameters to the vehicle-side controller; receiving multiple sets of braking control data determined by the vehicle-side controller based on the initial calibration parameters; and determining target calibration parameters of corresponding control stages according to the multiple sets of braking control data.

[0006] In a second aspect, the embodiments of the present disclosure further provide a method for determining calibration parameters. The method is applied to a vehicle-side controller and includes: sending, to a cloud-side server, braking control data for each braking condition, so that the cloud-side server determines initial calibration parameters of multiple control stages according to the braking control data; the braking conditions include low adhesion conditions, high adhesion conditions, open road conditions, and joint road conditions; receiving the initial calibration parameters issued by the cloud-side server; determining multiple sets of braking control data based on the initial calibration parameters; and uploading the multiple sets of braking control data to the cloud-side server, so that the cloud-side server determines target calibration parameters of corresponding control stages according to the multiple sets of braking control data.

[0007] In a third aspect, the embodiments of the present disclosure further provide a device for determining calibration parameters. The device is applied to a cloud-side server and includes: a braking control data receiving module configured to receive, for each braking condition, braking control data sent by a vehicle-side controller; the braking conditions include low adhesion conditions, high adhesion conditions, open road conditions, and joint road conditions; an initial calibration parameter determining module configured to determine initial calibration parameters of multiple control stages according to the braking control data; an initial calibration parameter issuing module configured to issue the initial calibration parameters to the vehicle-side controller; a multiple sets of braking control data receiving module configured to receive multiple sets of braking control data determined by the vehicle-side controller based on the initial calibration parameters; and a target calibration parameter determining module configured to determine target calibration parameters of corresponding control stages according to the multiple sets of braking control data.

[0008] In a fourth aspect, the embodiments of the present disclosure further provide a device for determining calibration parameters. The device is applied to a vehicle-side controller and includes: a braking control data sending module configured to send, to a cloud-side server, braking control data for each braking condition, so that the cloud-side server determines initial calibration parameters of multiple control stages according to the braking control data; the braking conditions include low adhesion conditions, high adhesion conditions, open road conditions, and joint road conditions; an initial calibration parameter receiving module configured to receive the initial calibration parameters issued by the cloud-side server; a multiple sets of braking control data determining module configured to determine multiple sets of braking control data based on the initial calibration parameters; and a multiple sets of braking control data uploading module configured to upload the multiple sets of braking control data to the cloud-side server, so that the cloud-side server determines target calibration parameters of corresponding control stages according to the multiple sets of braking control data.

[0009] In a fifth aspect, the embodiments of the present disclosure further provide an electronic device. The electronic device includes:

[0010] one or more processors;

[0011] a storage device configured to store one or more programs,

[0012] The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method for determining calibration parameters according to any one of the embodiments of the present disclosure.

[0013] In a sixth aspect, the embodiments of the present disclosure further provide a storage medium containing computer executable instructions for executing the method for determining calibration parameters according to any one of the embodiments of the present disclosure when executed by a computer processor.

[0014] The technical solution of the embodiments of the present disclosure can realize the automation and standardization of parameter calibration, shorten the calibration period, reduce the calibration workload, improve the efficiency of parameter calibration, and improve the accuracy of parameter calibration. BRIEF DESCRIPTION OF DRAWINGS

[0015] The above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent as various embodiments of the present disclosure are described in conjunction with the following drawings, in which like reference numbers represent like elements throughout the drawings. It should be noted that the drawings are schematic and elements in the drawings are not necessarily to scale.

[0016] Figure 1 A flowchart of the method for determining calibration parameters provided by the embodiments of the present disclosure;

[0017] Figure 2 A flowchart of the method for determining calibration parameters provided by the embodiments of the present disclosure;

[0018] Figure 3 A flowchart of the method for determining calibration parameters provided by the embodiments of the present disclosure;

[0019] Figure 4 A schematic diagram of the change effect of the caliper clamping force corresponding to different control stages provided by the embodiments of the present disclosure;

[0020] Figure 5 A schematic diagram of the change effect of the vehicle deceleration corresponding to different control stages provided by the embodiments of the present disclosure;

