Caliper control method, device, vehicle, storage medium and program product

Abstract

The present disclosure relates to a control method, device, vehicle, storage medium and program product for a caliper, and relates to the field of vehicle control technology. The method comprises: obtaining the brake disc temperature of the brake disc of the vehicle; determining the target retraction amount of the piston in the caliper of the vehicle according to the brake disc temperature; when the vehicle is in a braking state, if it is determined that the braking action of the vehicle is finished, controlling the piston in the caliper to retract according to the target retraction amount. In this way, after the braking action of the vehicle is finished, the piston in the caliper can be controlled to retract based on a smaller target retraction amount to actively reduce the gap between the brake disc and the caliper friction plate, thereby heating the brake disc through the friction force between the brake disc and the caliper friction plate, avoiding the possibility of freezing of the brake disc and the friction plate, and ensuring the driving safety of the vehicle.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular to a caliper control method, device, vehicle, storage medium, and program product. Background Art

[0002] In winter, when temperatures drop below zero, the brake discs of vehicles often remain cold. If water seeps between the brake disc and the caliper's friction pads and the driver depresses the brake pedal, the caliper's friction pads will clamp against the brake disc. When the driver releases the brake pedal, the brake disc and friction pads freeze together, preventing them from separating properly, posing a safety risk. Summary of the Invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a caliper control method, device, vehicle, storage medium and program product.

[0004] According to a first aspect of an embodiment of the present disclosure, a method for controlling a caliper is provided, the method comprising:

[0005] Get the brake disc temperature of the vehicle's brake disc;

[0006] determining a target retraction amount of a piston in a caliper of the vehicle according to the brake disc temperature;

[0007] When the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, the piston in the caliper is controlled to retract according to the target retraction amount.

[0008] Optionally, obtaining the brake disc temperature of the vehicle's brake disc includes:

[0009] Obtaining the historical temperature of the brake disc at a previous moment, as well as the vehicle speed, caliper clamping force, and ambient temperature at a current moment;

[0010] The brake disc temperature is determined based on the historical temperature, the vehicle speed, the caliper clamping force, and the ambient temperature.

[0011] Optionally, determining the brake disc temperature according to the historical temperature, the vehicle speed, the caliper clamping force, and the ambient temperature includes:

[0012] determining a heating energy corresponding to the brake disc based on the vehicle speed and the caliper clamping force; the heating energy is used to represent a change in energy generated by heating the brake disc within a target period, the target period being the time between a previous moment and a current moment;

[0013] determining a cooling energy corresponding to the brake disc according to the historical temperature and the ambient temperature; the cooling energy is used to represent a change in energy generated by cooling the brake disc during the target cycle;

[0014] The brake disc temperature is determined according to the historical temperature, the heating energy, and the cooling energy.

[0015] Optionally, determining the heating energy corresponding to the brake disc according to the vehicle speed and the caliper clamping force includes:

[0016] Obtaining the drag torque corresponding to the caliper of the vehicle at the current moment;

[0017] determining a braking torque corresponding to the caliper of the vehicle according to the caliper clamping force;

[0018] determining a drag energy corresponding to the caliper according to the drag torque and the vehicle speed; the drag energy is used to represent a change in energy generated by the brake disc due to the drag torque within a target cycle;

[0019] determining a braking energy corresponding to the caliper according to the braking torque and the vehicle speed; the braking energy being used to represent a change in energy generated by the brake disc due to the braking torque within a target cycle;

[0020] The heating energy is determined according to the drag energy and the braking energy.

[0021] Optionally, determining the brake disc temperature according to the historical temperature, the heating energy, and the cooling energy includes:

[0022] determining an energy change of the brake disc of the vehicle within the target cycle according to the heating energy and the cooling energy;

[0023] determining a temperature change of a brake disc of the vehicle within the target cycle based on the energy change;

[0024] The brake disc temperature is determined according to the historical temperature and the temperature change.

[0025] Optionally, determining a target retraction amount of a piston in a caliper of the vehicle according to the brake disc temperature includes:

[0026] determining a caliper freezing result of the vehicle according to the brake disc temperature, wherein the caliper freezing result is used to indicate whether there is a risk of freezing between the brake disc and the friction plate of the caliper;

[0027] A target retraction amount of a piston in a caliper of the vehicle is determined according to the caliper freezing result.

[0028] Optionally, determining a caliper freezing result of the vehicle according to the brake disc temperature includes:

[0029] Obtaining the air humidity of the environment in which the vehicle is located;

[0030] When the brake disc temperature is less than or equal to a preset temperature threshold and the air humidity is greater than or equal to a preset humidity threshold, determining the caliper freezing result includes a risk of freezing between the brake disc and a friction plate of the caliper.

[0031] Optionally, obtaining the air humidity of the environment in which the vehicle is located includes:

[0032] When the anti-freeze mode of the vehicle is not turned on, the air humidity of the environment in which the vehicle is located is obtained.

[0033] Optionally, the method further includes:

[0034] When the anti-freeze mode is turned on for the vehicle, if the brake disc temperature is less than or equal to a preset temperature threshold, determining the caliper freezing result includes a risk of freezing between the brake disc and the friction plate of the caliper.

[0035] Optionally, when the caliper freezing result includes that there is no risk of freezing between the brake disc and the friction plate of the caliper, determining the target retraction amount of the piston in the caliper of the vehicle according to the caliper freezing result includes:

[0036] Using a preset standard rollback amount as the target rollback amount;

[0037] When the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, controlling the piston in the caliper to retract according to the target retraction amount includes:

[0038] When the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, the piston in the caliper is controlled to retract according to the preset standard retraction amount.

[0039] Optionally, when the caliper freezing result includes a risk of freezing between the brake disc and the friction plate of the caliper, determining the target retraction amount of the piston in the caliper of the vehicle according to the caliper freezing result includes:

[0040] Using a first preset rollback amount as the target rollback amount; the first preset rollback amount is smaller than a preset standard rollback amount;

[0041] When the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, controlling the piston in the caliper to retract according to the target retraction amount includes:

[0042] When the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, the piston in the caliper is controlled to retract according to the first preset retraction amount.

