A zero point calibration method, device, equipment and vehicle for a vehicle travel sensor

Abstract

The present invention discloses a zero point calibration method, device, equipment and vehicle for a vehicle stroke sensor. The method comprises: obtaining a first target parameter of the vehicle; determining whether the vehicle is in an accelerating state according to the first target parameter; obtaining a second target parameter of the vehicle; determining whether the vehicle is in a driverless state according to the second target parameter; if the vehicle is in an accelerating state or the vehicle is in a driverless state, obtaining a displacement signal value output by a stroke sensor, wherein the stroke sensor is used to detect the displacement of a brake pedal; when the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor, adjusting the zero point value of the stroke sensor. The present invention can adjust the zero point value of the stroke sensor at any time during the normal use of the vehicle to ensure the accuracy of the zero point value of the stroke sensor. There is no need to specially repair the vehicle to adjust the zero point value of the stroke sensor, which reduces the number of vehicle repairs and improves user experience.

Description

Technical Field

[0001] The invention belongs to the technical field of vehicles, and in particular relates to a zero point calibration method, a device, equipment and a vehicle for a vehicle travel sensor. Background Art

[0002] Usually, a brake pedal is installed on the vehicle, and the vehicle is braked when the driver steps on the brake pedal. At the same time, a travel sensor is also installed on the vehicle, which is used to detect the displacement value of the brake pedal, and the displacement value of the brake pedal is used to calculate the braking force. However, due to the influence of the installation position of the brake pedal, the installation position of the travel sensor, or the deviation of the travel sensor itself, a displacement value already exists when the driver does not step on the brake pedal, reducing the sensitivity of the brake pedal. Summary of the invention

[0003] An object of the present invention is to provide a zero point calibration method, device, equipment and vehicle for a vehicle travel sensor, which can solve the technical problem of low brake pedal sensitivity caused by deviation of the travel sensor in the prior art.

[0004] According to a first aspect of the present invention, a zero point calibration method for a vehicle travel sensor is provided, comprising:

[0005] Acquire a first target parameter of the vehicle, wherein the first target parameter includes an accelerator pedal signal and an acceleration;

[0006] determining whether the vehicle is in an accelerating state according to the first target parameter;

[0007] Acquire a second target parameter of the vehicle, wherein the second target parameter includes an engine-off state, a door state, a parking state, a seat belt state, a driver's seat state, and a driving behavior state;

[0008] determining whether the vehicle is in a driverless state according to the second target parameter;

[0009] If the vehicle is in an accelerating state or the vehicle is in a driverless state, obtaining a displacement signal value output by a travel sensor, wherein the travel sensor is used to detect the displacement of a brake pedal;

[0010] When the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor, the zero point value of the stroke sensor is adjusted.

[0011] Optionally, when the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor, adjusting the zero point value of the stroke sensor includes:

[0012] When the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor, acquiring a signal from a pressure sensor, wherein the pressure sensor is used to detect the pressure of the brake pedal;

[0013] The zero point value of the travel sensor is adjusted according to the signal of the pressure sensor.

[0014] Optionally, adjusting the zero point value of the travel sensor according to the signal of the pressure sensor includes:

[0015] Determining whether the signal of the pressure sensor is valid;

[0016] When the signal of the pressure sensor is valid, determining whether the pressure corresponding to the signal of the pressure sensor is zero;

[0017] Determine the zeroing speed according to the judgment result of whether the signal of the pressure sensor is valid and whether the pressure corresponding to the signal of the pressure sensor is zero;

[0018] Determine the number of zeroing times according to the zeroing speed and the preset task scheduling cycle;

[0019] performing the zeroing of the stroke sensor for the number of zeroing times;

[0020] During each zeroing process, the zero point value of the travel sensor is adjusted according to the following formula;

[0021] ;

[0022] Wherein, a1 represents the zero point value of the stroke sensor after adjustment, a0 represents the zero point value of the stroke sensor before adjustment, a represents the displacement signal value output by the stroke sensor, t0 represents the task scheduling period, t adj Indicates the zeroing speed time.

[0023] Optionally, the method further comprises:

[0024] When the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is zero, the zeroing fast or slow time is set to be equal to the task scheduling period.

