Calibration method, system, vehicle and medium for force sensor on caliper

Abstract

The present invention provides a method, system, vehicle and medium for calibrating a force sensor on a caliper, which relate to the field of vehicle technology, and include: clamping a test fixture provided with a second force sensor on a clamping part of the caliper, providing a first force sensor to be calibrated on a movable part of the caliper, and obtaining a first force value pushed by the movable part collected by the first force sensor when the movable part pushes the clamping part connected thereto, and obtaining a second force value of the clamping part collected by the second force sensor, and then calibrating the parameters of the first force sensor according to the first force value and the second force value, thereby improving the accuracy of the clamping force of the clamping part tested by the first force sensor, thereby ensuring the accuracy of the closed-loop control of the clamping force.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a method, system, vehicle and medium for calibrating a force sensor on a caliper. Background Art

[0002] At present, motor vehicles usually use hydraulic brakes. Compared with hydraulic brake systems, EMB (Electromechanical Brake) systems have advantages such as simple layout and fast response. In the EBM system, a force sensor is built into the caliper. The force sensor is used to measure the clamping force of the caliper clamping the brake disc, and the closed-loop control of the system is achieved through the clamping force. The accuracy of the force sensor measurement may change due to factors such as the use and material of the caliper, which will affect the accuracy of the closed-loop control. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a method, system, vehicle and medium for calibrating a force sensor on a caliper.

[0004] According to a first aspect of an embodiment of the present disclosure, a method for calibrating a force sensor on a caliper is provided, wherein the caliper comprises a clamping portion and a movable portion, wherein the movable portion is connected to the clamping portion, and the movable portion is used to clamp the clamping portion when the clamping portion is pushed; a first force sensor to be calibrated is provided on the movable portion, and the clamping portion is used to clamp a test fixture provided with a second force sensor; the method comprises: when the movable portion pushes the clamping portion, obtaining a first force value pushed by the movable portion collected by the first force sensor, and obtaining a second force value clamped by the clamping portion collected by the second force sensor; and calibrating parameters of the first force sensor according to the first force value and the second force value.

[0005] Optionally, calibrating the parameters of the first force sensor according to the first force value and the second force value includes: obtaining a determination coefficient according to the first force value and the second force value; and calibrating the parameters of the first force sensor according to the determination coefficient.

[0006] Optionally, calibrating the parameters of the first force sensor according to the determination coefficient includes: if the determination coefficient is greater than a preset threshold value, calibrating the parameters of the first force sensor according to the second force value.

[0007] Optionally, obtaining the first force value pushed by the movable part collected by the first force sensor includes: obtaining the electrical signal collected by the first force sensor; and obtaining the first force value corresponding to the electrical signal according to a first mapping relationship, wherein the first mapping relationship includes a correspondence between the electrical signal and the first force value.

[0008] Optionally, the parameters of the first force sensor are calibrated in the following manner: a second mapping relationship between the electrical signal and the second force value is established, and the first mapping relationship is updated by the second mapping relationship.

[0009] Optionally, the number of the second force sensors is a preset number, and obtaining the second force value of the clamping portion collected by the second force sensor includes: obtaining the third force value collected by each of the preset number of second force sensors to obtain a preset number of third force values; and obtaining the second force value based on the preset number of third force values.

[0010] Optionally, the number of the second force sensors is 3.

[0011] According to a second aspect of an embodiment of the present disclosure, a force sensor calibration system on a caliper is provided, the system comprising: a caliper and a controller; the caliper comprises a clamping part and a movable part, the movable part is connected to the clamping part, the movable part is used to clamp the clamping part when the clamping part is pushed, a first force sensor to be calibrated is arranged on the movable part, the clamping part is used to clamp a test fixture, and a second force sensor is arranged on the test fixture; the controller is respectively connected to the first force sensor and the second force sensor; the first force sensor is used to collect a first force value pushed by the movable part and send it to the controller when the movable part pushes the clamping part; the second force sensor is used to collect a second force value clamped by the clamping part and send it to the controller when the movable part pushes the clamping part; the controller is used to calibrate the parameters of the first force sensor according to the first force value and the second force value.

