A brake calibration control method and device for an autonomous vehicle and related equipment

Abstract

The application discloses a kind of brake calibration control method, device and related equipment of automatic driving car, the method includes: obtaining the target deceleration of to-be-detected vehicle under each preset opening degree;Obtain the multiple groups of preset deceleration-opening degree numerical value pairs of to-be-detected vehicle;Determine whether each group of preset deceleration-opening degree numerical value pairs is valid based on the target deceleration under each preset opening degree;If not, determine the deceleration range and obtain at least one target preset opening degree corresponding to the deceleration range, reacquire the target deceleration of to-be-detected vehicle under target preset opening degree, and return to revalidate;When each group of preset deceleration-opening degree numerical value pairs is valid, generate brake table based on each preset opening degree and the target deceleration corresponding to each preset opening degree.The application checks calibration data piece by piece from monotony and fitting degree, improves processing efficiency, and improves the rationality of calibration data through multi-stage verification, improves the pass rate of calibration data.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and more specifically, to a braking calibration control method, device, and related equipment for an autonomous vehicle. Background Technology

[0002] Brake calibration is a crucial step before any autonomous vehicle leaves the factory. It aims to map the deceleration of the autonomous vehicle to the actual brake pedal opening. Typically, the brake calibration process for autonomous vehicles requires operators to record data on multiple different brake pedal openings on a real road surface to obtain initial brake calibration data. This process involves a detailed and rigorous set of standards. If an operator violates any of these standards due to human error, the brake calibration data will be invalid, requiring all brake calibration data to be recorded again, resulting in significant time consumption and hindering work efficiency. Summary of the Invention

[0003] In view of this, this application provides a braking calibration control method, apparatus and related equipment for autonomous vehicles to solve at least one of the aforementioned technical problems.

[0004] To achieve the above objectives, the first aspect of this application provides a braking calibration control method for an autonomous vehicle, comprising:

[0005] The target deceleration of the vehicle to be detected is obtained at each preset opening degree, wherein the target deceleration corresponding to the first preset opening degree is greater than the target deceleration corresponding to the second preset opening degree, and the first preset opening degree is greater than the second preset opening degree.

[0006] The opening of the vehicle under test is obtained at each preset deceleration, resulting in multiple sets of preset deceleration-opening value pairs;

[0007] For each set of preset deceleration-opening value pairs, based on the target deceleration under each preset opening, determine whether the set of preset deceleration-opening value pairs is valid;

[0008] If not, determine the deceleration range based on the preset deceleration in the preset deceleration-opening value pair;

[0009] Based on the target deceleration under each preset opening degree, at least one target preset opening degree corresponding to the deceleration range is obtained, and the target deceleration of the vehicle to be detected under the target preset opening degree is obtained again. Then, the process returns to the step of determining whether the set of preset deceleration-opening degree value pairs is valid based on the target deceleration under each preset opening degree for each set of preset deceleration-opening degree value pairs.

[0010] When all preset deceleration-aperture values ​​are valid, a brake gauge is generated based on each preset aperture and the target deceleration corresponding to each preset aperture.

[0011] Preferably, the process of obtaining the target deceleration of the vehicle under test at each preset opening degree includes:

[0012] For each preset opening degree, obtain the deceleration of the vehicle to be detected at the preset opening degree;

[0013] Based on each preset opening degree and the corresponding deceleration, a preset opening degree-deceleration curve is generated, and it is determined whether the preset opening degree-deceleration curve is monotonically increasing.

[0014] If not, obtain the inflection point of the preset opening-deceleration curve, obtain the preset opening corresponding to the inflection point, and return to execute the step of obtaining the deceleration of the vehicle under test at the preset opening.

[0015] If so, the deceleration corresponding to each preset opening degree is determined as the target deceleration corresponding to the preset opening degree.

[0016] Preferably, the process of obtaining the deceleration of the vehicle under test at each preset opening degree includes:

[0017] Acquire the recorded data of the vehicle under test at each preset opening degree;

[0018] For each preset opening, determine whether the recorded data under the preset opening conforms to the preset specifications;

[0019] If not, reacquire the recorded data of the vehicle under test at the preset opening degree, and return to the step of determining whether the recorded data at the preset opening degree conforms to the preset specification;

[0020] When the recorded data at each preset opening degree all meet the preset specifications, the deceleration of the vehicle under test at the preset opening degree is obtained based on the recorded data at each preset opening degree.

[0021] Preferably, the process of determining whether the recorded data at the preset opening degree conforms to the preset specifications includes:

[0022] Determine whether the recorded data includes a recording process of sequential acceleration, deceleration, and deceleration to a preset speed, and obtain a first determination result;

[0023] During the recording process, it is determined whether there is a brake switch or a throttle switch, and a second determination result is obtained;

[0024] During the recording of the data, it is determined whether the slope of the road surface is less than a preset slope threshold, and a third determination result is obtained.