[0025] Optionally, the method further comprises:

[0026] When the signal of the pressure sensor is invalid, setting the zero mark fast or slow time to the first time;

[0027] When the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is not zero, setting the zero mark fast or slow time to a second time;

[0028] The second time is greater than the first time.

[0029] Optionally, determining whether the vehicle is in an accelerating state according to the first target parameter includes:

[0030] determining whether the accelerator pedal is depressed according to the accelerator pedal signal;

[0031] If the accelerator pedal is depressed and the acceleration is greater than zero, it is determined that the vehicle is in an accelerating state.

[0032] Optionally, determining whether the vehicle is in a driverless state according to the second target parameter includes:

[0033] When the vehicle is in an ignition-off state, the vehicle doors are in a closed state, the vehicle is in a parked state, the seat belt is not fastened, there is no one in the driver's seat, and there is no change in the accelerator pedal and the key switch, it is determined that the vehicle is in a driverless state.

[0034] According to a second aspect of the present invention, there is provided a zero point calibration device for a vehicle travel sensor, comprising:

[0035] A first acquisition module, configured to acquire a first target parameter of the vehicle, wherein the first target parameter includes an accelerator pedal signal and an acceleration;

[0036] A first determination module, configured to determine whether the vehicle is in an accelerating state according to the first target parameter;

[0037] A second acquisition module is used to acquire second target parameters of the vehicle, wherein the second target parameters include an engine off state, a door state, a parking state, a seat belt state, a driver's seat state, and a driving behavior state;

[0038] a second determination module, configured to determine whether the vehicle is in a driverless state according to the second target parameter;

[0039] a third acquisition module, configured to acquire a displacement signal value output by a travel sensor if the vehicle is in an accelerating state or the vehicle is in a driverless state, wherein the travel sensor is used to detect the displacement of a brake pedal;

[0040] The adjustment module is used to adjust the zero point value of the stroke sensor when the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor.

[0041] According to a third aspect of the present invention, an electronic device is provided, comprising a processor and a memory, wherein the memory stores a program or instruction that can be executed on the processor, and when the program or instruction is executed by the processor, the steps of a zero point calibration method for a vehicle travel sensor as described in the first aspect of the present invention are implemented.

[0042] According to a fourth aspect of the present invention, there is provided a vehicle comprising an electronic device as described in the third aspect of the present invention.

[0043] The beneficial effect of the present invention is that the present invention determines whether the vehicle is in an accelerating state or a driverless state by acquiring multiple target parameters of the vehicle, and comprehensively judges from the aspects of vehicle driving and vehicle parking, so as to more accurately determine whether the driver has stepped on the brake pedal, and then adjust the zero value of the stroke sensor when the brake pedal is not stepped on. At the same time, the present invention can adjust the zero value of the stroke sensor at any time during the normal use of the vehicle to ensure the accuracy of the zero value of the stroke sensor. There is no need to specially repair the vehicle to adjust the zero value of the stroke sensor, which reduces the number of vehicle repairs and improves user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 Schematic diagram of a vehicle braking system in an embodiment of the present invention.

[0045] Figure 2 The present invention is a flowchart of a method for zero point calibration of a vehicle travel sensor in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0047] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0048] The techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and devices should be considered as part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0049] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0050] In the specification and claims of the present invention, if the term "first" or "second" is involved, it may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the related objects are in an "or" relationship.

[0051] The vehicle braking system of the present invention is first described below. Figure 1 As shown, the vehicle braking system includes a pedal simulator, a travel sensor, a pressure sensor, a main controller, a wheel-side motor controller, and a caliper. When the driver steps on the brake pedal, the travel sensor detects the displacement value of the brake pedal, and the pressure sensor detects the pressure of the brake pedal. The main controller sends a braking signal to the wheel-side motor controller according to the displacement value and pressure of the brake pedal, and the wheel-side motor controller controls the caliper to apply corresponding braking force to the wheel according to the braking signal. A corresponding caliper and wheel-side motor controller are set for each wheel.

[0052] like Figure 2 As shown, this embodiment introduces a zero point calibration method for a vehicle travel sensor, including steps 1100-1600.