[0012] Optionally, the number of the second force sensors is 3.

[0013] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to implement the steps of the force sensor calibration method on the caliper provided in the first aspect when executing the instructions.

[0014] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the force sensor calibration method on the caliper provided in the first aspect of the present disclosure are implemented.

[0015] The present invention provides a method, system, vehicle and medium for calibrating a force sensor on a caliper. A test fixture provided with a second force sensor is clamped on the clamping part of the caliper, and a first force sensor to be calibrated is provided on the movable part of the caliper. When the movable part pushes the clamping part connected thereto, a first force value pushed by the movable part collected by the first force sensor is obtained, and a second force value of the clamping part collected by the second force sensor is obtained. Then, according to the first force value and the second force value, the parameters of the first force sensor are calibrated, thereby improving the accuracy of the clamping force of the clamping part tested by the first force sensor, thereby ensuring the accuracy of the closed-loop control of the clamping force.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0018] Figure 1 is a schematic diagram of a caliper according to an exemplary embodiment;

[0019] Figure 2 is a schematic diagram of a caliper according to another exemplary embodiment;

[0020] Figure 3 is a schematic diagram of a force sensor calibration system on a caliper according to an exemplary embodiment;

[0021] Figure 4 is a schematic diagram of a test tool according to an exemplary embodiment;

[0022] Figure 5 is a flow chart showing a method for calibrating a force sensor on a caliper according to an exemplary embodiment;

[0023] Figure 6 is a flow chart of a method for calibrating a force sensor on a caliper according to another exemplary embodiment;

[0024] Figure 7 It is a schematic diagram of a functional block diagram of a vehicle showing an exemplary embodiment. DETAILED DESCRIPTION

[0025] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0026] It should be noted that all actions of acquiring signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0027] The vehicle's braking system is a system that applies a certain degree of braking force to the vehicle's wheels, thereby forcing it to brake to a certain extent. The function of the brake control system is to force the moving vehicle to slow down or even stop according to the requirements of the driver or controller, or to stabilize the stopped car on a slope or other road conditions, or to keep the speed of a vehicle traveling downhill stable.

[0028] Traditional braking systems often use hydraulic braking, but hydraulic braking has problems such as complicated layout, slow response, low energy efficiency, and high redundancy of hydraulic systems. Therefore, electronic mechanical braking (EMB) systems have emerged. Electronic mechanical braking systems have various advantages such as simple layout and fast response, which can better meet the needs of the rapid development of automobile technology, especially the needs of the development of electric vehicles.

[0029] In the EMB system, a force sensor is built into the caliper to measure in real time the clamping force of the friction pad on the clamping component of the caliper clamping the brake disc. The measured clamping force is used for the closed-loop control of the EMB system. It can be seen that the accuracy of the measured clamping force directly determines the clamping force control and the final accuracy. After long-term research, the inventor found that the force sensor in the current EMB system has the following problems:

[0030] ① The built-in force sensor of the caliper has been calibrated at the factory and has high accuracy. However, after it is installed inside the caliper, it will be affected by the installation coaxiality and other factors, and its accuracy will be reduced. Therefore, it is necessary to calibrate the caliper as a whole after the force sensor is installed.

[0031] ② For calipers, the force sensed by the built-in force sensor is not completely equal to the actual clamping force of the friction pad and the brake disc. The two are affected by the friction of mechanical parts, and the friction of mechanical parts is affected by the deviation of their mechanical dimensions and the deviation of the installation process. They cannot be compensated by a fixed value. Therefore, for each caliper, the corresponding relationship between the force sensed by the built-in force sensor and the actual clamping force of the friction pad and the brake disc needs to be calibrated;

[0032] ③ After the caliper has been used for a period of time, the corresponding relationship between the force sensed by the built-in force sensor and the actual clamping force of the friction pad and brake disc will also change. Vehicles equipped with the EMB system need to be inspected regularly. When the deviation value exceeds a certain value, recalibration is required so that the caliper can regain accurate clamping force control.