[0043] Optionally, when controlling the piston in the caliper to retract according to the first preset retraction amount, the method further includes:

[0044] Periodically executing the step of determining a caliper freezing result of the vehicle according to the brake disc temperature;

[0045] When the caliper freezing result includes that there is no risk of freezing between the brake disc and the friction plate of the caliper, the piston in the caliper is controlled to retract according to the preset standard retraction amount.

[0046] According to a second aspect of an embodiment of the present disclosure, a caliper control device is provided, the device comprising:

[0047] an acquisition module configured to acquire a brake disc temperature of a brake disc of a vehicle;

[0048] a determination module configured to determine a target retraction amount of a piston in a caliper of the vehicle according to the brake disc temperature;

[0049] The control module is configured to control the piston in the caliper to retract according to the target retraction amount when it is determined that the braking action of the vehicle is completed when the vehicle is in a braking state.

[0050] Optionally, the acquisition module is configured to obtain the historical temperature of the brake disc at the previous moment, as well as the vehicle speed, caliper clamping force and ambient temperature of the vehicle at the current moment; and determine the brake disc temperature based on the historical temperature, the vehicle speed, the caliper clamping force and the ambient temperature.

[0051] Optionally, the acquisition module is configured to determine the heating energy corresponding to the brake disc based on the vehicle speed and the caliper clamping force; the heating energy is used to characterize the change in energy generated by the heating of the brake disc within a target period, and the target period is the time between the previous moment and the current moment; the cooling energy corresponding to the brake disc is determined based on the historical temperature and the ambient temperature; the cooling energy is used to characterize the change in energy generated by the cooling of the brake disc within the target period; the brake disc temperature is determined based on the historical temperature, the heating energy and the cooling energy.

[0052] Optionally, the acquisition module is configured to acquire the drag torque corresponding to the caliper of the vehicle at the current moment; determine the braking torque corresponding to the caliper of the vehicle based on the caliper clamping force; determine the drag energy corresponding to the caliper based on the drag torque and the driving speed; the drag energy is used to characterize the change in energy generated by the brake disc due to the drag torque within a target cycle; determine the braking energy corresponding to the caliper based on the braking torque and the driving speed; the braking energy is used to characterize the change in energy generated by the brake disc due to the braking torque within the target cycle; and determine the heating energy based on the drag energy and the braking energy.

[0053] Optionally, the acquisition module is configured to determine the energy change of the brake disc of the vehicle within the target cycle based on the heating energy and the cooling energy; determine the temperature change of the brake disc of the vehicle within the target cycle based on the energy change; and determine the brake disc temperature based on the historical temperature and the temperature change.

[0054] Optionally, the determination module is configured to determine a caliper freezing result of the vehicle based on the brake disc temperature, wherein the caliper freezing result is used to characterize whether there is a risk of freezing between the brake disc and the friction plate of the caliper; and determine a target retraction amount of the piston in the caliper of the vehicle based on the caliper freezing result.

[0055] Optionally, the determination module is configured to obtain the air humidity of the environment in which the vehicle is located; when the brake disc temperature is less than or equal to a preset temperature threshold and the air humidity is greater than or equal to a preset humidity threshold, determining that the caliper freezing result includes the risk of freezing between the brake disc and the friction plate of the caliper.

[0056] Optionally, the determination module is configured to obtain the air humidity of the environment in which the vehicle is located when the anti-freeze mode of the vehicle is not turned on.

[0057] Optionally, the determination module is further configured to, when the anti-freeze mode of the vehicle is turned on, if the brake disc temperature is less than or equal to a preset temperature threshold, determine that the caliper freezing result includes the risk of freezing between the brake disc and the friction plate of the caliper.

[0058] Optionally, when the caliper freezing result includes that there is no risk of freezing between the brake disc and the friction plate of the caliper, the determining module is configured to use a preset standard rollback amount as the target rollback amount;

[0059] The control module is configured to control the piston in the caliper to retract according to the preset standard retraction amount when it is determined that the braking action of the vehicle is completed when the vehicle is in a braking state.

[0060] Optionally, when the caliper freezing result includes a risk of freezing between the brake disc and the friction plate of the caliper, the determining module is further configured to use a first preset rollback amount as the target rollback amount; the first preset rollback amount is smaller than a preset standard rollback amount;

[0061] The control module is configured to control the piston in the caliper to retract according to the first preset retraction amount when it is determined that the braking action of the vehicle is completed when the vehicle is in a braking state.

[0062] Optionally, when the piston in the caliper is controlled to retract according to the first preset retraction amount, the determining module is further configured to periodically perform the step of determining a caliper freezing result of the vehicle based on the brake disc temperature;

[0063] The control module is further configured to control the piston in the caliper to retract according to the preset standard retraction amount when the caliper freezing result includes that there is no risk of freezing between the brake disc and the friction plate of the caliper.

[0064] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: a processor; and a memory for storing processor executable instructions; wherein the processor is configured to implement the steps of the caliper control method provided in the first aspect of the present disclosure when calling the executable instructions stored on the memory.

[0065] 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 caliper control method provided in the first aspect of the present disclosure are implemented.

[0066] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the caliper control method provided in the first aspect of the present disclosure.

[0067] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: In the present disclosure, the brake disc temperature of the vehicle's brake disc is first obtained. Then, based on the brake disc temperature, the target retraction amount of the piston in the vehicle's caliper is determined. Thereafter, when the vehicle is in a braking state, if it is determined that the vehicle's braking action is completed, the piston in the caliper is controlled to retract based on the target retraction amount. The target retraction amount in the vehicle's caliper is determined by the brake disc temperature. When the brake disc temperature is too low, a smaller target retraction amount can be set. In this way, after the vehicle's braking action is completed, based on the smaller target retraction amount, the piston in the caliper is controlled to retract, so as to actively reduce the gap between the brake disc and the caliper friction pad, thereby heating the brake disc through the friction force between the brake disc and the caliper friction pad, avoiding the possibility of freezing of the brake disc and the friction pad, and ensuring the driving safety of the vehicle.