[0021] Figure 6 A schematic diagram of the change effect of the yaw rate corresponding to different control stages provided by the embodiments of the present disclosure;

[0022] Figure 7A structure schematic diagram of a parameter calibration determination apparatus provided by an embodiment of the present disclosure;

[0023] Figure 8 A structure schematic diagram of a parameter calibration determination apparatus provided by an embodiment of the present disclosure;

[0024] Figure 9 A structure schematic diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] Embodiments of the present disclosure will be described in more detail with reference to the drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein, but rather the embodiments are provided so that the present disclosure can be more thoroughly and completely understood. It should be understood that the drawings and embodiments of the present disclosure are for exemplary purposes only and are not intended to limit the scope of protection of the present disclosure.

[0026] It should be understood that each step described in the method embodiments of the present disclosure can be executed in different orders and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0027] The term "comprising" and variations thereof as used herein are open-ended, that is, "comprising but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Related definitions of other terms will be given in the description below.

[0028] It should be noted that the terms "first", "second", and the like mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0029] It should be noted that the modification of "one" or "multiple" mentioned in the present disclosure is illustrative and not limiting, and those skilled in the art should understand that, unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0030] It can be understood that the data involved in the technical solution (including but not limited to the data itself, the acquisition or use of the data) should comply with the requirements of the relevant laws, regulations and provisions.

[0031] Figure 1As shown in a flowchart of a method for determining calibration parameters provided by embodiments of the present disclosure, embodiments of the present disclosure are applicable to determining calibration parameters of an electronic parking brake system in various control stages through a cloud server. The method can be executed by a device for determining calibration parameters, which can be implemented in the form of software and / or hardware, and can be implemented by an electronic device, such as a mobile terminal, a PC terminal, or a server. As shown in Figure 1 The method comprises the following steps.

[0032] S110, receiving brake control data sent by a vehicle controller for each brake working condition.

[0033] The brake working conditions corresponding to the electronic parking brake system include low adhesion working conditions, high adhesion working conditions, opposite road surface working conditions, and parallel road surface working conditions. Optionally, the brake control data includes vehicle deceleration, yaw angular velocity, and control stage flag bits. The control stage flag bits are used to represent different control stages, and the control stages include an initial clamping stage, a clamping maintaining stage, a releasing maintaining stage, a continuous clamping maintaining stage, a continuous releasing maintaining stage, and an ending releasing stage.

[0034] The brake control data further includes a caliper clamping force. The continuous clamping maintaining stage can be a continuous "clamping maintaining" stage. The continuous releasing maintaining stage can be a continuous "releasing maintaining" stage.

[0035] S120, determining initial calibration parameters of multiple control stages according to the brake control data.

[0036] In this embodiment, the corresponding control stage can be determined according to the control stage flag bits in the brake control data, so that at least one calibration parameter to be calibrated corresponding to the control stage can be determined, and the initial calibration parameter of the corresponding calibration parameter to be calibrated can be determined through the calibration threshold range corresponding to the calibration parameter to be calibrated. The calibration parameter to be calibrated can be understood as a variable, and the initial calibration parameter can be understood as an initial value of the variable.

[0037] For example, the initial clamping stage can have an initial clamping force to-be-calibrated parameter and an initial clamping holding time to-be-calibrated parameter. The clamping holding stage can have a control cycle clamping time to-be-calibrated parameter, a control clamping holding time to-be-calibrated parameter, a slip rate maximum threshold to-be-calibrated parameter, and a wheel deceleration maximum threshold to-be-calibrated parameter. The release holding stage can have a control cycle release time to-be-calibrated parameter, a control release holding time to-be-calibrated parameter, a slip rate minimum threshold to-be-calibrated parameter, and a wheel deceleration minimum threshold to-be-calibrated parameter. The continuous clamping holding stage can have a control cycle clamping time to-be-calibrated parameter, a control clamping holding time to-be-calibrated parameter, a slip rate maximum threshold to-be-calibrated parameter, and a wheel deceleration maximum threshold to-be-calibrated parameter. The continuous release holding stage can have a control cycle release time to-be-calibrated parameter, a control release holding time to-be-calibrated parameter, a slip rate minimum threshold to-be-calibrated parameter, and a wheel deceleration minimum threshold to-be-calibrated parameter. The end release stage can have an end release time to-be-calibrated parameter. Although some control stage to-be-calibrated parameters are the same, the calibration threshold ranges corresponding to the to-be-calibrated parameters of different control stages can be different, and the target calibration parameters can also be different.