[0025] Determine whether the recorded data contains the preset steps to obtain a fourth determination result;

[0026] If the first judgment result, the third judgment result, and the fourth judgment result are all yes, and the second judgment result is no, then the recorded data is determined to conform to the preset specifications.

[0027] Preferably, the process of obtaining the deceleration of the vehicle under test at each preset opening based on the recorded data includes:

[0028] Based on the recorded data at each preset opening degree, the candidate deceleration of the vehicle to be detected and the slope of the road surface at the preset opening degree are obtained.

[0029] Subtract the component of the slope that affects the candidate deceleration from the candidate deceleration to obtain the deceleration of the vehicle under test at the preset opening.

[0030] Preferably, before reacquiring the target deceleration of the vehicle under test at the target preset opening, the method further includes:

[0031] The number of times the step of re-acquiring the target deceleration of the vehicle under test at the preset target opening degree is executed is counted;

[0032] If the number of executions exceeds a preset value, return to the step of obtaining the target deceleration of the vehicle under test at each preset opening degree.

[0033] Preferably, the process of determining whether the set of preset deceleration-opening value pairs is valid based on the target deceleration at each preset opening degree includes:

[0034] Based on the target deceleration under each preset opening degree, the estimated opening degree corresponding to the preset deceleration is obtained by fitting, wherein the preset deceleration is the preset deceleration in the set of preset deceleration-opening degree value pairs;

[0035] Calculate the estimated opening degree and the error of the opening degree, wherein the opening degree is the opening degree in the preset deceleration-opening degree value pair;

[0036] If the error is within the preset error range, the preset deceleration-opening value pair is determined to be valid;

[0037] If the error is outside the preset error range, the preset deceleration-opening value set is determined to be invalid.

[0038] A second aspect of this application provides a brake calibration control device for an autonomous vehicle, comprising:

[0039] The calibration data acquisition unit is used to acquire the target deceleration of the vehicle to be tested at each preset opening degree, wherein the target deceleration corresponding to the first preset opening degree is greater than the target deceleration corresponding to the second preset opening degree, and the first preset opening degree is greater than the second preset opening degree.

[0040] The verification data acquisition unit is used to acquire the opening degree of the vehicle under test at each preset deceleration, and obtain multiple sets of preset deceleration-opening degree value pairs;

[0041] The calibration data verification unit is used to determine whether the preset deceleration-opening value pair is valid for each preset deceleration-opening value pair based on the target deceleration under each preset opening.

[0042] The retest range determination unit is used to determine the deceleration range based on the preset deceleration in the set of preset deceleration-opening value pairs when the calibration data verification unit determines that the set of preset deceleration-opening value pairs is invalid.

[0043] The single-step data acquisition unit is used to acquire at least one target preset opening corresponding to the deceleration range based on the target deceleration under each preset opening, and to reacquire the target deceleration of the vehicle to be detected under the target preset opening, and return to execute the calibration data verification unit.

[0044] The brake gauge determination unit is used to generate a brake gauge based on each preset opening and the target deceleration corresponding to each preset opening when all preset deceleration-opening value pairs are valid.

[0045] A third aspect of this application provides a braking calibration control device for an autonomous vehicle, comprising: a memory and a processor;

[0046] The memory is used to store programs;

[0047] The processor is used to execute the program to implement the various steps of the above-described braking calibration control method for autonomous vehicles.

[0048] A fourth aspect of this application provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the various steps of the braking calibration control method for an autonomous vehicle as described above.

[0049] As can be seen from the above technical solution, this application first obtains the target deceleration of the vehicle under test at each preset opening degree to obtain calibration data. The target deceleration corresponding to the first preset opening degree is greater than the target deceleration corresponding to the second preset opening degree, and the first preset opening degree is greater than the second preset opening degree. That is, as the preset opening degree increases, the deceleration corresponding to the preset opening degree also increases, showing a monotonically increasing trend overall. It is understandable that if some data points occur, causing the calibration data to not increase monotonically, it is necessary to re-acquire the data for these abnormal data points to correct the errors in a timely manner. Then, the opening degree of the vehicle under test at each preset deceleration degree is obtained, resulting in multiple sets of preset deceleration-opening degree value pairs. These preset deceleration-opening degree value pairs are used to verify the aforementioned calibration data. Next, for each set of preset deceleration-opening degree value pairs, based on the target deceleration at each preset opening degree, it is determined whether the set of preset deceleration-opening degree value pairs is valid. If it is determined that the set of preset deceleration-opening degree value pairs is invalid, then the deceleration range is determined based on the preset deceleration in the set of preset deceleration-opening degree value pairs. It is understood that the deceleration range is the deceleration range that needs to be recalibrated; that is, each preset opening degree where the target deceleration falls within the deceleration range needs to be recalibrated. Based on the target deceleration under each preset opening degree, at least one target preset opening degree corresponding to the deceleration range is obtained, and the target deceleration of the vehicle under test under the target preset opening degree is re-obtained and re-verified. That is, the step of determining whether the set of preset deceleration-opening value pairs is valid based on the target deceleration under each preset opening degree is returned to the execution. Finally, when all sets of preset deceleration-opening value pairs are valid, a brake gauge is generated based on each preset opening degree and the target deceleration corresponding to each preset opening degree. This application verifies the calibration data line by line from the perspectives of monotonicity and goodness of fit. When a problem is found, the calibration of a certain data point is re-executed, which improves the processing efficiency. At the same time, the multi-level verification improves the rationality of the calibration data and increases the pass rate of the calibration data. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the braking calibration control method for an autonomous vehicle disclosed in an embodiment of this application;