[0068] 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 disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] 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.

[0070] Figure 1 The figure is a structural block diagram of a vehicle braking system according to an exemplary embodiment.

[0071] Figure 2 The figure is a flowchart of a method for controlling a caliper according to an exemplary embodiment.

[0072] Figure 3 The figure is a flow chart showing another method for controlling a caliper according to an exemplary embodiment.

[0073] Figure 4 The figure is a flow chart showing another method for controlling a caliper according to an exemplary embodiment.

[0074] Figure 5 The figure is a flowchart of a method for controlling a caliper according to an exemplary embodiment.

[0075] Figure 6 The figure is a block diagram of a caliper control device according to an exemplary embodiment.

[0076] Figure 7 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0077] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0078] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the corresponding data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0079] In the description of this disclosure, unless otherwise specified, "plurality" refers to two or more than two, and other quantifiers are similar; "at least one item", "one or more items" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one item a can represent any number of a; for another example, one or more items among a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or plural; "and / or" is a type of relationship that describes the association of related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " indicates that the related objects are in an "or" relationship.

[0080] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily to be construed as implying a particular order or sequential sequence. In addition, in the description with reference to the accompanying drawings, the same reference numerals in different drawings represent the same elements.

[0081] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0082] Although operations or steps are described in a particular order in the drawings in the embodiments of the present disclosure, this should not be understood as requiring that these operations or steps be performed in the particular order shown or in a serial order, or that all of the operations or steps shown be performed to obtain a desired result. In the embodiments of the present disclosure, these operations or steps may be performed serially; these operations or steps may also be performed in parallel; or some of these operations or steps may be performed.

[0083] Before introducing the caliper control method, device, vehicle, storage medium and program product provided by the present disclosure, the application scenarios involved in each embodiment of the present disclosure are first introduced. The present disclosure is applied in vehicle braking scenarios, such as Figure 1 As shown, during normal driving, when the driver releases the brake pedal, the clearance between the vehicle's brake disc 10 and the friction lining 21 of the caliper 20 returns to normal. However, in cold winter conditions with temperatures below zero, the brake disc 10 is relatively cool. If water seeps between the brake disc 10 and the friction lining 21 of the caliper 20, and the driver depresses the brake pedal, the friction lining 21 and the brake disc 10 become tightly engaged. When the driver releases the brake pedal, the water seeping between the brake disc 10 and the friction lining 21 of the caliper 20, coupled with the relatively low temperature of the brake disc 10, may cause the brake disc 10 and the friction lining 21 to freeze together, preventing the normal clearance from returning. After this freezing phenomenon occurs, if the driver releases the brake pedal and hopes that the vehicle will creep forward, the vehicle will not be able to creep forward, or will move forward in a jerky manner, and NVH (Noise, Vibration, Harshness) noise will occur. Severe freezing phenomenon may even require the driver to step on the accelerator pedal to make the vehicle move forward. When stepping on the accelerator pedal, the ice at the frozen caliper may suddenly crack, and the vehicle may suddenly rush forward, causing dangerous conditions such as serious threats to driving safety.

[0084] To address the aforementioned technical issues, the present invention provides a caliper control method, device, vehicle, storage medium, and program product. The method uses brake disc temperature to determine a target rollback amount in a vehicle's caliper. When the brake disc temperature is too low, a smaller target rollback amount can be set. Thus, after the vehicle's braking operation is completed, the caliper's piston is controlled to retract based on the smaller target rollback amount, actively reducing the gap between the brake disc and the caliper's friction pad. The friction between the brake disc and the caliper's friction pad causes the brake disc to heat up, preventing the possibility of freezing of the brake disc and friction pad, thereby ensuring vehicle driving safety.

[0085] The meanings of some nouns appearing in this disclosure are explained below.

[0086] Hydraulic brake system: Hydraulic brake is a concentrated energy driving method, mainly driven by a large motor to drive 4 calipers.

[0087] Electronic mechanical braking system: The electronic mechanical braking (EMB) system is a distributed energy drive method, generally consisting of four small motors driving four calipers respectively.

[0088] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0089] Figure 2 FIG. 1 is a flow chart showing a method for controlling a caliper according to an exemplary embodiment. Figure 2 As shown, the method may include the following steps:

[0090] In step S101 , the brake disc temperature of a brake disc of a vehicle is acquired.

[0091] It is understandable that if the temperature is below zero, the water in the environment will be frozen. Therefore, in this step, the brake disc temperature of the brake disc can be obtained to determine whether the brake disc is likely to be frozen.

[0092] In some embodiments, the brake disc temperature can be calculated using a brake disc temperature model based on the historical temperature of the brake disc at a previous moment, as well as the vehicle's current speed, caliper clamping force, and ambient temperature.

[0093] Among them, the caliper clamping force refers to the force of the caliper clamping the brake disc through the friction pad, which can be directly obtained and is a signal on the vehicle's CAN bus.

[0094] In step S102 , a target retraction amount of a piston in a caliper of the vehicle is determined according to the brake disc temperature.

[0095] In this step, the retraction amount of the piston is used to control the retraction of the caliper piston so as to expand the gap between the brake disc and the friction plate of the caliper.

[0096] In a possible implementation, different second preset rollback amounts may be pre-set for different brake disc temperatures to obtain a preset correspondence, wherein the preset correspondence may include, for example, a correspondence between multiple preset temperature intervals and multiple second preset rollback amounts.

[0097] In this way, based on the brake disc temperature, a preset temperature interval corresponding to the brake disc temperature can be determined from a plurality of preset temperature intervals included in the preset correspondence, and the second preset rollback amount corresponding to the preset temperature interval can be used as the target rollback amount. Furthermore, to improve the efficiency of brake disc heating, the target rollback amount can be set to decrease with increasing brake disc temperature, thereby increasing the friction between the brake disc and the friction pad.