[0038] Optionally, determining initial calibration parameters of a plurality of control stages according to brake control data comprises: determining at least one to-be-calibrated parameter of a corresponding control stage according to a control stage flag; obtaining a calibration threshold range corresponding to each to-be-calibrated parameter; and extracting initial calibration parameters in the calibration threshold range according to a set step size to obtain a plurality of initial calibration parameters.

[0039] In this embodiment, the control stage flag can determine the corresponding control stage, and each control stage can have at least one to-be-calibrated parameter. Since the way of determining the initial calibration parameter of each to-be-calibrated parameter is the same, one to-be-calibrated parameter is taken as an example for description: obtaining a calibration threshold range corresponding to the to-be-calibrated parameter; and extracting initial calibration parameters in the calibration threshold range according to a set step size to obtain a plurality of initial calibration parameters. That is, during the process of determining the target calibration parameter of one to-be-calibrated parameter, the to-be-calibrated parameter can have a plurality of initial calibration parameters, and the plurality of initial calibration parameters can be obtained by extracting according to a set step size in the calibration threshold range. The set step size can be 1.

[0040] S130, issuing the initial calibration parameters to the vehicle-side controller.

[0041] In this embodiment, after obtaining a plurality of initial calibration parameters, the plurality of initial calibration parameters can be issued to the vehicle-side controller.

[0042] S140, receiving a plurality of sets of brake control data determined by the vehicle-side controller based on the initial calibration parameters.

[0043] In this embodiment, one to-be-calibrated parameter can correspond to multiple initial calibration parameters, one initial calibration parameter corresponds to one set of brake control data, therefore, multiple initial calibration parameters can correspond to multiple sets of brake control data.

[0044] In S150, the target calibration parameter of the corresponding control stage is determined according to the multiple sets of brake control data.

[0045] In this embodiment, the target brake control data can be determined according to the multiple sets of brake control data, and the initial calibration parameter corresponding to the target brake control data is taken as the target calibration parameter of the corresponding to-be-calibrated parameter, so that the target calibration parameter of each to-be-calibrated parameter of the corresponding control stage is also determined.

[0046] Optionally, the target calibration parameter of the corresponding control stage is determined according to the multiple sets of brake control data, including: determining the target brake control data according to the multiple sets of brake control data; and taking the initial calibration parameter corresponding to the target brake control data as the target calibration parameter of the to-be-calibrated parameter.

[0047] In this embodiment, the target brake control data, i.e., the optimal brake control data, can be determined from the multiple sets of brake control data, and the target brake control data can make the overall performance of the vehicle optimal. After the target brake control data is determined, the initial calibration parameter corresponding to the target brake control data is taken as the target calibration parameter of the corresponding to-be-calibrated parameter.

[0048] Optionally, the target brake control data is determined according to the multiple sets of brake control data, including: in the multiple sets of brake control data, if the vehicle deceleration in the brake control data is maximum and / or the yaw rate is minimum, then the corresponding set of brake control data is taken as the target brake control data.

[0049] In this embodiment, after the multiple sets of brake control data are obtained, the vehicle deceleration and / or the yaw rate in the brake control data can be compared, if there is a set of brake control data in which the vehicle deceleration is maximum and / or the yaw rate is minimum, then the set of brake control data in which the vehicle deceleration is maximum and / or the yaw rate is minimum is taken as the target brake control data.

[0050] The technical scheme of the embodiments of the present disclosure can realize the automation and standardization of parameter calibration, can shorten the calibration period, reduce the calibration workload, improve the efficiency of parameter calibration, and at the same time, can also improve the accuracy of parameter calibration.