[0053] Step 1100: Obtain a first target parameter of the vehicle, wherein the first target parameter includes an accelerator pedal signal and acceleration.

[0054] When the driver steps on the accelerator pedal, an accelerator pedal signal is generated. The accelerator pedal signal can reflect the magnitude of the driver's stepping on the accelerator pedal. During vehicle driving, the vehicle speed often changes, and the acceleration indicates the change in vehicle speed.

[0055] Step 1200: Determine whether the vehicle is in an accelerating state according to the first target parameter.

[0056] Specifically, the step 1200 includes: determining whether the accelerator pedal is pressed according to the accelerator pedal signal; if the accelerator pedal is pressed and the acceleration is greater than zero, determining that the vehicle is in an accelerating state.

[0057] If it is determined that the accelerator pedal is not depressed according to the accelerator pedal signal, then the process ends directly without executing the subsequent steps. If it is determined that the accelerator pedal is depressed according to the accelerator pedal signal, then the vehicle acceleration is judged to determine whether the vehicle is in an accelerated state.

[0058] Step 1300: Obtain second target parameters of the vehicle, wherein the second target parameters include ignition off status, door status, parking status, seat belt status, driver's seat status, and driving behavior status.

[0059] The engine off state includes the engine off and the engine on. The door state includes the door closed and the door open. The parking state includes the vehicle parked and the vehicle not parked. The seat belt state includes the seat belt fastened and the seat belt not fastened. The main driver's seat state includes the main driver's seat occupied and the main driver's seat unoccupied.

[0060] The driving behavior state includes driver operation and non-driver operation. The driving behavior state can be judged based on the changes in the accelerator pedal and the key switch. It can also be judged in combination with the changes in other components, such as the shift lever and the steering wheel.

[0061] Step 1400: Determine whether the vehicle is in a driverless state according to the second target parameter.

[0062] Specifically, step 1400 includes: determining that the vehicle is in a driverless state when the vehicle is in an ignition-off state, the vehicle door is in a closed state, the vehicle is in a parked state, the seat belt is not fastened, there is no one in the driver's seat, and there is no change in the accelerator pedal and the key switch.

[0063] The vehicle is judged by vehicle shutdown, door closing, parking, seat belt, driver's seat and driving behavior, and the above multiple judgment methods are combined to determine whether the vehicle is in a driverless state.

[0064] Step 1500: If the vehicle is in an accelerating state or the vehicle is in a driverless state, obtain a displacement signal value output by a travel sensor, wherein the travel sensor is used to detect the displacement of a brake pedal.

[0065] When the vehicle is accelerating, it means that the driver has stepped on the accelerator pedal, but not the brake pedal. When the vehicle is without a driver, it also means that the brake pedal is not stepped on. If the zero point value of the stroke sensor is adjusted when the driver steps on the brake pedal, the zero point of the adjusted stroke sensor will be affected by the degree to which the driver steps on the brake pedal, and the accuracy will be greatly reduced. Therefore, the stroke sensor cannot be zeroed when the driver steps on the brake pedal.

[0066] After determining that the brake pedal is not depressed, the displacement signal value output by the travel sensor is obtained. The displacement signal value output by the travel sensor may be a voltage value, and the voltage value is used to reflect the displacement of the brake pedal. For example, the higher the voltage value output by the travel sensor, the greater the displacement of the brake pedal.

[0067] Step 1600: When the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor, adjust the zero point value of the stroke sensor.

[0068] The zero point value of the travel sensor corresponds to a displacement of the brake pedal of 0. For example, if the zero point value of the travel sensor is 0.7V, when the displacement signal value output by the travel sensor is 0.7V, the displacement of the brake pedal is considered to be 0.

[0069] If there is no zero point drift, since the displacement signal value output by the stroke sensor is obtained when it is determined that the brake pedal is not depressed, the displacement signal value output by the stroke sensor should be the same as the zero point value of the stroke sensor.

[0070] If the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor, it means that the zero point value of the stroke sensor is inaccurate. In this case, the zero point value of the stroke sensor needs to be adjusted.