[0052] Figure 2This is a schematic diagram of the brake calibration control device for an autonomous vehicle disclosed in an embodiment of this application;

[0053] Figure 3 This is a schematic diagram of the brake calibration control device for an autonomous vehicle disclosed in an embodiment of this application. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] The braking calibration control method for autonomous vehicles provided in this application is described below. Please refer to... Figure 1 The braking calibration control method for autonomous vehicles provided in this application embodiment may include the following steps:

[0056] Step S101: Obtain the target deceleration of the vehicle to be detected at each preset opening degree.

[0057] Specifically, the target deceleration corresponding to the first preset opening degree is greater than the target deceleration corresponding to the second preset opening degree, where the first preset opening degree is greater than the second preset opening degree. That is, as the preset opening degree increases, the deceleration corresponding to the preset opening degree also increases, showing a monotonically increasing trend overall.

[0058] For example, these preset openings may include:

[0059] {0,0.05,0.1,0.15,0.2,0.25,0.3,0.35,0.4,0.45,0.5,0.55,0.6,0.65,0.7,0.8}

[0060] Each preset opening degree and the corresponding deceleration form the calibration data of the vehicle under test.

[0061] Step S102: Obtain the opening degree of the vehicle under test at each preset deceleration, and obtain multiple sets of preset deceleration-opening degree value pairs.

[0062] For example, these preset decelerations may include:

[0063] {-0.5,-1,-1.5,-2,-3,-4}

[0064] The preset deceleration-opening values ​​of each group of vehicles under test are used to verify the calibration data obtained in step S101.

[0065] Step S103: For each set of preset deceleration-opening value pairs, determine whether the set of preset deceleration-opening value pairs is valid based on the target deceleration under each preset opening.

[0066] If not, proceed to step S104 to recalibrate the relevant data. If yes, retain the preset deceleration-opening value pair.

[0067] For example, an opening-deceleration curve can be fitted based on the target deceleration under each preset opening degree. By finding the opening fitting value corresponding to the preset deceleration in the opening-deceleration curve and comparing the opening fitting value with the opening in the set of preset deceleration-opening value pairs, a conclusion can be drawn as to whether the set of preset deceleration-opening values ​​is effective.

[0068] Step S104: Determine the deceleration range based on the preset deceleration in this set of preset deceleration-opening value pairs.

[0069] Since the target decelerations obtained in step S101 for each preset opening degree are discrete values, these values ​​may not necessarily include each preset deceleration. Therefore, when it is determined that a set of preset deceleration-opening degree value pairs is invalid, it is also necessary to locate a certain deceleration range based on the preset deceleration in the value pair, and the opening degree values ​​corresponding to the deceleration range in step S101 need to be recalibrated.

[0070] Step S105: Based on the target deceleration under each preset opening degree, obtain at least one target preset opening degree corresponding to the deceleration range, and re-obtain the target deceleration of the vehicle to be detected under the target preset opening degree, and return to execute step S103.

[0071] For example, suppose that the preset opening (x) and its target deceleration (y) obtained in step S101 are as follows:

[0072] {x:0.00,y:0.00},{x:0.05,y:0.00},

[0073] {x:0.10,y:0.05},{x:0.15,y:0.10},

[0074] {x:0.20,y:0.20},{x:0.25,y:0.62},

[0075] {x:0.30,y:1.10},{x:0.35,y:1.66},

[0076] {x:0.40,y:2.81},{x:0.45,y:3.35},

[0077] {x:0.50,y:4.17},{x:0.55,y:5.36},

[0078] {x:0.60,y:6.17},{x:0.65,y:6.97},

[0079] {x:0.70,y:7.54},{x:0.80,y:9.34}

[0080] Additionally, suppose that among the multiple preset deceleration-opening value pairs obtained in step S102, the preset deceleration-opening value pair corresponding to preset deceleration -4 fails the verification in step S103.

[0081] Therefore, the deceleration range can be set to within one unit before and after -4, that is, between -3 and -5. Corresponding to the above preset opening and its target deceleration, the target preset opening can be obtained as 0.45 and 0.50.

[0082] It is understandable that for each preset opening degree, when one of the target decelerations changes, the fitting opening degree-deceleration curve will also change. Therefore, it is necessary to re-perform the verification process for the multiple sets of preset deceleration-opening values ​​obtained in step S102.

[0083] Step S106: When all preset deceleration-opening value pairs are valid, a brake gauge is generated based on each preset opening and the target deceleration corresponding to each preset opening.