[0051] Figure 2 For the flowchart of the method for determining the calibration parameter provided by the embodiments of the present disclosure, the embodiments of the present disclosure are applicable to the case that the calibration parameter of the electronic parking brake system in each control stage is determined by the vehicle-side controller. The method can be executed by a device for determining the calibration parameter. The device can be realized in the form of software and / or hardware, and can be realized by an electronic device, which can be a mobile terminal, a PC terminal, or a server, etc.

[0052] In S210, for each braking condition, braking control data is sent to the cloud server, so that the cloud server determines initial calibration parameters of multiple control stages according to the braking control data.

[0053] In the embodiments, before the braking control data is sent to the cloud server, the vehicle-side controller can obtain the braking control data according to any one of the initial calibration parameters in the calibration threshold range.

[0054] In S220, the initial calibration parameters issued by the cloud server are received.

[0055] In S230, multiple sets of braking control data are determined based on the initial calibration parameters.

[0056] In the embodiments, after the vehicle-side controller obtains multiple initial calibration parameters, multiple sets of braking control data corresponding to the multiple initial calibration parameters can be obtained. For each initial calibration parameter, the initial calibration parameter can be input into an actual vehicle, and the actual vehicle can be braked according to the control stage corresponding to the initial calibration parameter to obtain actual braking control data.

[0057] In S240, the multiple sets of braking control data are uploaded to the cloud server, so that the cloud server determines target calibration parameters of the corresponding control stages according to the multiple sets of braking control data.

[0058] The technical solutions of the embodiments of the present disclosure can realize the automation and standardization of parameter calibration, shorten the calibration period, reduce the calibration workload, improve the efficiency of parameter calibration, and at the same time, improve the accuracy of parameter calibration.

[0059] Figure 3For the flowchart of the method for determining the calibration parameter provided by the embodiments of the present disclosure, the present embodiment is applicable to the interaction between the vehicle-side controller and the cloud server to obtain the calibration parameter of the electronic parking brake system in each control stage.

[0060] S310, for each braking condition, the vehicle-side controller sends braking control data to the cloud server.

[0061] S311, the cloud server receives the braking control data sent by the vehicle-side controller.

[0062] S312, the cloud server determines the initial calibration parameter of the plurality of control stages according to the braking control data.

[0063] S313, the cloud server issues the initial calibration parameter to the vehicle-side controller.

[0064] S314, the vehicle-side controller receives the initial calibration parameter issued by the cloud server.

[0065] S315, the vehicle-side controller determines a plurality of sets of braking control data based on the initial calibration parameter.

[0066] S316, the vehicle-side controller uploads the plurality of sets of braking control data to the cloud server.

[0067] S317, the cloud server receives the plurality of sets of braking control data.

[0068] S318, the cloud server determines the target calibration parameter of the corresponding control stage according to the plurality of sets of braking control data.

[0069] In the present embodiment, still taking one to-be-calibrated parameter as an example for description: the calibration threshold range corresponding to the to-be-calibrated parameter is obtained; the initial calibration parameter is extracted in the calibration threshold range according to the set step length, and a plurality of initial calibration parameters are obtained. After obtaining the initial calibration parameter each time, the cloud server issues the initial calibration parameter to the vehicle-side controller, and the vehicle-side controller receives the initial calibration parameter issued by the cloud server, and then determines the braking control data according to the initial calibration parameter, and uploads the braking control data to the cloud server. The cloud server stores the braking control data until all the initial calibration parameters in the calibration threshold range are traversed, and the cloud server stores a plurality of sets of braking control data. The plurality of sets of braking control data are analyzed to determine the target braking control data, and the initial calibration parameter corresponding to the target braking control data is taken as the target calibration parameter of the to-be-calibrated parameter.

[0070] It should be noted that the control stage includes an initial clamping stage, a clamping holding stage, a release holding stage, a continuous clamping holding stage, a continuous release holding stage, and an end release stage. Each control stage can have at least one parameter to be calibrated, so in the process of determining the calibration parameter, the determination of the calibration parameter can be performed simultaneously for each control stage, or the determination of the calibration parameter can be performed sequentially according to the order of the control stage.