[0071] The present invention obtains multiple target parameters of the vehicle to determine whether the vehicle is in an accelerated state or a driverless state, and comprehensively determines from the aspects of vehicle driving and vehicle parking, so as to more accurately determine whether the driver has stepped on the brake pedal, and then adjust the zero value of the stroke sensor when the brake pedal is not stepped on. At the same time, the present invention can adjust the zero value of the stroke sensor at any time during the normal use of the vehicle to ensure the accuracy of the zero value of the stroke sensor. There is no need to specially repair the vehicle to adjust the zero value of the stroke sensor, which reduces the number of vehicle repairs and improves user experience.

[0072] In this embodiment, step 1600 includes steps 1610-1620.

[0073] Step 1610: When the displacement signal value output by the stroke sensor is different from the current zero point value of the stroke sensor, a signal from a pressure sensor is acquired, wherein the pressure sensor is used to detect the pressure of the brake pedal.

[0074] Step 1620: Adjust the zero point value of the travel sensor according to the signal of the pressure sensor.

[0075] The first target parameter and the second target parameter of the vehicle are used to preliminarily determine whether the driver has stepped on the brake pedal. On this basis, the situation of stepping on the brake pedal is further verified according to the pressure sensor.

[0076] When the driver steps on the brake pedal, the pressure sensor will output a corresponding pressure signal to indicate the pressure of the brake pedal. If the driver does not step on the brake pedal, the pressure corresponding to the signal output by the pressure sensor should be zero.

[0077] This embodiment obtains the signal of the pressure sensor to further check the situation of the brake pedal being depressed, thereby improving the accuracy of determining whether the brake pedal is depressed.

[0078] In this embodiment, step 1620 includes steps 1621-1625.

[0079] Step 1621: Determine whether the signal from the pressure sensor is valid.

[0080] Step 1622: When the signal of the pressure sensor is valid, determine whether the pressure corresponding to the signal of the pressure sensor is zero.

[0081] Step 1623: Determine the zeroing speed time according to the judgment result of whether the signal of the pressure sensor is valid and whether the pressure corresponding to the signal of the pressure sensor is zero.

[0082] Step 1624: Determine the number of zeroing times according to the zeroing speed and the preset task scheduling cycle.

[0083] Step 1625: Perform the zeroing of the stroke sensor for the number of zeroing times. In each zeroing process, adjust the zero point of the stroke sensor according to the following formula.

[0084] .

[0085] Wherein, a1 represents the zero value of the stroke sensor after adjustment, a0 represents the current zero value of the stroke sensor, a represents the displacement signal value output by the stroke sensor, t0 represents the task scheduling period, t adj Indicates the zeroing speed time.

[0086] The signal of the pressure sensor includes three states: the signal of the pressure sensor is invalid, the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is zero, and the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is not zero.

[0087] When the signal of the pressure sensor is invalid, no further verification of the brake pedal depression can be performed based on the signal of the pressure sensor. In this case, the possibility that the driver did not depress the brake pedal is medium.

[0088] When the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is zero, it means that it is highly likely that the driver has not stepped on the brake pedal.

[0089] When the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is not zero, the driver may not have stepped on the brake pedal. The reason is that the signal of the pressure sensor may also drift. Compared with the other two situations, the possibility that the driver did not step on the brake pedal in this situation is the smallest.

[0090] After determining the possibility that the driver has not stepped on the brake pedal based on the signal of the pressure sensor, set the corresponding zeroing speed. And determine the number of zeroing times based on the zeroing speed and the task scheduling cycle. The number of zeroing times indicates the number of times the travel sensor is zeroed.

[0091] Specifically, when the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is zero, the zeroing fast or slow time is set to be equal to the task scheduling period.

[0092] When the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is zero, it is highly likely that the driver has not stepped on the brake pedal. In this case, the zero fast and slow time t adj It is set to be equal to the task scheduling period t0, that is, only one adjustment is required, and the displacement signal value output by the stroke sensor is directly used as the zero point value of the adjusted stroke sensor.

[0093] In this embodiment, the method also includes: when the signal of the pressure sensor is invalid, setting the zeroing time to a first time; when the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is not zero, setting the zeroing time to a second time; wherein the second time is greater than the first time.