[0098] In another possible implementation, a caliper freeze result of the vehicle can be determined based on the brake disc temperature. The caliper freeze result indicates whether there is a risk of freezing between the brake disc and the caliper's friction pad. A target retraction amount for the caliper's piston can then be determined based on the caliper freeze result.

[0099] In step S103 , when the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, the piston in the caliper is controlled to retract according to the target retraction amount.

[0100] After the vehicle's braking action is complete, the caliper piston is controlled to retract according to the target retraction amount, disengaging the caliper friction pad from the brake disc. When the brake disc temperature is low, the piston is controlled to retract with a smaller retraction amount, reducing the gap between the brake disc and the caliper friction pad to less than the normal preset standard retraction amount. The friction between the brake disc and the caliper friction pad heats up the brake disc, preventing the possibility of freezing of the brake disc and the friction pad, and ensuring vehicle driving safety.

[0101] It should be noted that the technical solution provided by this disclosure can be applied to either a hydraulic brake system or an electromechanical brake system. When applied to a hydraulic brake system, the above technical solution can be used to uniformly control the retraction of all calipers. When applied to an electromechanical brake system, the above technical solution can be used to determine the target retraction amount for each caliper and control the retraction of each caliper individually.

[0102] Using this method, the target retraction amount of the vehicle's caliper is determined by the brake disc temperature. When the brake disc temperature is too low, a smaller target retraction amount can be set. After the vehicle's braking operation, the caliper piston is controlled to retract based on this smaller target retraction amount, actively reducing the gap between the brake disc and the caliper friction pad. The friction between the brake disc and the caliper friction pad heats the brake disc, preventing the possibility of freezing of the brake disc and the friction pad, thereby ensuring vehicle driving safety.

[0103] The above step S101 is described in detail below.

[0104] like Figure 3 As shown, obtaining the brake disc temperature of the vehicle's brake disc in the above step S101 may include the following steps:

[0105] In step S1011, the historical temperature of the brake disc at the previous moment, as well as the vehicle speed, caliper clamping force and ambient temperature at the current moment are obtained.

[0106] The last moment may refer to the last acquisition moment. That is, during vehicle operation, the temperature of the brake disc may be periodically calculated according to a preset acquisition period (eg, 20 milliseconds).

[0107] In step S1012 , the brake disc temperature is determined according to the historical temperature, the vehicle speed, the caliper clamping force, and the ambient temperature.

[0108] In some embodiments, first, the heating energy corresponding to the brake disc can be determined according to the vehicle speed and the caliper clamping force.

[0109] The heating energy is used to represent the change in energy generated by the heating of the brake disc within a target period, which is the time between the previous moment and the current moment. The target period can also be understood as the preset collection period mentioned above.

[0110] It's understandable that while there's a certain gap between the brake disc and the friction pad, there's also a certain amount of friction. As the vehicle moves (the wheels roll), this friction generates heat, and the energy generated (i.e., the energy from drag) causes the brake disc to heat up. Furthermore, when the driver depresses the brake pedal, the caliper clamps the brake disc tightly, but the disc still slides relative to the friction pad to a certain extent. The energy generated by this sliding (i.e., the energy from braking) also causes the disc to heat up. Therefore, during vehicle operation, the energy generated by the brake disc heating primarily consists of energy from drag and energy from braking.

[0111] For example, the energy generated by drag can be determined as follows:

[0112] (1) Obtain the drag torque corresponding to the caliper of the vehicle at the current moment.

[0113] When the driver releases the brake pedal, the hydraulic pressure in the brake system returns to zero. In theory, the friction pad should completely separate from the brake disc at this point. However, in practice, due to various factors, there may still be slight contact between the friction pad and the brake disc, resulting in a drag torque.

[0114] There's a negative correlation between drag torque and caliper piston retraction: the greater the piston retraction, the smaller the drag torque. Therefore, a pre-established relationship between drag torque and caliper piston retraction can be used. This allows the current caliper's corresponding drag torque to be determined based on the current caliper piston position (i.e., piston retraction) and the pre-established relationship between drag torque and caliper piston retraction.

[0115] (2) Determine the drag energy corresponding to the caliper based on the drag torque and the vehicle speed.

[0116] The drag energy is used to represent the change in energy generated by the drag torque of the brake disc within a target cycle.

[0117] Specifically, the drag power may be determined first according to the drag torque and the vehicle speed, and then the product of the drag power and the target cycle is used as the drag energy.

[0118] For example, the drag power can be determined by the following formula:

[0119]

[0120] Among them, P 拖滞 That is the drag power, Torque 拖滞 is the drag torque, V is the vehicle speed, r 车轮 This is the rolling radius of the wheel.

[0121] For example, the energy generated by braking can be determined as follows:

[0122] (1) Determine the braking torque corresponding to the caliper of the vehicle based on the caliper clamping force.

[0123] For example, the braking torque can be determined using the following formula:

[0124]

[0125] Among them, Torque 制动 is the braking torque, It is the friction coefficient between the friction plate and the brake disc, F 夹紧力 is the caliper clamping force, r 制动半径 This is the braking radius of the caliper (i.e., the distance from the center of the brake disc to the center of the friction pad).

[0126] (2) Determine the braking energy corresponding to the caliper based on the braking torque and the vehicle speed.

[0127] The braking energy is used to represent the change in energy generated by the brake disc due to the braking torque within a target cycle.

[0128] Specifically, the braking power may be determined first according to the braking torque and the vehicle speed, and then the product of the braking power and the target cycle is used as the braking energy.

[0129] For example, the braking power can be determined using the following formula:

[0130]

[0131] Among them, P 制动That is the braking power, Torque 制动 is the braking torque, V is the vehicle speed, r 车轮 This is the rolling radius of the wheel.

[0132] In a possible implementation, the sum of the drag energy and the braking energy may be directly used as the heating energy.

[0133] In another possible implementation, in order to reduce the amount of calculation, the sum of the obtained drag power and braking power can be used as the heating power. ,in, That is the heating power, P 拖滞 That is the drag power, P 制动 Then, the corresponding heating energy is obtained by multiplying the heating power and the target cycle.