[0071] Figure 4 、 Figure 5 and Figure 6 is a schematic diagram of the effect of the change of the brake control data corresponding to different control stages provided by the embodiment of the present application. Specifically, Figure 4 is a schematic diagram of the effect of the change of the caliper clamping force corresponding to different control stages provided by the embodiment of the present application. Figure 4 is a schematic diagram of the effect of the change of the caliper clamping force corresponding to different control stages provided by the embodiment of the present application. Figure 5 is a schematic diagram of the effect of the change of the vehicle deceleration corresponding to different control stages provided by the embodiment of the present application. Figure 5 is a schematic diagram of the effect of the change of the vehicle deceleration corresponding to different control stages provided by the embodiment of the present application. Figure 6 is a schematic diagram of the effect of the change of the yaw rate corresponding to different control stages provided by the embodiment of the present application. Figure 6 is a schematic diagram of the effect of the change of the yaw rate corresponding to different control stages provided by the embodiment of the present application. The absolute value of the vehicle deceleration is taken as the value of the vehicle deceleration, and the absolute value of the yaw rate is taken as the value of the yaw rate. Wherein, Figure 5 In the above formula, the greater the absolute value of the vehicle deceleration, the more the vehicle deceleration moves to the negative direction of the longitudinal coordinate. Figure 6 In the above formula, the smaller the absolute value of the yaw rate, the closer the yaw rate is to 0.

[0072] In this embodiment, the dynamic braking function calibration process in the EPB function is innovated. The dynamic braking function: when the service hydraulic braking system completely fails, the driver can pull up the EPB switch at any vehicle speed, and the EPB parking system will dynamically brake the two rear calipers, that is, the calipers are controlled in a "clamping-holding-releasing" cycle, which controls the rear wheel slip ratio and wheel deceleration in a reasonable range to ensure that the rear wheel does not lock, and also avoids excessive vehicle yaw rate and causes the vehicle to spin. Therefore, it is necessary to calibrate the dynamic braking function, and the ultimate goal is to balance the vehicle longitudinal deceleration and lateral stability in low adhesion conditions, high adhesion conditions, on open road conditions and on connecting road conditions, to achieve the maximum vehicle deceleration and the minimum yaw rate during the dynamic braking process.

[0073] In the embodiment of the application, the cloud server and the vehicle controller are used for communication, the vehicle side uploads the brake control data in real time during the dynamic braking calibration test, the cloud server modifies the initial calibration parameters of the to-be-calibrated parameters one by one after analyzing the data, until the vehicle deceleration corresponding to the current initial calibration parameter is maximum and the yaw rate is minimum (that is, the current initial calibration parameter reaches the optimal solution), and then the self-calibration process of the next to-be-calibrated parameter is performed. The self-calibration process of all to-be-calibrated parameters is repeated, and finally all calibration parameters reach the optimal solution, that is, the dynamic braking performance of the vehicle reaches the optimal condition of maximum vehicle deceleration and minimum yaw rate. In this process, the tester only needs to repeatedly trigger the dynamic braking function under four conditions, without needing to pay attention to the specific parameter calibration process, the cloud server automatically modifies the initial calibration parameters of the to-be-calibrated parameters, and finally prompts the driver to end the entire calibration process after the self-calibration process is completed, and records the target calibration parameters of the to-be-calibrated parameters, that is, the final values.

[0074] The technical solution provided by the application can shorten the calibration period, reduce the calibration workload, and avoid the influence of different subjective evaluations of different testers on the vehicle calibration performance, and realize the automation and standardization of the dynamic braking function calibration.

[0075] Figure 7 A calibration parameter determination device structure schematic diagram provided by the embodiment of the present disclosure; the device is applied to a cloud server, and the device comprises a brake control data receiving module 710, an initial calibration parameter determination module 720, an initial calibration parameter issuing module 730, a plurality of brake control data receiving modules 740 and a target calibration parameter determination module 750.

[0076] The brake control data receiving module 710 is configured to receive brake control data sent by the vehicle-side controller for each brake working condition. The brake working conditions include a low adhesion condition, a high adhesion condition, a road surface opening condition, and a road surface closing condition.

[0077] The initial calibration parameter determining module 720 is configured to determine initial calibration parameters of multiple control stages according to the brake control data.