[0084] This application first obtains the target deceleration of the vehicle under test at various preset opening degrees to obtain calibration data. The target deceleration corresponding to the first preset opening degree is greater than the target deceleration corresponding to the second preset opening degree, and the first preset opening degree is greater than the second preset opening degree. That is, as the preset opening degree increases, the deceleration corresponding to the preset opening degree also increases, showing an overall monotonically increasing trend. It is understood that if some data points occur that cause the calibration data to not increase monotonically, it is necessary to re-acquire the data for these abnormal data points to correct the errors in a timely manner. Then, the opening degree of the vehicle under test at each preset deceleration degree is obtained, resulting in multiple sets of preset deceleration-opening degree value pairs. These preset deceleration-opening degree value pairs are used to verify the aforementioned calibration data. Next, for each set of preset deceleration-opening degree value pairs, based on the target deceleration at each preset opening degree, it is determined whether the set of preset deceleration-opening degree value pairs is valid. If it is determined that the set of preset deceleration-opening degree value pairs is invalid, then the deceleration range is determined based on the preset deceleration in the set of preset deceleration-opening degree value pairs. It is understood that the deceleration range is the deceleration range that needs to be recalibrated; that is, each preset opening degree where the target deceleration falls within the deceleration range needs to be recalibrated. Based on the target deceleration under each preset opening degree, at least one target preset opening degree corresponding to the deceleration range is obtained, and the target deceleration of the vehicle under test under the target preset opening degree is re-obtained and re-verified. That is, the step of determining whether the set of preset deceleration-opening value pairs is valid based on the target deceleration under each preset opening degree is returned to the execution. Finally, when all sets of preset deceleration-opening value pairs are valid, a brake gauge is generated based on each preset opening degree and the target deceleration corresponding to each preset opening degree. This application verifies the calibration data line by line from the perspectives of monotonicity and goodness of fit. When a problem is found, the calibration of a certain data point is re-executed, which improves the processing efficiency. At the same time, the multi-level verification improves the rationality of the calibration data and increases the pass rate of the calibration data.

[0085] In some embodiments of this application, step S101, which involves obtaining the target deceleration of the vehicle under test at various preset opening degrees, may include:

[0086] S1, for each preset opening, obtain the deceleration of the vehicle to be detected at that preset opening.

[0087] Typically, the standard operating procedure for obtaining deceleration at a preset opening degree is as follows:

[0088] 1. The operator drives the vehicle to be inspected onto a closed, unobstructed straight road and controls the steering wheel;

[0089] 2. Data recording begins after the vehicle comes to a complete stop. After about 5 seconds, the vehicle will automatically accelerate to 30 km / h and then begin to decelerate.

[0090] Once the vehicle begins recording data, the autonomous driving module controls the accelerator and brakes. The autonomous driving module does not take over the steering wheel and will not automatically avoid obstacles; the steering wheel is controlled by the operator.

[0091] 3. Data recording ends when the vehicle comes to a complete stop.

[0092] S2: Based on each preset opening degree and the corresponding deceleration, generate a preset opening degree-deceleration curve, and determine whether the preset opening degree-deceleration curve is monotonically increasing. If yes, execute S3; if no, execute S4.

[0093] S3, the deceleration corresponding to each preset opening degree is determined as the target deceleration corresponding to the preset opening degree.

[0094] S4, obtain the inflection point of the preset opening-deceleration curve, obtain the preset opening corresponding to the inflection point, and return to execute the step in S1 to obtain the deceleration of the vehicle under test at the preset opening.

[0095] Understandably, when it is found that the preset opening-deceleration curve is not monotonically increasing, in order to save time, it is only necessary to re-record the data at the inflection point.

[0096] In some embodiments of this application, the process of obtaining the deceleration of the vehicle to be detected at each preset opening degree in S1 may include:

[0097] S11, acquire the recorded data of the vehicle to be tested at each preset opening degree.

[0098] S12: For each preset opening, determine whether the recorded data at that preset opening conforms to the preset specifications. If not, proceed to S13.

[0099] S13, reacquire the recorded data of the vehicle to be tested under the preset opening degree, and return to execute the step in S12 to determine whether the recorded data under the preset opening degree meets the preset specifications;

[0100] S14, when the recorded data under each preset opening degree all meet the preset specifications, obtain the deceleration of the vehicle to be tested under the preset opening degree based on the recorded data under each preset opening degree.

[0101] In some embodiments of this application, the process of determining whether the recorded data under the preset opening degree in S12 conforms to the preset specification may include:

[0102] S121, determine whether the recorded data includes a recording process of sequential acceleration, deceleration, and deceleration to a preset speed, and obtain the first judgment result.

[0103] S122, determine whether there is a brake switch or throttle switch during the recording process, and obtain the second judgment result.

[0104] S123, determine whether the slope of the road surface is less than the preset slope threshold during the recording of the recorded data, and obtain the third judgment result.

[0105] S124, determine whether the recorded data contains the preset steps, and obtain the fourth judgment result.