[0134] Secondly, the cooling energy corresponding to the brake disc is determined according to the historical temperature and the ambient temperature.

[0135] The cooling energy is used to represent the change in energy generated by cooling the brake disc within the target cycle.

[0136] Specifically, the cooling power may be determined first according to the historical temperature and the ambient temperature, and then the product of the cooling power and the target cycle is used as the cooling energy.

[0137] For example, the cooling power can be determined by the following formula:

[0138]

[0139] Among them, P cooling is the cooling power, It is the cooling coefficient of the brake disc (related to the vehicle's braking system parameters, vehicle speed and other parameters, ambient temperature, etc., and its value can be obtained through experiments), T 历史 (t) is the historical temperature, T 环境 Is the ambient temperature.

[0140] Finally, the brake disc temperature is determined according to the historical temperature, the heating energy, and the cooling energy.

[0141] For example, the brake disc temperature can be determined as follows:

[0142] (1) Determine an energy change of the brake disc of the vehicle within the target cycle based on the heating energy and the cooling energy.

[0143] In this step, the difference between the heating energy and the cooling energy may be used as the energy variation of the vehicle's brake disc within the target cycle.

[0144] (2) Determine the temperature change of the brake disc of the vehicle within the target cycle based on the energy change.

[0145] Specifically, the mass of the brake disc and the specific heat capacity of the brake disc may be obtained, and then the temperature change may be determined according to the energy change, the mass of the brake disc and the specific heat capacity of the brake disc.

[0146] For example, the temperature change can be obtained by dividing the energy change by the product of the mass of the brake disc and the specific heat capacity of the brake disc. That is, the temperature change can be obtained by dividing the energy change by the mass of the brake disc and then by the specific heat capacity of the brake disc.

[0147] (3) Determine the brake disc temperature based on the historical temperature and the temperature change.

[0148] The sum of the historical temperature and the temperature change can be used as the brake disc temperature.

[0149] A possible implementation of the above step S102 is described in detail below. Figure 4 As shown, determining the target retraction amount of the piston in the caliper of the vehicle according to the brake disc temperature in the above step S102 may include the following steps:

[0150] In step S1021 , a caliper freezing result of the vehicle is determined according to the brake disc temperature.

[0151] The caliper freezing result is used to indicate whether there is a risk of freezing between the brake disc and the friction plate of the caliper.

[0152] In one possible implementation, the air humidity of the vehicle's environment may also be obtained. When the brake disc temperature is less than or equal to a preset temperature threshold and the air humidity is greater than or equal to a preset humidity threshold, the caliper freezing result is determined to include a risk of freezing between the brake disc and the friction pad of the caliper.

[0153] When the brake disc temperature is less than or equal to the preset temperature threshold, it indicates that the current brake disc temperature is low, and one environmental factor for freezing has been preliminarily met; further, if the air humidity is greater than or equal to the preset humidity threshold at this time, another environmental factor for freezing is further met, and it can be determined that the caliper freezing result includes the risk of freezing between the brake disc and the friction plate of the caliper.

[0154] Accordingly, when the brake disc temperature is greater than a preset temperature threshold, and / or the air humidity is less than a preset humidity threshold, determining that the caliper is frozen includes that there is no risk of freezing between the brake disc and the friction plate of the caliper.

[0155] In another possible implementation, even in low humidity scenarios, water may flow between the caliper's friction pad and the brake disc (e.g., from air conditioning). To prevent freezing in these situations, an anti-freeze mode can be enabled, allowing the driver to choose whether to enable it based on their environment.

[0156] Specifically, if the vehicle's anti-freeze mode is enabled, only the brake disc temperature may be determined. Specifically, if the brake disc temperature is less than or equal to a preset temperature threshold, the caliper freeze result is determined to include a risk of freezing between the brake disc and the caliper's friction pad. If the vehicle's anti-freeze mode is not enabled, the aforementioned method for determining caliper freeze based on brake disc temperature and air humidity may be used, and this will not be further elaborated here.

[0157] In step S1022 , a target retraction amount of a piston in the caliper of the vehicle is determined according to the caliper freezing result.

[0158] In one possible implementation, if the caliper freezing result includes no risk of freezing between the brake disc and the caliper's friction pad, a preset standard retraction amount can be used as the target retraction amount. The preset standard retraction amount can be understood as a standard value by which the piston should retract after the caliper completes braking action under normal operating conditions.

[0159] Accordingly, in the above step S103, when the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, controlling the piston in the caliper to retract according to the target retraction amount may include: when the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, controlling the piston in the caliper to retract according to the preset standard retraction amount.

[0160] In another possible implementation, if the caliper freezing result includes a risk of freezing between the brake disc and the caliper's friction pad, a first preset backoff amount can be used as the target backoff amount. The first preset backoff amount is smaller than the preset standard backoff amount. In other words, if there's a risk of freezing between the brake disc and the caliper's friction pad, the backoff amount can be reduced to minimize the gap between them.

[0161] Accordingly, in the above step S103, when the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, controlling the piston in the caliper to retract according to the target retraction amount may include: when the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, controlling the piston in the caliper to retract according to the first preset retraction amount.

[0162] In this way, by reducing the gap between the brake disc and the friction pad of the caliper, the friction force between the brake disc and the friction pad of the caliper can be increased, thereby increasing the temperature of the brake disc through frictional heat generation and avoiding freezing between the brake disc and the friction pad of the caliper.

[0163] Furthermore, after the piston in the caliper is controlled to retract according to the first preset retraction amount, in order to avoid affecting normal driving of the vehicle, the step of determining a caliper freeze result of the vehicle based on the brake disc temperature may be performed periodically (for example, the caliper freeze result may be determined according to a preset collection period). If the caliper freeze result indicates that there is no risk of freezing between the brake disc and the friction pad of the caliper, the piston in the caliper is controlled to retract according to the preset standard retraction amount.