[0033] On the basis of the above problems, if the accuracy of force sensor measurement changes, the change will affect the accuracy of closed-loop control.

[0034] To this end, the present disclosure provides a force sensor calibration system on a caliper, and the force sensor calibration system on a caliper includes: a caliper and a controller.

[0035] See also Figure 1 to Figure 3 The caliper includes a movable part 110 and a clamping part 120, wherein the movable part 110 is connected to the clamping part 120, and the movable part 110 is used to clamp the clamping part when pushing the clamping part 120. Exemplarily, the clamping part 120 includes a first friction plate 121 and a second friction plate 122, which are arranged opposite to each other, the first friction plate 121 is connected to the movable part 110, and the second friction plate 122 can be fixedly arranged on the caliper body of the caliper. When the movable part 110 moves in a direction close to the second friction plate 122, the movable part 110 pushes the first friction plate 121 connected thereto, so that the first friction plate 121 approaches the second friction plate 122, and the clamping part 120 is clamped. When the movable portion 110 moves in a direction away from the second friction plate 122 , the movable portion 110 pulls the first friction plate 121 connected thereto, so that the first friction plate 121 and the second friction plate 122 move away from each other, thereby releasing the clamping portion 120 .

[0036] See also Figure 2 During the use of the vehicle, the brake disc 140 on the vehicle is clamped between the two friction plates of the clamping part 120. The movable part 110 pushes the first friction plate 121 of the clamping part 120 to clamp the brake disc 140, so as to brake the vehicle.

[0037] The movable part is provided with a first force sensor 130 to be calibrated. Figure 2During the use of the vehicle, the first force sensor 130 collects the clamping force of the clamping part, and the EMB system implements closed-loop control of the clamping part based on the force.

[0038] When calibrating the first force sensor, the clamping portion is used to clamp the test fixture 200, see Figure 4 A second force sensor 230 is provided on the test fixture 200 .

[0039] Optionally, the test fixture 200 includes a first fixture panel 210 and a second fixture panel 220 disposed opposite to the first fixture panel 210. A second force sensor 230 is fixedly disposed between the first fixture panel 210 and the second fixture panel 220. Optionally, in order to improve the measurement accuracy, the number of the second force sensors 230 may be multiple, such as Figure 4 As shown, the number of the second force sensors 230 may be three.

[0040] It should be noted that after the calibration of the first force sensor is completed, the test fixture is taken out from the clamping portion. The test work can also be used to calibrate the force sensors of other vehicles.

[0041] The controller is connected to the first force sensor and the second force sensor respectively.

[0042] The first force sensor is used to collect a first force value pushed by the movable part and send it to the controller when the movable part pushes the clamping part.

[0043] The second force sensor is used to collect a second force value clamped by the clamping part and send it to the controller when the movable part pushes the clamping part.

[0044] The controller is used to calibrate parameters of the first force sensor according to the first force value and the second force value.

[0045] The manner in which the controller calibrates the parameters of the first force sensor is described in detail in the following method.

[0046] Optionally, see Figure 2-3 The movable part 110 includes a push rod 111, a screw nut 112 and a piston 113. One end of the push rod 111 is connected to the piston 113 through the screw nut 112, and the other end is connected to the power unit 180 of the caliper. The power unit 180 drives the push rod 111 to drive the first friction plate 121 to move.

[0047] Optionally, the caliper further includes a caliper body 150 , and the caliper body 150 is used to connect other components on the caliper. For example, the caliper body 150 is used to fix the second friction plate 122 .