[0106] S125, if the first judgment result, the third judgment result, and the fourth judgment result are all yes, and the second judgment result is no, then the recorded data is determined to conform to the preset specifications.

[0107] Similarly, in step S102, when obtaining the opening degree of the vehicle under test at each preset deceleration, it is also necessary to perform corresponding standardization tests on the recorded data to ensure that the multiple sets of preset deceleration-opening degree values ​​are obtained under a standard environment.

[0108] In some embodiments of this application, the process of obtaining the deceleration of the vehicle to be detected at each preset opening based on the recorded data at each preset opening may include:

[0109] S141, based on the recorded data at each preset opening degree, obtain the candidate deceleration of the vehicle to be detected and the slope of the road surface at that preset opening degree.

[0110] S142, subtract the component of the slope on the candidate deceleration from the candidate deceleration to obtain the deceleration of the vehicle under test at the preset opening.

[0111] In some embodiments of this application, before step S105 reacquires the target deceleration of the vehicle to be detected at the target preset opening, the following may be included:

[0112] S1, count the number of times the step of re-acquiring the target deceleration of the vehicle under test at the target preset opening degree is executed.

[0113] S2, if the number of executions exceeds the preset value, return to step S101 to recalibrate the data under all preset openings.

[0114] For example, the number of executions can be set to 3. If the verification fails more than 3 times in step S103, it is considered that there is a significant problem with the regrouped calibration data, and it is necessary to return to step S101 to recalibrate the deceleration under all preset openings.

[0115] In some embodiments of this application, step S103, which determines whether the set of preset deceleration-opening value pairs is valid based on the target deceleration at each preset opening degree, may include:

[0116] S1, based on the target deceleration under each preset opening degree, fits to obtain the estimated opening degree corresponding to the preset deceleration.

[0117] The preset deceleration is the preset deceleration in the preset deceleration-opening value pair.

[0118] S2, calculate the estimated opening degree and the error of the opening degree.

[0119] Wherein, the opening degree is the opening degree in the preset deceleration-opening degree value pair, that is, the data detected in step S102.

[0120] S3, if the error is within the preset error range, determine that the preset deceleration-opening value set is valid.

[0121] S4. If the error is outside the preset error range, the preset deceleration-opening value set is determined to be invalid.

[0122] The braking calibration control device for an autonomous vehicle provided in the embodiments of this application will be described below. The braking calibration control device for an autonomous vehicle described below can be referred to in correspondence with the braking calibration control method for an autonomous vehicle described above.

[0123] Please see Figure 2 The braking calibration control device for autonomous vehicles provided in this application embodiment may include:

[0124] The calibration data acquisition unit 21 is used to acquire the target deceleration of the vehicle to be tested at each preset opening degree, wherein the target deceleration corresponding to the first preset opening degree is greater than the target deceleration corresponding to the second preset opening degree, and the first preset opening degree is greater than the second preset opening degree.

[0125] The verification data acquisition unit 22 is used to acquire the opening degree of the vehicle under test at each preset deceleration, and obtain multiple sets of preset deceleration-opening degree value pairs.

[0126] The calibration data verification unit 23 is used to determine whether the preset deceleration-opening value pair is valid based on the target deceleration under each preset opening for each preset deceleration-opening value pair;

[0127] The retest range determination unit 24 is used to determine the deceleration range based on the preset deceleration in the set of preset deceleration-opening value pairs when the calibration data verification unit determines that the set of preset deceleration-opening value pairs is invalid.

[0128] The single-step data acquisition unit 25 is used to acquire at least one target preset opening corresponding to the deceleration range based on the target deceleration under each preset opening, and reacquire the target deceleration of the vehicle to be detected under the target preset opening, and return to execute the calibration data verification unit.

[0129] The brake gauge determination unit 26 is used to generate a brake gauge based on each preset opening and the target deceleration corresponding to each preset opening when all preset deceleration-opening value pairs are valid.

[0130] In some embodiments of this application, the process by which the calibration data acquisition unit 21 acquires the target deceleration of the vehicle under test at various preset opening degrees may include:

[0131] For each preset opening degree, obtain the deceleration of the vehicle to be detected at the preset opening degree;

[0132] Based on each preset opening degree and the corresponding deceleration, a preset opening degree-deceleration curve is generated, and it is determined whether the preset opening degree-deceleration curve is monotonically increasing.

[0133] If not, obtain the inflection point of the preset opening-deceleration curve, obtain the preset opening corresponding to the inflection point, and return to execute the step of obtaining the deceleration of the vehicle under test at the preset opening.

[0134] If so, the deceleration corresponding to each preset opening degree is determined as the target deceleration corresponding to the preset opening degree.

[0135] In some embodiments of this application, the process by which the calibration data acquisition unit 21 acquires the deceleration of the vehicle under test at each preset opening degree may include:

[0136] Acquire the recorded data of the vehicle under test at each preset opening degree;

[0137] For each preset opening, determine whether the recorded data under the preset opening conforms to the preset specifications;

[0138] If not, reacquire the recorded data of the vehicle under test at the preset opening degree, and return to the step of determining whether the recorded data at the preset opening degree conforms to the preset specification;

[0139] When the recorded data at each preset opening degree all meet the preset specifications, the deceleration of the vehicle under test at the preset opening degree is obtained based on the recorded data at each preset opening degree.