[0078] The initial calibration parameter issuing module 730 is configured to issue the initial calibration parameters to the vehicle-side controller.

[0079] The multiple sets of brake control data receiving module 740 is configured to receive multiple sets of brake control data determined by the vehicle-side controller based on the initial calibration parameters.

[0080] The target calibration parameter determining module 750 is configured to determine target calibration parameters of corresponding control stages according to the multiple sets of brake control data.

[0081] The technical scheme of the embodiments of the present disclosure can receive brake control data sent by the vehicle-side controller for each brake working condition through the brake control data receiving module, determine initial calibration parameters of multiple control stages according to the brake control data through the initial calibration parameter determining module, issue the initial calibration parameters to the vehicle-side controller through the initial calibration parameter issuing module, receive multiple sets of brake control data determined by the vehicle-side controller based on the initial calibration parameters through the multiple sets of brake control data receiving module, and determine target calibration parameters of corresponding control stages according to the multiple sets of brake control data through the target calibration parameter determining module. The technical scheme can realize the automation and standardization of parameter calibration, shorten the calibration period, reduce the calibration workload, improve the efficiency of parameter calibration, and improve the accuracy of parameter calibration.

[0082] Optionally, the brake control data includes vehicle deceleration, yaw rate, and a control stage flag. The control stage flag is used to represent different control stages, and the control stages include an initial clamping stage, a clamping maintaining stage, a release maintaining stage, a continuous clamping maintaining stage, a continuous release maintaining stage, and an end release stage.

[0083] Optionally, the initial calibration parameter determining module is specifically configured to determine at least one to-be-calibrated parameter of a corresponding control stage according to the control stage flag, obtain a calibration threshold range corresponding to the at least one to-be-calibrated parameter, and extract initial calibration parameters in the calibration threshold range according to a set step length to obtain multiple initial calibration parameters.

[0084] Optionally, the initial calibration parameter issuing module is specifically configured to issue the multiple initial calibration parameters to the vehicle-side controller.

[0085] Optionally, the target calibration parameter determination module is specifically configured to: determine target brake control data according to the multiple groups of brake control data; and take initial calibration parameters corresponding to the target brake control data as the target calibration parameters of the to-be-calibrated parameters.

[0086] Optionally, the target calibration parameter determination module is further configured to: in the multiple groups of brake control data, if the vehicle deceleration is maximum and / or the yaw rate is minimum in the brake control data, take a group of brake control data corresponding to the maximum vehicle deceleration and / or the minimum yaw rate as the target brake control data.

[0087] Figure 8 A structure diagram of a calibration parameter determination device provided by the embodiment of the present disclosure; the device is applied to a vehicle end controller, and the device comprises a brake control data sending module 810, an initial calibration parameter receiving module 820, a multiple groups of brake control data determination module 830, and a multiple groups of brake control data uploading module 840.

[0088] The brake control data sending module 810 is configured to send brake control data to the cloud server for each brake working condition, so that the cloud server determines initial calibration parameters of multiple control stages according to the brake control data; the brake working condition types include a low adhesion working condition, a high adhesion working condition, a road surface opening working condition, and a road surface connecting working condition.

[0089] The initial calibration parameter receiving module 820 is configured to receive the initial calibration parameters issued by the cloud server.

[0090] The multiple groups of brake control data determination module 830 is configured to determine multiple groups of brake control data based on the initial calibration parameters.

[0091] The multiple groups of brake control data uploading module 840 is configured to upload the multiple groups of brake control data to the cloud server, so that the cloud server determines target calibration parameters of corresponding control stages according to the multiple groups of brake control data.

[0092] The technical scheme of the embodiment of the present disclosure can realize the automation and standardization of parameter calibration, shorten the calibration period, reduce the calibration workload, improve the efficiency of parameter calibration, and improve the accuracy of parameter calibration.

[0093] The apparatus for determining calibration parameters provided in the embodiments of the present disclosure can perform the method for determining calibration parameters provided in any of the embodiments of the present disclosure, and has the corresponding function modules and advantages of performing the method.