[0048] Optionally, the caliper further includes a plurality of rubber rings 160 , which are respectively disposed between the caliper body 150 and the movable part 110 . When the movable part 110 moves, the rubber rings 160 can play a buffering role.

[0049] Optionally, the caliper further includes a caliper bracket 170 , and the caliper bracket 170 is used to fix the caliper body 150 on the vehicle.

[0050] Based on the above force sensor calibration system on the caliper, the present disclosure proposes a force sensor calibration method on the caliper. Figure 5 The force sensor calibration method on the caliper can be applied to a force sensor calibration system on the caliper, a controller in the force sensor calibration system on the caliper, Figure 7 The vehicle 600 and the computer-readable storage medium shown in the figure, the force sensor calibration method on the caliper may include the following steps:

[0051] Step S110 , when the movable part pushes the clamping part, obtaining a first force value of the pushing of the movable part collected by the first force sensor, and obtaining a second force value of the clamping of the clamping part collected by the second force sensor.

[0052] The caliper includes a clamping part and a movable part, wherein the movable part is connected to the clamping part, and the movable part is used to clamp the clamping part when the clamping part is pushed. A first force sensor to be calibrated is provided on the movable part, and the clamping part is used to clamp a test tooling provided with a second force sensor.

[0053] When the vehicle is in normal use, the clamping part clamps the brake disc, which is convenient for controlling the vehicle braking through the brake disc. Since the brake disc is already clamped in the clamping part, there is not enough space to clamp the first force sensor. Even if the clamping part has enough space to clamp the first force sensor, during the braking process of the vehicle, the clamping part clamps the brake disc, which may cause wear to the first force sensor in between. Therefore, the first force sensor is installed on the movable part, and the clamping force of the clamping part is indirectly measured by measuring the pushing force on the movable part. The force collected by the first force sensor is then closed-loop controlled to control the clamping force of the clamping part. However, since the measurement accuracy of the first force sensor will change with the aforementioned factors, the force sensor needs to be calibrated.

[0054] In one embodiment, a fixed preset period is pre-set, and the first force sensor can be calibrated according to the preset period, and the calibration is performed periodically. For example, the preset period is 6 months, that is, the first force sensor needs to be calibrated once every 6 months.

[0055] In another embodiment, the first force sensor may be calibrated in combination with the usage of the vehicle, wherein the usage may include the service life, mileage, etc. For example, a third mapping relationship between the service life of the vehicle and the detection cycle is established, the service life of the vehicle is obtained, and then the detection cycle corresponding to the service life is obtained according to the third mapping relationship, and the first force sensor is calibrated according to the detection cycle. Exemplarily, the service life is 1 year, and the corresponding detection cycle may be 6 months. The service life is 2 years, and the corresponding detection cycle may be 3 months. The service life is 3 years, and the corresponding detection cycle may be 2 months. In this embodiment, the first force sensor is calibrated in combination with the usage of the vehicle, which can prevent the waste of processing resources due to too many or too frequent calibrations of the first force sensor, and can also prevent the untimely calibration due to too few calibrations of the first force sensor.

[0056] During calibration, the movable part is controlled to push the clamping part, and the first force value collected by the first force sensor is obtained, and the second force value collected by the second force sensor is obtained at the same time. It can be understood that the first force value collected by the first force sensor of the movable part is the theoretical clamping force of the clamping part. The second force value collected by the second force sensor of the clamping part is the actual clamping force of the clamping part.

[0057] Step S120: calibrate parameters of the first force sensor according to the first force value and the second force value.

[0058] The force sensor calibration method on the caliper provided in this embodiment is that a test fixture with a second force sensor is clamped on the clamping part of the caliper, and a first force sensor to be calibrated is arranged on the movable part of the caliper. When the movable part pushes the clamping part connected to it, a first force value pushed by the movable part collected by the first force sensor is obtained, and a second force value of the clamping part collected by the second force sensor is obtained. Then, according to the first force value and the second force value, the parameters of the first force sensor are calibrated, thereby improving the accuracy of the clamping force of the clamping part tested by the first force sensor, thereby ensuring the accuracy of the closed-loop control of the clamping force.