[0094] When the signal of the pressure sensor is invalid or the pressure corresponding to the signal of the pressure sensor is not zero, the zero point value of the travel sensor is adjusted multiple times because the possibility of the driver stepping on the brake pedal is relatively small. Each time, a relatively small fine adjustment is made to the zero point value of the travel sensor to gradually eliminate the zero point deviation. In this way, even if a single calibration is inaccurate, the impact can be controlled.

[0095] When the signal of the pressure sensor is invalid, the first zeroing number N is determined according to the first time and the task scheduling cycle. The stroke sensor is zeroed N times. In each zeroing process, the displacement signal value output by the stroke sensor is reacquired and zeroed according to the above formula.

[0096] When the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is not zero, the second zeroing number M is determined according to the second time and the task scheduling period. The stroke sensor is zeroed M times. In each zeroing process, the displacement signal value output by the stroke sensor is reacquired and zeroed according to the above formula.

[0097] The number of zeroing times is the ratio of the zeroing speed time to the task scheduling cycle. Since the second time is greater than the first time, the second number of zeroing times is greater than the first number of zeroing times. The less likely the driver is to step on the brake pedal, the greater the number of zeroing times. Both the first time and the second time are greater than the task scheduling cycle.

[0098] The present invention can adjust the zero value of the travel sensor more accurately by setting different zeroing speeds according to the signal of the pressure sensor and performing different zeroing times under different circumstances. At the same time, when the possibility of the driver stepping on the brake pedal is relatively small, the adjustment is performed by multiple zeroing to reduce the impact of a single zeroing error.

[0099] This embodiment introduces a zero point calibration device for a vehicle travel sensor, including a first acquisition module, a first determination module, a second acquisition module, a second determination module, a third acquisition module, and an adjustment module.

[0100] The first acquisition module is used to acquire a first target parameter of the vehicle, wherein the first target parameter includes an accelerator pedal signal and an acceleration.

[0101] The first determination module is used to determine whether the vehicle is in an acceleration state according to the first target parameter.

[0102] The second acquisition module is used to acquire second target parameters of the vehicle, wherein the second target parameters include engine off status, door status, parking status, seat belt status, driver's seat status, and driving behavior status.

[0103] The second determination module is used to determine whether the vehicle is in a driverless state according to the second target parameter.

[0104] The third acquisition module is used to acquire the displacement signal value output by the travel sensor if the vehicle is in an acceleration state or the vehicle is in a driverless state, wherein the travel sensor is used to detect the displacement of the brake pedal.

[0105] The adjustment module is used to adjust the zero point of the stroke sensor when the displacement signal value output by the stroke sensor is different from the current zero point value of the stroke sensor.

[0106] This embodiment introduces an electronic device, including a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of a zero point calibration method for a vehicle travel sensor as described in any embodiment of the present invention are implemented.

[0107] This embodiment introduces a vehicle, including an electronic device described in the above embodiment of the present invention.

[0108] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

[0109] Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0111] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0112] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0113] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0114] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0115] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0116] It should be understood that the size of the sequence number of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. For the purpose of example and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various deformations and modifications may exist according to the above teachings, or various deformations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can use the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A zero point calibration method for a vehicle travel sensor, characterized in that: include: Acquire a first target parameter of the vehicle, wherein the first target parameter includes an accelerator pedal signal and an acceleration; determining whether the vehicle is in an accelerating state according to the first target parameter; Acquire a second target parameter of the vehicle, wherein the second target parameter includes an engine-off state, a door state, a parking state, a seat belt state, a driver's seat state, and a driving behavior state; determining whether the vehicle is in a driverless state according to the second target parameter; If the vehicle is in an accelerating state or the vehicle is in a driverless state, obtaining a displacement signal value output by a travel sensor, wherein the travel sensor is used to detect the displacement of a brake pedal; When the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor, adjusting the zero point value of the stroke sensor; When the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor, adjusting the zero point value of the stroke sensor includes: When the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor, acquiring a signal from a pressure sensor, wherein the pressure sensor is used to detect the pressure of the brake pedal; adjusting the zero point value of the stroke sensor according to the signal of the pressure sensor; The step of adjusting the zero point value of the travel sensor according to the signal of the pressure sensor comprises: Determining whether the signal of the pressure sensor is valid; When the signal of the pressure sensor is valid, determining whether the pressure corresponding to the signal of the pressure sensor is zero; Determine the zeroing speed according to the judgment result of whether the signal of the pressure sensor is valid and whether the pressure corresponding to the signal of the pressure sensor is zero; Determine the number of zeroing times according to the zeroing speed and the preset task scheduling cycle; performing the zeroing of the stroke sensor for the number of zeroing times; During each zeroing process, the zero point value of the travel sensor is adjusted according to the following formula; ； Wherein, a1 represents the zero point value of the stroke sensor after adjustment, a0 represents the zero point value of the stroke sensor before adjustment, a represents the displacement signal value output by the stroke sensor, t0 represents the task scheduling period, t adj Indicates the zeroing speed time.