[0140] In some embodiments of this application, the process by which the calibration data acquisition unit 21 determines whether the recorded data at the preset opening degree conforms to the preset specification may include:

[0141] Determine whether the recorded data includes a recording process of sequential acceleration, deceleration, and deceleration to a preset speed, and obtain a first determination result;

[0142] During the recording process, it is determined whether there is a brake switch or a throttle switch, and a second determination result is obtained;

[0143] During the recording of the data, it is determined whether the slope of the road surface is less than a preset slope threshold, and a third determination result is obtained.

[0144] Determine whether the recorded data contains the preset steps to obtain a fourth determination result;

[0145] If the first judgment result, the third judgment result, and the fourth judgment result are all yes, and the second judgment result is no, then the recorded data is determined to conform to the preset specifications.

[0146] In some embodiments of this application, the process by which the calibration data acquisition unit 21 acquires the deceleration of the vehicle under test at each preset opening based on the recorded data at each preset opening may include:

[0147] Based on the recorded data at each preset opening degree, the candidate deceleration of the vehicle to be detected and the slope of the road surface at the preset opening degree are obtained.

[0148] Subtract the component of the slope that affects the candidate deceleration from the candidate deceleration to obtain the deceleration of the vehicle under test at the preset opening.

[0149] In some embodiments of this application, the brake calibration control device for the autonomous vehicle may further include an invalid statistics unit, used for:

[0150] Before reacquiring the target deceleration of the vehicle under test at the target preset opening, count the number of times the step of reacquiring the target deceleration of the vehicle under test at the target preset opening is executed;

[0151] If the number of executions exceeds a preset value, return to the step of obtaining the target deceleration of the vehicle under test at each preset opening degree.

[0152] In some embodiments of this application, the process by which the calibration data verification unit 23 determines whether the set of preset deceleration-opening value pairs is valid based on the target deceleration at each preset opening degree may include:

[0153] Based on the target deceleration under each preset opening degree, the estimated opening degree corresponding to the preset deceleration is obtained by fitting, wherein the preset deceleration is the preset deceleration in the set of preset deceleration-opening degree value pairs;

[0154] Calculate the estimated opening degree and the error of the opening degree, wherein the opening degree is the opening degree in the preset deceleration-opening degree value pair;

[0155] If the error is within the preset error range, the preset deceleration-opening value pair is determined to be valid;

[0156] If the error is outside the preset error range, the preset deceleration-opening value set is determined to be invalid.

[0157] The brake calibration control device for autonomous vehicles provided in this application embodiment can be applied to brake calibration control equipment for autonomous vehicles, such as computers. Optionally, Figure 3 The hardware structure block diagram of the brake calibration control device for an autonomous vehicle is shown, with reference to... Figure 3 The hardware structure of the braking calibration control device for autonomous vehicles may include: at least one processor 31, at least one communication interface 32, at least one memory 33 and at least one communication bus 34.

[0158] In this embodiment, the number of processor 31, communication interface 32, memory 33 and communication bus 34 is at least one, and processor 31, communication interface 32 and memory 33 communicate with each other through communication bus 34;

[0159] The processor 31 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0160] The memory 33 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device;

[0161] The memory 33 stores a program, and the processor 31 can call the program stored in the memory 33. The program is used for:

[0162] The target deceleration of the vehicle to be detected is obtained at each preset opening degree, wherein the target deceleration corresponding to the first preset opening degree is greater than the target deceleration corresponding to the second preset opening degree, and the first preset opening degree is greater than the second preset opening degree.

[0163] The opening of the vehicle under test is obtained at each preset deceleration, resulting in multiple sets of preset deceleration-opening value pairs;

[0164] For each set of preset deceleration-opening value pairs, based on the target deceleration under each preset opening, determine whether the set of preset deceleration-opening value pairs is valid;

[0165] If not, determine the deceleration range based on the preset deceleration in the preset deceleration-opening value pair;

[0166] Based on the target deceleration under each preset opening degree, at least one target preset opening degree corresponding to the deceleration range is obtained, and the target deceleration of the vehicle to be detected under the target preset opening degree is obtained again. Then, the process returns to the step of determining whether the set of preset deceleration-opening degree value pairs is valid based on the target deceleration under each preset opening degree for each set of preset deceleration-opening degree value pairs.

[0167] When all preset deceleration-aperture values ​​are valid, a brake gauge is generated based on each preset aperture and the target deceleration corresponding to each preset aperture.

[0168] Optionally, the refined and extended functions of the program can be found in the description above.

[0169] This application embodiment also provides a storage medium that can store a program suitable for execution by a processor, the program being used for:

[0170] The target deceleration of the vehicle to be detected is obtained at each preset opening degree, wherein the target deceleration corresponding to the first preset opening degree is greater than the target deceleration corresponding to the second preset opening degree, and the first preset opening degree is greater than the second preset opening degree.