[0059] In one embodiment, in step S110, the first force value may be obtained in the following manner: obtaining an electrical signal collected by the first force sensor; obtaining the first force value corresponding to the electrical signal according to a first mapping relationship, wherein the first mapping relationship includes a correspondence between the electrical signal and the first force value. For example, the electrical signal may be a current signal or a voltage signal. Taking the electrical signal as a voltage signal as an example, the first mapping relationship includes a correspondence between a voltage of 5V and a first force value of 100N. When the collected voltage signal is 5V, according to the mapping relationship, the first force value obtained is 100N.

[0060] Similarly, the second force value may be obtained by obtaining an electrical signal collected by the second force sensor, and obtaining the second force value corresponding to the electrical signal according to a fourth mapping relationship, wherein the fourth mapping relationship includes a correspondence between the electrical signal and the second force value.

[0061] Optionally, the first force sensor and the second force sensor may be sensors of the same model to improve the accuracy of data collected by the calibrated first force sensor.

[0062] In one embodiment, the number of the second force sensors is a preset number. In step S110, the second force value can be obtained in the following manner: the third force value collected by each of the preset number of the second force sensors is obtained to obtain a preset number of third force values; and the second force value is obtained according to the preset number of third force values.

[0063] For example, the preset number may be 1, 2, 3, 4, etc.

[0064] Optionally, the number of the second force sensors is 3. Using 1 or 2 second force sensors may cause inaccurate measurement of the second force value due to factors such as bias force. However, using more than 3 second force sensors will lead to a waste of sensors and increase the cost of the test tooling. In this embodiment, 3 second force sensors are used, and the principle of "three points determine a surface" is used to collect three first force values, and finally the resultant force, i.e., the second force value, is obtained. By using 3 second force sensors, the measuring tool is insensitive to the installation position accuracy of the caliper during force measurement, and there is no need for precise positioning as long as the clamping force corresponding to the second force value is within the area formed by the three second force sensors, making it easier to install the second force sensor during actual operation or use on the production line, thereby improving the efficiency of the process. In addition, by using 3 second force sensors to convert the above-mentioned clamping force into three third force values, the range of the force sensor can be reduced. Since the range of the force sensor is low, higher accuracy can be obtained, thereby improving the accuracy of the measured force. In addition, the smaller measuring range of a single second force sensor means that a smaller force sensor can be selected, so that the measuring tool can be made thinner and can be adapted to small calipers. There will be no situation where the tool cannot be inserted between the friction plates and measurement cannot be performed due to the large thickness of the tool.

[0065] In one implementation, step S120 may be performed in the following manner: obtaining a determination coefficient according to the first force value and the second force value, and calibrating the parameters of the first force sensor according to the determination coefficient.

[0066] As a way, the ratio between the first force value and the second force value is calculated to obtain the determination coefficient. It can be understood that the determination coefficient is the ratio between the first force value and the second force value.

[0067] As another way, the difference between the first force value and the second force value is calculated to obtain a determination coefficient. It can be understood that the determination coefficient can be the difference between the first force value and the second force value.

[0068] Optionally, if the determination coefficient is greater than a preset threshold value, it means that the difference between the first force value collected by the first force sensor and the second force value collected by the second force sensor is too large, and the force collected by the first force sensor cannot accurately reflect the clamping force of the clamping part, therefore, the parameters of the first force sensor are calibrated by the second force value. If the determination coefficient is less than or equal to the preset threshold value, it means that the difference between the first force value collected by the first force sensor and the second force value collected by the second force sensor is small, and the force collected by the first force sensor can reflect the clamping force of the clamping part, therefore, the parameters of the first force sensor are not calibrated.