[0094] It is worth noting that each unit and module included in the above apparatus is only divided according to the function logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for the convenience of mutual differentiation, and does not serve to limit the protection scope of the embodiments of the present disclosure.

[0095] Figure 9 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0096] As shown in Figure 9 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0097] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0098] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, and the like. The processor 11 performs various methods and processes described above, such as the determination method of calibration parameters.

[0099] In some embodiments, the determination method of calibration parameters can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the determination method of calibration parameters described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the determination method of calibration parameters by any other suitable means, such as by means of firmware.

[0100] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0101] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a machine or a remote machine or a server.

[0102] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0103] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; 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 acoustic, speech, or tactile input.

[0104] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0105] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0106] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0107] The above detailed description does not constitute a limitation on the protection scope of the present application. 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 replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining calibration parameters, the method being applied to a cloud server, characterized in that, include: For each braking condition, receive braking control data sent by the vehicle-side controller; Braking conditions include low-adhesion conditions, high-adhesion conditions, split-road conditions, and joint-road conditions. The initial calibration parameters for multiple control stages are determined based on the braking control data; The initial calibration parameters are sent to the vehicle-side controller; Receive multiple sets of braking control data determined by the vehicle-side controller based on the initial calibration parameters; The target calibration parameters for the corresponding control stage are determined based on the multiple sets of braking control data, wherein the target calibration parameters are the set of braking control data with the maximum vehicle deceleration and / or the minimum yaw rate among the multiple sets of braking control data. The braking control data includes vehicle deceleration, yaw rate, and control stage flags. The control stage flags are used to characterize different control stages, which include initial clamping stage, clamping and holding stage, release and holding stage, continuous clamping and holding stage, continuous release and holding stage, and end release stage. The calibration threshold ranges corresponding to the parameters to be calibrated in different control stages are different. Based on the braking control data, initial calibration parameters for multiple control phases are determined, including: At least one parameter to be calibrated for the corresponding control stage is determined based on the control stage flag bit; Obtain the calibration threshold range corresponding to each of the at least one parameter to be calibrated; Within the calibration threshold range, initial calibration parameters are extracted according to a set step size to obtain multiple initial calibration parameters; Accordingly, the initial calibration parameters are sent to the vehicle-side controller, including: The multiple initial calibration parameters are sent to the vehicle-side controller; Based on the multiple sets of braking control data, the target calibration parameters for the corresponding control stage are determined, including: The target braking control data is determined based on the multiple sets of braking control data; The initial calibration parameters corresponding to the target braking control data are used as the target calibration parameters of the parameters to be calibrated.

2. A method for determining calibration parameters, the method being applied to a vehicle-end controller, characterized in that, include: For each braking condition, braking control data is sent to the cloud server so that the cloud server can determine the initial calibration parameters for multiple control stages based on the braking control data. The braking conditions include low-adhesion condition, high-adhesion condition, split-road condition, and docked-road condition. The braking control data includes vehicle deceleration, yaw rate, and control stage flags. The control stage flags are used to characterize different control stages, which include initial clamping stage, clamping and holding stage, release and holding stage, continuous clamping and holding stage, continuous release and holding stage, and final release stage. The calibration threshold ranges for the parameters to be calibrated in different control stages are different. The system receives initial calibration parameters from the cloud server. These initial calibration parameters are determined as follows: the cloud server determines at least one parameter to be calibrated for the corresponding control stage based on the control stage flag bit; the system obtains the calibration threshold range corresponding to each of the at least one parameter to be calibrated; and the system extracts initial calibration parameters within the calibration threshold range according to a set step size to obtain multiple initial calibration parameters. Receiving initial calibration parameters sent by the cloud server includes: receiving multiple initial calibration parameters sent by the cloud server; Multiple sets of braking control data are determined based on the initial calibration parameters; The multiple sets of braking control data are uploaded to the cloud server so that the cloud server can determine the target calibration parameters for the corresponding control stage based on the multiple sets of braking control data. The target calibration parameters are the set of braking control data with the maximum vehicle deceleration and / or the minimum yaw rate among the multiple sets of braking control data. Based on the multiple sets of braking control data, the target calibration parameters for the corresponding control stage are determined, including: The target braking control data is determined based on the multiple sets of braking control data; The initial calibration parameters corresponding to the target braking control data are used as the target calibration parameters of the parameters to be calibrated.