[0171] The opening of the vehicle under test is obtained at each preset deceleration, resulting in multiple sets of preset deceleration-opening value pairs;

[0172] For each set of preset deceleration-opening value pairs, based on the target deceleration under each preset opening, determine whether the set of preset deceleration-opening value pairs is valid;

[0173] If not, determine the deceleration range based on the preset deceleration in the preset deceleration-opening value pair;

[0174] Based on the target deceleration under each preset opening degree, at least one target preset opening degree corresponding to the deceleration range is obtained, and the target deceleration of the vehicle to be detected under the target preset opening degree is obtained again. Then, the process returns to the step of determining whether the set of preset deceleration-opening degree value pairs is valid based on the target deceleration under each preset opening degree for each set of preset deceleration-opening degree value pairs.

[0175] When all preset deceleration-aperture values ​​are valid, a brake gauge is generated based on each preset aperture and the target deceleration corresponding to each preset aperture.

[0176] Optionally, the refined and extended functions of the program can be found in the description above.

[0177] In summary:

[0178] This application first obtains the target deceleration of the vehicle under test at various preset opening degrees to obtain calibration data. The target deceleration corresponding to the first preset opening degree is greater than the target deceleration corresponding to the second preset opening degree, and the first preset opening degree is greater than the second preset opening degree. That is, as the preset opening degree increases, the deceleration corresponding to the preset opening degree also increases, showing an overall monotonically increasing trend. It is understood that if some data points occur that cause the calibration data to not increase monotonically, it is necessary to re-acquire the data for these abnormal data points to correct the errors in a timely manner. Then, the opening degree of the vehicle under test at each preset deceleration degree is obtained, resulting in multiple sets of preset deceleration-opening degree value pairs. These preset deceleration-opening degree value pairs are used to verify the aforementioned calibration data. Next, for each set of preset deceleration-opening degree value pairs, based on the target deceleration at each preset opening degree, it is determined whether the set of preset deceleration-opening degree value pairs is valid. If it is determined that the set of preset deceleration-opening degree value pairs is invalid, then the deceleration range is determined based on the preset deceleration in the set of preset deceleration-opening degree value pairs. It is understood that the deceleration range is the deceleration range that needs to be recalibrated; that is, each preset opening degree where the target deceleration falls within the deceleration range needs to be recalibrated. Based on the target deceleration under each preset opening degree, at least one target preset opening degree corresponding to the deceleration range is obtained, and the target deceleration of the vehicle under test under the target preset opening degree is re-obtained and re-verified. That is, the step of determining whether the set of preset deceleration-opening value pairs is valid based on the target deceleration under each preset opening degree is returned to the execution. Finally, when all sets of preset deceleration-opening value pairs are valid, a brake gauge is generated based on each preset opening degree and the target deceleration corresponding to each preset opening degree. This application verifies the calibration data line by line from the perspectives of monotonicity and goodness of fit. When a problem is found, the calibration of a certain data point is re-executed, which improves the processing efficiency. At the same time, the multi-level verification improves the rationality of the calibration data and increases the pass rate of the calibration data.

[0179] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0180] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0181] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A braking calibration control method for an autonomous vehicle, characterized in that, include: The target deceleration of the vehicle to be detected is obtained at each preset opening degree, wherein the target deceleration corresponding to the first preset opening degree is greater than the target deceleration corresponding to the second preset opening degree, and the first preset opening degree is greater than the second preset opening degree. The opening of the vehicle under test is obtained at each preset deceleration, resulting in multiple sets of preset deceleration-opening value pairs; For each set of preset deceleration-opening value pairs, based on the target deceleration under each preset opening, determine whether the set of preset deceleration-opening value pairs is valid; If not, determine the deceleration range based on the preset deceleration in the preset deceleration-opening value pair; Based on the target deceleration under each preset opening degree, at least one target preset opening degree corresponding to the deceleration range is obtained, and the target deceleration of the vehicle to be detected under the target preset opening degree is obtained again. Then, the process returns to the step of determining whether the set of preset deceleration-opening degree value pairs is valid based on the target deceleration under each preset opening degree for each set of preset deceleration-opening degree value pairs. When all preset deceleration-aperture values ​​are valid, a brake gauge is generated based on each preset aperture and the target deceleration corresponding to each preset aperture. The process of determining whether the set of preset deceleration-opening value pairs is valid based on the target deceleration at each preset opening degree includes: Based on the target deceleration under each preset opening degree, the estimated opening degree corresponding to the preset deceleration is obtained by fitting, wherein the preset deceleration is the preset deceleration in the set of preset deceleration-opening degree value pairs; Calculate the estimated opening degree and the error of the opening degree, wherein the opening degree is the opening degree in the preset deceleration-opening degree value pair; If the error is within the preset error range, the preset deceleration-opening value pair is determined to be valid; If the error is outside the preset error range, the preset deceleration-opening value set is determined to be invalid.