[0069] As one approach, the parameters of the first force sensor are calibrated in the following manner: a second mapping relationship between the electrical signal and the second force value is established, and the first mapping relationship is updated by the second mapping relationship.

[0070] For example, the first mapping relationship includes the correspondence between the voltage 5V and the first force value 100N. When the first force value is 100N, the second force value is 95N. If the difference 5N between the first force value and the second force value is greater than the preset threshold value, then when the voltage collected by the first force sensor is 5V, the corresponding force should be the second force value 95N, and a second mapping relationship is created, that is, the voltage 5V corresponds to the force value 95N. Since the first force sensor performs force conversion based on the first mapping relationship, the first mapping relationship is updated with the second mapping relationship, that is, the first mapping relationship includes 5V corresponding to 95N.

[0071] By updating the above mapping relationship, through the first mapping relationship, the force value collected by the first force sensor at the movable part can reflect the clamping force of the clamping part, and the control accuracy can be improved during the closed-loop control of the clamping part.

[0072] In the application scenario where the caliper is an EMB caliper, the present disclosure also provides a method for calibrating a force sensor on a caliper, see Figure 6 The method for calibrating the force sensor on the caliper may include the following steps:

[0073] Step S210: The EMB caliper to be determined is installed on a calibration table.

[0074] Step S220: The calibration computer sends out a detection program to execute the clamping and releasing operations of the EMB caliper and record the first force value F1 and the second force value F2.

[0075] The first force value F1 is the force pushed by the movable part collected by the first force sensor, and the second force value F2 is the force clamped by the clamping part collected by the second force sensor.

[0076] Step S230: determine whether the difference between F1 and F2 exceeds a preset threshold.

[0077] If the difference between F1 and F2 does not exceed the preset threshold, the process proceeds to step S240 . Otherwise, if the difference between F1 and F2 exceeds the preset threshold, the process proceeds to step S250 .

[0078] Step S240: Determine whether the clamping accuracy of the current EMB caliper is qualified.

[0079] Step S250, determining that the clamping accuracy of the current EMB caliper is unqualified, writing a curve corresponding to the second force value F2 obtained by the second force sensor into the EMB caliper controller, and completing the calibration of the first force sensor.

[0080] The specific description of steps S210 to S250 can be found in the above embodiments and will not be repeated here.

[0081] Based on the same inventive concept, the present disclosure further provides a force sensor calibration device on a caliper, the caliper comprising a clamping portion and a movable portion, the movable portion being connected to the clamping portion, the movable portion being used to clamp the clamping portion when the clamping portion is pushed, the movable portion being provided with a first force sensor to be calibrated, the clamping portion being used to clamp a test fixture provided with a second force sensor, the force sensor calibration device on the caliper comprising:

[0082] an acquisition module, configured to acquire, when the movable part pushes the clamping part, a first force value of the pushing force of the movable part acquired by the first force sensor, and acquire a second force value of the clamping force of the clamping part acquired by the second force sensor;

[0083] A calibration module is used to calibrate parameters of the first force sensor according to the first force value and the second force value.

[0084] Regarding the force sensor calibration device on the caliper in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0085] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the force sensor calibration method on the caliper provided by the present disclosure are implemented.

[0086] Figure 7 600 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0087] Reference Figure 7 , the vehicle 600 may include various subsystems, for example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 may be interconnected by wire or wireless means.

[0088] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, among others.

[0089] The perception system 620 may include several sensors for sensing information about the environment around the vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0090] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0091] The drive system 640 may include components that provide powered motion for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0092] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one processor 651 and a memory 652, and the processor 651 may execute instructions 653 stored in the memory 652.

[0093] The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0094] The memory 652 may be implemented by any type of volatile or nonvolatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0095] In addition to the instructions 653 , the memory 652 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in the memory 652 may be used by the computing platform 650 .