3. A device for determining calibration parameters, the device being applied to a cloud server, characterized in that, include: The braking control data receiving module is used to receive braking control data sent by the vehicle-side controller for each braking condition. The braking conditions include low-adhesion condition, high-adhesion condition, split-road condition, and docking-road condition. The braking control data includes vehicle deceleration, yaw rate, and control stage flags. The control stage flags are used to characterize different control stages, including initial clamping stage, clamping and holding stage, release and holding stage, continuous clamping and holding stage, continuous release and holding stage, and final release stage. The calibration threshold ranges for the parameters to be calibrated are different for different control stages. An initial calibration parameter determination module is used to determine initial calibration parameters for multiple control stages based on the braking control data. The initial calibration parameter sending module is used to send the initial calibration parameters to the vehicle-side controller; A multi-set braking control data receiving module is used to receive multiple sets of braking control data determined by the vehicle-side controller based on the initial calibration parameters; The target calibration parameter determination module is used to determine the target calibration parameters for the corresponding control stage based on the multiple sets of braking control data, wherein the target calibration parameters are the set of braking control data with the maximum vehicle deceleration and / or the minimum yaw rate among the multiple sets of braking control data; The initial calibration parameter determination module is specifically used for: determining at least one parameter to be calibrated for the corresponding control stage based on the control stage flag bit; obtaining the calibration threshold range corresponding to the at least one parameter to be calibrated; and extracting initial calibration parameters within the calibration threshold range according to a set step size to obtain multiple initial calibration parameters. The initial calibration parameter distribution module is specifically used to: distribute the plurality of initial calibration parameters to the vehicle-side controller; The target calibration parameter determination module is specifically used to: determine target braking control data based on the multiple sets of braking control data; and use the initial calibration parameters corresponding to the target braking control data as the target calibration parameters of the parameters to be calibrated.

4. A device for determining calibration parameters, the device being applied to a vehicle-end controller, characterized in that, include: The braking control data transmission module is used to send braking control data to the cloud server for each braking condition, so that the cloud server can determine the initial calibration parameters for multiple control stages based on the braking control data. The braking conditions include low-adhesion condition, high-adhesion condition, split-road condition, and docked-road condition. The braking control data includes vehicle deceleration, yaw rate, and control stage flags. The control stage flags are used to characterize different control stages, including initial clamping stage, clamping and holding stage, release and holding stage, continuous clamping and holding stage, continuous release and holding stage, and final release stage. The calibration threshold ranges corresponding to the parameters to be calibrated in different control stages are different. An initial calibration parameter receiving module is used to receive initial calibration parameters sent by the cloud server. The initial calibration parameters are determined in the following way: the cloud server determines at least one parameter to be calibrated corresponding to the control stage based on the control stage flag bit; the calibration threshold range corresponding to the at least one parameter to be calibrated is obtained; and the initial calibration parameters are extracted within the calibration threshold range according to a set step size to obtain multiple initial calibration parameters. The initial calibration parameter receiving module is specifically used to: receive multiple initial calibration parameters sent by the cloud server; A multi-set braking control data determination module is used to determine multiple sets of braking control data based on the initial calibration parameters; A multi-set braking control data uploading module is used to upload the multi-set braking control data to the cloud server, so that the cloud server can determine the target calibration parameters for the corresponding control stage based on the multi-set braking control data. The target calibration parameters are the braking control data with the maximum vehicle deceleration and / or the minimum yaw rate among the multi-set braking control data. Based on the multiple sets of braking control data, the target calibration parameters for the corresponding control stage are determined, including: The target braking control data is determined based on the multiple sets of braking control data; The initial calibration parameters corresponding to the target braking control data are used as the target calibration parameters of the parameters to be calibrated.

5. An electronic device, characterized in that, The electronic device includes: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining calibration parameters as described in any one of claims 1 or 2.

6. A storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to perform the method for determining calibration parameters as described in any one of claims 1 or 2.

Images