2. The method according to claim 1, characterized in that, The process of obtaining the target deceleration of the vehicle under test at various preset opening degrees includes: For each preset opening degree, obtain the deceleration of the vehicle to be detected at the preset opening degree; Based on each preset opening degree and the corresponding deceleration, a preset opening degree-deceleration curve is generated, and it is determined whether the preset opening degree-deceleration curve is monotonically increasing. If not, obtain the inflection point of the preset opening-deceleration curve, obtain the preset opening corresponding to the inflection point, and return to execute the step of obtaining the deceleration of the vehicle under test at the preset opening. If so, the deceleration corresponding to each preset opening degree is determined as the target deceleration corresponding to the preset opening degree.

3. The method according to claim 2, characterized in that, The process of obtaining the deceleration of the vehicle under test at each preset opening degree includes: Acquire the recorded data of the vehicle under test at each preset opening degree; For each preset opening, determine whether the recorded data under the preset opening conforms to the preset specifications; If not, reacquire the recorded data of the vehicle under test at the preset opening degree, and return to the step of determining whether the recorded data at the preset opening degree conforms to the preset specification; When the recorded data at each preset opening degree all meet the preset specifications, the deceleration of the vehicle under test at the preset opening degree is obtained based on the recorded data at each preset opening degree.

4. The method according to claim 3, characterized in that, The process of determining whether the recorded data at the preset opening degree conforms to the preset specifications includes: Determine whether the recorded data includes a recording process of sequential acceleration, deceleration, and deceleration to a preset speed, and obtain a first determination result; During the recording process, it is determined whether there is a brake switch or a throttle switch, and a second determination result is obtained; During the recording of the data, it is determined whether the slope of the road surface is less than a preset slope threshold, and a third determination result is obtained. Determine whether the recorded data contains the preset steps to obtain a fourth determination result; If the first judgment result, the third judgment result, and the fourth judgment result are all yes, and the second judgment result is no, then the recorded data is determined to conform to the preset specifications.

5. The method according to claim 3, characterized in that, The process of obtaining the deceleration of the vehicle under test at each preset opening based on the recorded data includes: Based on the recorded data at each preset opening degree, the candidate deceleration of the vehicle to be detected and the slope of the road surface at the preset opening degree are obtained. Subtract the component of the slope that affects the candidate deceleration from the candidate deceleration to obtain the deceleration of the vehicle under test at the preset opening.

6. The method according to claim 1, characterized in that, Before reacquiring the target deceleration of the vehicle under test at the target preset opening, the process also includes: The number of times the step of re-acquiring the target deceleration of the vehicle under test at the preset target opening degree is executed is counted; If the number of executions exceeds a preset value, return to the step of obtaining the target deceleration of the vehicle under test at each preset opening degree.

7. A brake calibration control device for an autonomous vehicle, characterized in that, include: The calibration data acquisition unit is used to acquire the target deceleration of the vehicle to be tested at each preset opening degree, wherein the target deceleration corresponding to the first preset opening degree is greater than the target deceleration corresponding to the second preset opening degree, and the first preset opening degree is greater than the second preset opening degree. The verification data acquisition unit is used to acquire the opening degree of the vehicle under test at each preset deceleration, and obtain multiple sets of preset deceleration-opening degree value pairs; The calibration data verification unit is used to determine whether the preset deceleration-opening value pair is valid for each preset deceleration-opening value pair based on the target deceleration under each preset opening. The retest range determination unit is used to determine the deceleration range based on the preset deceleration in the set of preset deceleration-opening value pairs when the calibration data verification unit determines that the set of preset deceleration-opening value pairs is invalid. The single-step data acquisition unit is used to acquire at least one target preset opening corresponding to the deceleration range based on the target deceleration under each preset opening, and to reacquire the target deceleration of the vehicle to be detected under the target preset opening, and return to execute the calibration data verification unit. The brake gauge determination unit is used to generate a brake gauge based on each preset opening and the target deceleration corresponding to each preset opening when all preset deceleration-opening value pairs are valid. The process of determining whether the set of preset deceleration-opening value pairs is valid based on the target deceleration at each preset opening degree includes: Based on the target deceleration under each preset opening degree, the estimated opening degree corresponding to the preset deceleration is obtained by fitting, wherein the preset deceleration is the preset deceleration in the set of preset deceleration-opening degree value pairs; Calculate the estimated opening degree and the error of the opening degree, wherein the opening degree is the opening degree in the preset deceleration-opening degree value pair; If the error is within the preset error range, the preset deceleration-opening value pair is determined to be valid; If the error is outside the preset error range, the preset deceleration-opening value set is determined to be invalid.

8. A brake calibration control device for an autonomous vehicle, characterized in that, include: Memory and processor; The memory is used to store programs; The processor is used to execute the program to implement the various steps of the braking calibration control method for an autonomous vehicle as described in any one of claims 1 to 6.

9. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements each step of the braking calibration control method for an autonomous vehicle as described in any one of claims 1 to 6.

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