2. The method according to claim 1, characterized in that The method further comprises: When the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is zero, the zeroing fast or slow time is set to be equal to the task scheduling period.

3. The method according to claim 1, characterized in that The method further comprises: When the signal of the pressure sensor is invalid, setting the zero mark fast or slow time to the first time; When the signal of the pressure sensor is valid and the pressure corresponding to the signal of the pressure sensor is not zero, setting the zero mark fast or slow time to a second time; The second time is greater than the first time.

4. The method according to claim 1, characterized in that The determining whether the vehicle is in an accelerating state according to the first target parameter comprises: determining whether the accelerator pedal is depressed according to the accelerator pedal signal; If the accelerator pedal is depressed and the acceleration is greater than zero, it is determined that the vehicle is in an accelerating state.

5. The method according to claim 1, characterized in that The determining whether the vehicle is in a driverless state according to the second target parameter comprises: When the vehicle is in an ignition-off state, the vehicle doors are in a closed state, the vehicle is in a parked state, the seat belt is not fastened, there is no one in the driver's seat, and there is no change in the accelerator pedal and the key switch, it is determined that the vehicle is in a driverless state.

6. A zero point calibration device for a vehicle travel sensor, characterized in that: include: A first acquisition module, configured to acquire a first target parameter of the vehicle, wherein the first target parameter includes an accelerator pedal signal and an acceleration; A first determination module, configured to determine whether the vehicle is in an acceleration state according to the first target parameter; A second acquisition module is used to acquire second target parameters of the vehicle, wherein the second target parameters include an engine off state, a door state, a parking state, a seat belt state, a driver's seat state, and a driving behavior state; a second determination module, configured to determine whether the vehicle is in a driverless state according to the second target parameter; a third acquisition module, configured to acquire a displacement signal value output by a travel sensor if the vehicle is in an accelerating state or the vehicle is in a driverless state, wherein the travel sensor is used to detect the displacement of a brake pedal; an adjustment module, used for adjusting the zero point value of the stroke sensor when the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor; When the displacement signal value output by the stroke sensor is different from the zero point value of the stroke sensor, acquiring a signal from a pressure sensor, wherein the pressure sensor is used to detect the pressure of the brake pedal; adjusting the zero point value of the stroke sensor according to the signal of the pressure sensor; Determining whether the signal of the pressure sensor is valid; When the signal of the pressure sensor is valid, determining whether the pressure corresponding to the signal of the pressure sensor is zero; Determine the zeroing speed according to the judgment result of whether the signal of the pressure sensor is valid and whether the pressure corresponding to the signal of the pressure sensor is zero; Determine the number of zeroing times according to the zeroing speed and the preset task scheduling cycle; performing the zeroing of the stroke sensor for the number of zeroing times; During each zeroing process, the zero point value of the travel sensor is adjusted according to the following formula; ； Wherein, a1 represents the zero point value of the stroke sensor after adjustment, a0 represents the zero point value of the stroke sensor before adjustment, a represents the displacement signal value output by the stroke sensor, t0 represents the task scheduling period, t adj Indicates the zeroing speed time.

7. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of a zero point calibration method for a vehicle travel sensor as claimed in any one of claims 1 to 5 are implemented.

8. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 7.

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