[0164] That is, after the caliper piston is controlled to retract according to the first preset retraction amount, the brake disc temperature can continue to be periodically assessed. If the brake disc temperature is greater than or equal to the preset temperature threshold, it can be determined that there is no risk of freezing between the brake disc and the caliper friction plate. At this point, the caliper piston can be retracted to the standard position corresponding to the preset standard retraction amount (i.e., the caliper piston is controlled to retract according to the preset standard retraction amount).

[0165] Using this method, the target retraction amount of the vehicle's caliper is determined by the brake disc temperature. When the brake disc temperature is too low, a smaller target retraction amount can be set. After the vehicle's braking operation, the caliper piston is controlled to retract based on this smaller target retraction amount, actively reducing the gap between the brake disc and the caliper friction pad. The friction between the brake disc and the caliper friction pad heats the brake disc, preventing the possibility of freezing of the brake disc and the friction pad, thereby ensuring vehicle driving safety.

[0166] Figure 5 FIG. 1 is a flow chart showing a method for controlling a caliper according to an exemplary embodiment. Figure 5 As shown, taking the anti-freeze mode set in the vehicle as an example, the method may include the following steps:

[0167] In step S201 , the historical temperature of the brake disc at the previous moment, as well as the vehicle speed, caliper clamping force and ambient temperature at the current moment are obtained.

[0168] In step S202 , the brake disc temperature is determined according to the historical temperature, the vehicle speed, the caliper clamping force, and the ambient temperature.

[0169] Among them, the brake disc temperature can be determined by referring to the above Figure 2 The embodiments in the embodiment will not be described in detail here.

[0170] In step S203 , it is determined whether the anti-freeze mode is turned on.

[0171] If it is determined that the anti-freeze mode is turned on, step S204 is executed;

[0172] If it is determined that the anti-freeze mode is not enabled, step S205 is executed.

[0173] In step S204 , it is determined whether the brake disc temperature is less than or equal to a preset temperature threshold.

[0174] If it is determined that the brake disc temperature is less than or equal to the preset temperature threshold, step S206 is executed;

[0175] If it is determined that the brake disc temperature is greater than the preset temperature threshold, step S207 is executed.

[0176] In step S205 , it is determined whether the brake disc temperature is less than or equal to a preset temperature threshold, and whether the air humidity is greater than or equal to a preset humidity threshold.

[0177] If it is determined that the brake disc temperature is less than or equal to the preset temperature threshold, and the air humidity is greater than or equal to the preset humidity threshold, step S206 is executed;

[0178] If it is determined that the brake disc temperature is greater than the preset temperature threshold, and / or the air humidity is less than the preset humidity threshold, step S207 is executed.

[0179] In step S206 , it is determined that the caliper freezing result includes a risk of freezing between the brake disc and the friction plate of the caliper.

[0180] In step S207 , it is determined that the caliper freezing result includes that there is no risk of freezing between the brake disc and the friction plate of the caliper.

[0181] In step S208 , when the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, the piston in the caliper is controlled to retract according to the first preset retraction amount.

[0182] In step S209 , when the vehicle is in a braking state, if it is determined that the braking action of the vehicle is completed, the piston in the caliper is controlled to retract according to the preset standard retraction amount.

[0183] Among them, the preset standard backoff amount is greater than the first preset backoff amount.

[0184] Using this method, the target retraction amount of the vehicle's caliper is determined by the brake disc temperature. When the brake disc temperature is too low, a smaller target retraction amount can be set. After the vehicle's braking operation, the caliper piston is controlled to retract based on this smaller target retraction amount, actively reducing the gap between the brake disc and the caliper friction pad. The friction between the brake disc and the caliper friction pad heats the brake disc, preventing the possibility of freezing of the brake disc and the friction pad, thereby ensuring vehicle driving safety.

[0185] Figure 6 is a block diagram of a caliper control device according to an exemplary embodiment. Figure 6 As shown, the device 300 includes:

[0186] An acquisition module 301 is configured to acquire a brake disc temperature of a brake disc of a vehicle;

[0187] A determination module 302 is configured to determine a target retraction amount of a piston in a caliper of the vehicle according to the brake disc temperature;

[0188] The control module 303 is configured to control the piston in the caliper to retract according to the target retraction amount when the vehicle is in a braking state and it is determined that the braking action of the vehicle is completed.

[0189] Optionally, the acquisition module 301 is configured to obtain the historical temperature of the brake disc at the previous moment, as well as the vehicle speed, caliper clamping force and ambient temperature at the current moment; and determine the brake disc temperature based on the historical temperature, the vehicle speed, the caliper clamping force and the ambient temperature.

[0190] Optionally, the acquisition module 301 is configured to determine the heating energy corresponding to the brake disc based on the vehicle speed and the caliper clamping force; the heating energy is used to characterize the change in energy generated by the heating of the brake disc within a target period, and the target period is the time between the previous moment and the current moment; the cooling energy corresponding to the brake disc is determined based on the historical temperature and the ambient temperature; the cooling energy is used to characterize the change in energy generated by the cooling of the brake disc within the target period; the brake disc temperature is determined based on the historical temperature, the heating energy and the cooling energy.

[0191] Optionally, the acquisition module 301 is configured to acquire the drag torque corresponding to the caliper of the vehicle at the current moment; determine the braking torque corresponding to the caliper of the vehicle based on the clamping force of the caliper; determine the drag energy corresponding to the caliper based on the drag torque and the driving speed; the drag energy is used to characterize the change in energy generated by the brake disc due to the drag torque within a target cycle; determine the braking energy corresponding to the caliper based on the braking torque and the driving speed; the braking energy is used to characterize the change in energy generated by the brake disc due to the braking torque within the target cycle; and determine the heating energy based on the drag energy and the braking energy.

[0192] Optionally, the acquisition module 301 is configured to determine the energy change of the brake disc of the vehicle within the target cycle based on the heating energy and the cooling energy; determine the temperature change of the brake disc of the vehicle within the target cycle based on the energy change; and determine the brake disc temperature based on the historical temperature and the temperature change.