[0096] In the embodiment of the present disclosure, the processor 651 may execute instruction 653 to complete all or part of the steps of the above-mentioned method for calibrating the force sensor on the caliper.

[0097] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above-mentioned force sensor calibration method on a caliper when executed by the programmable device.

[0098] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0099] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for calibrating a force sensor on a caliper, characterized in that: A caliper used in a braking system of a vehicle, the caliper comprising a clamping portion and a movable portion, the movable portion being connected to the clamping portion, the movable portion being used to clamp the clamping portion when the clamping portion is pushed, the movable portion being provided with a first force sensor to be calibrated, the clamping portion being used to clamp a test fixture provided with a second force sensor, the method comprising: When the movable part pushes the clamping part, a first force value of the movable part pushing the clamping part collected by the first force sensor is obtained, and a second force value of the clamping part clamping the clamping part is obtained by the second force sensor. calibrating parameters of the first force sensor according to the first force value and the second force value; The test tool comprises a first tool panel and a second tool panel arranged opposite to the first tool panel, and the number of the second force sensors is multiple, and the multiple second force sensors are fixedly arranged between the first tool panel and the second tool panel; The number of the second force sensors is a preset number, and the obtaining of the second force value of the clamping portion acquired by the second force sensor includes: Acquire a third force value collected by each of a preset number of the second force sensors to obtain a preset number of third force values; The second force value is obtained according to the sum of the preset number of third force values.

2. The method according to claim 1, characterized in that The number of the second force sensors is 3.

3. The method according to claim 1, characterized in that The calibrating the parameters of the first force sensor according to the first force value and the second force value includes: Obtaining a determination coefficient according to the first force value and the second force value; The parameters of the first force sensor are calibrated according to the determination coefficient.

4. The method according to claim 3, characterized in that The step of calibrating the parameters of the first force sensor according to the determination coefficient includes: If the determination coefficient is greater than a preset threshold value, the parameters of the first force sensor are calibrated using the second force value.

5. The method according to any one of claims 1 to 4, characterized in that: The obtaining of a first force value pushed by the movable part collected by the first force sensor comprises: Acquiring an electrical signal collected by the first force sensor; The first force value corresponding to the electrical signal is obtained according to a first mapping relationship, wherein the first mapping relationship includes a corresponding relationship between the electrical signal and the first force value.

6. The method according to claim 5, characterized in that The parameters of the first force sensor are calibrated in the following manner: A second mapping relationship between the electrical signal and the second force value is established, and the first mapping relationship is updated by the second mapping relationship.

7. A force sensor calibration system on a caliper, characterized in that: A caliper used in a braking system of a vehicle, the system comprising: a caliper and a controller; The caliper comprises a clamping part and a movable part, wherein the movable part is connected to the clamping part, the movable part is used to clamp the clamping part when the clamping part is pushed, a first force sensor to be calibrated is arranged on the movable part, the clamping part is used to clamp the test fixture, and a second force sensor is arranged on the test fixture; The controller is connected to the first force sensor and the second force sensor respectively; The first force sensor is used to collect a first force value pushed by the movable part and send it to the controller when the movable part pushes the clamping part; The second force sensor is used to collect a second force value clamped by the clamping part and send it to the controller when the movable part pushes the clamping part; The controller is used to calibrate parameters of the first force sensor according to the first force value and the second force value; The test tool comprises a first tool panel and a second tool panel arranged opposite to the first tool panel, and the number of the second force sensors is multiple, and the multiple second force sensors are fixedly arranged between the first tool panel and the second tool panel; The number of the second force sensors is a preset number, and the controller is used for: Acquire a third force value collected by each of a preset number of the second force sensors to obtain a preset number of third force values; The second force value is obtained according to the sum of the preset number of third force values.

8. The system according to claim 7, characterized in that The number of the second force sensors is 3.

9. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the steps of the method described in any one of claims 1 to 6 when executing the instructions.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

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