[0193] Optionally, the determination module 302 is configured to determine a caliper freezing result of the vehicle based on the brake disc temperature, and the caliper freezing result is used to characterize whether there is a risk of freezing between the brake disc and the friction plate of the caliper; and determine a target retraction amount of the piston in the caliper of the vehicle based on the caliper freezing result.

[0194] Optionally, the determination module 302 is configured to obtain the air humidity of the environment in which the vehicle is located; when the brake disc temperature is less than or equal to a preset temperature threshold and the air humidity is greater than or equal to a preset humidity threshold, determining that the caliper freezing result includes the risk of freezing between the brake disc and the friction plate of the caliper.

[0195] Optionally, the determination module 302 is configured to obtain the air humidity of the environment in which the vehicle is located when the anti-freeze mode of the vehicle is not turned on.

[0196] Optionally, the determination module 302 is further configured to, when the anti-freeze mode of the vehicle is turned on, if the brake disc temperature is less than or equal to a preset temperature threshold, determine that the caliper freezing result includes the risk of freezing between the brake disc and the friction plate of the caliper.

[0197] Optionally, when the caliper freezing result includes that there is no risk of freezing between the brake disc and the friction plate of the caliper, the determining module 302 is configured to use a preset standard rollback amount as the target rollback amount;

[0198] The control module 303 is configured to control the piston in the caliper to retract according to the preset standard retraction amount when the vehicle is in a braking state and it is determined that the braking action of the vehicle is completed.

[0199] Optionally, when the caliper freezing result includes a risk of freezing between the brake disc and the friction plate of the caliper, the determining module 302 is further configured to use a first preset rollback amount as the target rollback amount; the first preset rollback amount is smaller than a preset standard rollback amount;

[0200] The control module 303 is configured to control the piston in the caliper to retract according to the first preset retraction amount when the vehicle is in a braking state and it is determined that the braking action of the vehicle is completed.

[0201] Optionally, when the piston in the caliper is controlled to retract according to the first preset retraction amount, the determining module 302 is further configured to periodically execute the step of determining a caliper freezing result of the vehicle based on the brake disc temperature;

[0202] The control module 303 is further configured to control the piston in the caliper to retract according to the preset standard retraction amount when the caliper freezing result includes that there is no risk of freezing between the brake disc and the friction plate of the caliper.

[0203] The above device uses the brake disc temperature to determine the target rollback amount in the vehicle's caliper. When the brake disc temperature is too low, a smaller target rollback amount can be set. After the vehicle's braking operation, the caliper piston is controlled to retract based on this smaller target rollback amount, actively reducing the gap between the brake disc and the caliper friction pad. The friction between the brake disc and the caliper friction pad heats the brake disc, preventing the possibility of freezing of the brake disc and the friction pad, thereby ensuring vehicle driving safety.

[0204] Regarding the apparatus 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.

[0205] 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 caliper control method provided by the present disclosure are implemented.

[0206] Figure 7 FIG4 is a block diagram illustrating a vehicle 400 according to an exemplary embodiment. For example, vehicle 400 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or another type of vehicle. Vehicle 400 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0207] Reference Figure 7Vehicle 400 may include various subsystems, such as an infotainment system 410, a perception system 420, a decision-making control system 430, a drive system 440, and a computing platform 450. Vehicle 400 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of vehicle 400 may be interconnected via wired or wireless means.

[0208] In some embodiments, the infotainment system 410 may include a communication system, an entertainment system, a navigation system, and the like.

[0209] Perception system 420 may include several sensors for sensing information about the environment surrounding vehicle 400. For example, perception system 420 may include a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera.

[0210] The decision control system 430 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0211] Drive system 440 may include components that provide power to vehicle 400. In one embodiment, drive system 440 may include an engine, a power source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination thereof. The engine is capable of converting energy provided by the power source into mechanical energy.

[0212] Some or all functions of the vehicle 400 are controlled by a computing platform 450. The computing platform 450 may include at least one processor 451 and a memory 452. The processor 451 may execute instructions 453 stored in the memory 452.

[0213] The processor 451 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0214] The memory 452 may be implemented by any type of volatile or non-volatile memory 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.

[0215] In addition to instructions 453 , memory 452 may also store data, such as road maps, route information, and vehicle location, direction, speed, etc. The data stored in memory 452 may be used by computing platform 450 .

[0216] In the embodiment of the present disclosure, the processor 451 may execute the instruction 453 to complete all or part of the steps of the above-mentioned caliper control method.

[0217] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for executing the above-mentioned caliper control method when executed by the programmable device.

[0218] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented through electronic hardware, computer software, or a combination of both. Whether such functions are implemented through hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0219] Although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. With particular regard to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. In addition, although particular features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and advantageous for any given or particular application. Furthermore, to the extent that the terms "include," "have," "have," "have," or variations thereof are used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term "comprising."

[0220] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

[0221] 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 can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A caliper control method, characterized in that: The method comprises: Obtain the brake disc temperature of the brake disc of the vehicle; determining a target retraction amount of a piston in a caliper of the vehicle according to the brake disc temperature; When the vehicle is in a braking state, if it is determined that the braking action of the vehicle is finished, controlling the piston in the caliper to retract according to the target retraction amount; The step of obtaining the brake disc temperature of the brake disc of the vehicle comprises: Acquire the historical temperature of the brake disc at the previous moment, as well as the driving speed, caliper clamping force and ambient temperature of the vehicle at the current moment; determining the brake disc temperature according to the historical temperature, the driving speed, the caliper clamping force and the ambient temperature; Determining the brake disc temperature according to the historical temperature, the vehicle speed, the caliper clamping force and the ambient temperature includes: determining a heating energy corresponding to the brake disc according to the vehicle speed and the caliper clamping force; the heating energy is used to characterize a change in energy generated by heating the brake disc within a target period, the target period being the time between a previous moment and a current moment; Determine the cooling energy corresponding to the brake disc according to the historical temperature and the ambient temperature; the cooling energy is used to characterize the change in energy generated by cooling the brake disc during the target cycle; determining the brake disc temperature according to the historical temperature, the heating energy and the cooling energy; Determining the heating energy corresponding to the brake disc according to the vehicle speed and the caliper clamping force includes: Obtaining the drag torque corresponding to the caliper of the vehicle at the current moment; Determining a braking torque corresponding to a caliper of the vehicle according to the caliper clamping force; Determining a drag energy corresponding to the caliper according to the drag torque and the vehicle speed; the drag energy is used to characterize a change in energy generated by the brake disc due to the drag torque within a target cycle; Determining the braking energy corresponding to the caliper according to the braking torque and the vehicle speed; the braking energy is used to characterize the change in energy generated by the brake disc due to the braking torque within a target cycle; The heating energy is determined according to the drag energy and the braking energy.

2. The method according to claim 1, characterized in that Determining the brake disc temperature according to the historical temperature, the heating energy, and the cooling energy includes: Determining an energy change amount of a brake disc of the vehicle within the target cycle according to the heating energy and the cooling energy; determining a temperature change of a brake disc of the vehicle within the target cycle according to the energy change; The brake disc temperature is determined according to the historical temperature and the temperature change.

3. The method according to claim 1, characterized in that Determining a target retraction amount of a piston in a caliper of the vehicle according to the brake disc temperature includes: determining a caliper freezing result of the vehicle according to the brake disc temperature, wherein the caliper freezing result is used to indicate whether there is a risk of freezing between the brake disc and the friction plate of the caliper; A target retraction amount of a piston in a caliper of the vehicle is determined according to the caliper freezing result.

4. The method according to claim 3, characterized in that: Determining the caliper freezing result of the vehicle according to the brake disc temperature includes: Acquiring the air humidity of the environment in which the vehicle is located; When the brake disc temperature is less than or equal to a preset temperature threshold, and the air humidity is greater than or equal to a preset humidity threshold, determining the caliper freezing result includes a risk of freezing between the brake disc and a friction plate of the caliper.

5. The method according to claim 4, characterized in that The step of obtaining the air humidity of the environment in which the vehicle is located comprises: When the anti-freeze mode of the vehicle is not turned on, the air humidity of the environment in which the vehicle is located is obtained.

6. The method according to claim 5, characterized in that The method further comprises: When the anti-freeze mode is turned on for the vehicle, if the temperature of the brake disc is less than or equal to a preset temperature threshold, determining the caliper freezing result includes a risk of freezing between the brake disc and the friction plate of the caliper.

7. The method according to claim 3, characterized in that In a case where the caliper freezing result includes that there is no risk of freezing between the brake disc and the friction plate of the caliper, determining the target retraction amount of the piston in the caliper of the vehicle according to the caliper freezing result includes: Using a preset standard rollback amount as the target rollback amount; When the vehicle is in a braking state, if it is determined that the braking action of the vehicle is finished, controlling the piston in the caliper to retract according to the target retraction amount includes: When the vehicle is in a braking state, if it is determined that the braking action of the vehicle is finished, the piston in the caliper is controlled to retract according to the preset standard retraction amount.

8. The method according to claim 7, characterized in that In a case where the caliper freezing result includes a risk of freezing between the brake disc and the friction plate of the caliper, determining a target retraction amount of a piston in the caliper of the vehicle according to the caliper freezing result includes: Using a first preset rollback amount as the target rollback amount; the first preset rollback amount is smaller than a preset standard rollback amount; When the vehicle is in a braking state, if it is determined that the braking action of the vehicle is finished, controlling the piston in the caliper to retract according to the target retraction amount includes: When the vehicle is in a braking state, if it is determined that the braking action of the vehicle is finished, the piston in the caliper is controlled to retract according to the first preset retraction amount.

9. The method according to claim 8, characterized in that In the case where the piston in the caliper is controlled to retract according to the first preset retraction amount, the method further includes: Periodically executing the step of determining the caliper freezing result of the vehicle according to the brake disc temperature; When the caliper freezing result includes that there is no risk of freezing between the brake disc and the friction plate of the caliper, the piston in the caliper is controlled to retract according to the preset standard retraction amount.

10. A caliper control device, characterized in that: The device comprises: an acquisition module configured to acquire a brake disc temperature of a brake disc of a vehicle; a determination module configured to determine a target retraction amount of a piston in a caliper of the vehicle according to the brake disc temperature; a control module configured to control the piston in the caliper to retract according to the target retraction amount when it is determined that the braking action of the vehicle is finished when the vehicle is in a braking state; The acquisition module is configured to acquire the historical temperature of the brake disc at a previous moment, and the vehicle speed, caliper clamping force and ambient temperature of the vehicle at a current moment; and determine the brake disc temperature according to the historical temperature, the vehicle speed, the caliper clamping force and the ambient temperature; The acquisition module is configured to determine the heating energy corresponding to the brake disc according to the driving speed and the caliper clamping force; the heating energy is used to characterize the change in energy generated by the heating of the brake disc within a target period, and the target period is the time between a previous moment and a current moment; determine the cooling energy corresponding to the brake disc according to the historical temperature and the ambient temperature; the cooling energy is used to characterize the change in energy generated by the cooling of the brake disc within the target period; determine the brake disc temperature according to the historical temperature, the heating energy, and the cooling energy; The acquisition module is configured to acquire the drag torque corresponding to the caliper of the vehicle at the current moment; determine the braking torque corresponding to the caliper of the vehicle according to the caliper clamping force; determine the drag energy corresponding to the caliper according to the drag torque and the driving speed; the drag energy is used to characterize the change in energy generated by the brake disc due to the drag torque within a target cycle; determine the braking energy corresponding to the caliper according to the braking torque and the driving speed; the braking energy is used to characterize the change in energy generated by the brake disc due to the braking torque within a target cycle; and determine the heating energy according to the drag energy and the braking energy.

11. 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 9 when calling the executable instructions stored in the memory.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 9.

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