Calibration method of electronic mechanical brake system, electronic equipment and vehicle

Abstract

The present invention discloses a calibration method, electronic device and vehicle for an electronic mechanical brake system. The method comprises: detecting whether the electronic mechanical brake system of the vehicle is offline; after detecting that the electronic mechanical brake system of the vehicle is offline, controlling the motor to retract to a non-braking state; controlling the motor to advance to a disc-touching state; initializing a first array of data and a second array of data, wherein the first array of data is corresponding data of braking force and motor current, and the second array of data is corresponding data of braking response time, gap and motor voltage; calibrating the first array of data according to a preset first calibration process; calibrating the second array of data according to a preset second calibration process. The present invention can effectively improve the control accuracy of the vehicle's braking force and braking response time by calibrating the electronic mechanical brake system of the vehicle after it is offline, and the calibrated data conforms to the current state of the vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and in particular relates to a calibration method of an electronic mechanical brake system, an electronic device and a vehicle. Background Art

[0002] In the electronic mechanical brake system (EMB), when the driver steps on the brake pedal, the corresponding braking force is calculated according to the travel of the brake pedal, and the current corresponding to the braking force is provided to the brake motor to achieve braking control of the vehicle. In order to improve the efficiency of braking control, the correspondence between the braking force and the motor current is usually tested before the vehicle leaves the factory and saved in the vehicle. When there is a braking demand, the motor current can be quickly obtained by querying the corresponding relationship table between the braking force and the motor current according to the braking force.

[0003] The pre-configured braking force and motor current correspondence table in the vehicle is obtained by testing before the vehicle leaves the factory, and corresponds to the state of the vehicle when it leaves the factory. However, as the vehicle mileage increases, the various components inside the vehicle age and wear out, and the state of the vehicle changes significantly from the state when the vehicle leaves the factory. The braking force and motor current correspondence table tested before the vehicle leaves the factory does not match the current state of the vehicle, reducing the accuracy of the braking control. Summary of the invention

[0004] An object of the present invention is to provide a calibration method for an electronic mechanical brake system, an electronic device and a vehicle, which can solve the technical problem in the prior art that the accuracy of brake control is reduced due to long-term use of the vehicle.

[0005] According to a first aspect of the present invention, there is provided a calibration method for an electronic mechanical brake system, comprising:

[0006] Detect whether the vehicle's electronic mechanical braking system is offline;

[0007] After detecting that the electronic mechanical brake system of the vehicle is offline, controlling the motor to retract to a non-braking state;

[0008] Control the motor to move forward to the plate-touching state;

[0009] Initialize a first array of data and a second array of data, wherein the first array of data is corresponding data of braking force and motor current, and the second array of data is corresponding data of braking response time, gap and motor voltage;

[0010] Calibrate the first array of data according to a preset first calibration process;

[0011] The second array of data is calibrated according to a preset second calibration process.

[0012] Optionally, calibrating the first array of data according to a preset first calibration process includes:

[0013] Controlling the motor to move forward according to a specified step length;

[0014] After the motor has finished moving forward, collecting the braking force and the motor current;

[0015] If the braking force reaches the step force target, updating the first array data according to the braking force and the motor current;

[0016] Re-execute the step of controlling the motor to move forward according to the specified step size.

[0017] Optionally, the method further comprises:

[0018] If the braking force reaches the maximum force target, the loop is exited.

[0019] Optionally, calibrating the second array data according to a preset second calibration process includes:

[0020] Controlling the motor to retreat to a first target gap;

[0021] Control the motor to move forward to the collision plate, and calculate the time consumed by the motor to move forward from the first target gap to the collision plate and the voltage of the motor;

[0022] If the first target gap does not reach the second target gap, updating the second array data according to the target gap, the time consumed by the motor from the target gap to the collision plate, and the voltage of the motor;

[0023] The first target gap is updated, and the step of controlling the motor to move back to the first target gap is re-executed.

[0024] Optionally, the method further comprises:

[0025] If the first target gap reaches the second target gap, exit the loop.

[0026] Optionally, updating the first target gap includes:

[0027] When the first target gap is greater than the second target gap, reducing the first target gap according to a preset gap value;

[0028] When the first target gap is smaller than the second target gap, the first target gap is increased according to a preset gap value.

[0029] According to a second aspect of the present invention, there is provided an electronic device comprising 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 calibration method for an electronic mechanical braking system as described in any embodiment of the present invention are implemented.

[0030] According to a third aspect of the present invention, a vehicle is provided, comprising the electronic device according to the second aspect of the present invention.

[0031] According to a fourth aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of a calibration method for an electronic mechanical brake system as described in the first aspect of the present invention are implemented.

[0032] The beneficial effect of the present invention is that after the electronic mechanical braking system of the vehicle is offline, the present invention calibrates the first array data according to the first calibration process, and calibrates the second array data according to the second calibration process. The calibrated first array data and the calibrated second array data are consistent with the current state of the vehicle, and can effectively improve the control accuracy of the vehicle's braking force and braking response time. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 4 is a flow chart of a calibration method for an electronic mechanical brake system in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] like Figure 1 As shown, this embodiment introduces a calibration method for an electronic mechanical brake system, including steps 1100-1600.

[0040] Step 1100: Detect whether the vehicle's electronic mechanical brake system is offline.

[0041] After the vehicle's electromechanical brake system is offline, the electromechanical brake system stops working. For example, when the vehicle is in a parking state, the electromechanical brake system stops working.

[0042] Step 1200: After detecting that the electronic mechanical brake system of the vehicle is offline, control the motor to return to a non-braking state.

[0043] In the braking system, when braking is required, the driver steps on the brake pedal, and the braking force target is generated according to the travel of the brake pedal. The motor controls the movement of the caliper so that the caliper clamps the brake disc and applies the corresponding braking force to the wheel. At this time, the motor is in the braking state. In the braking state of the motor, the caliper and the brake disc are released by making the motor rotate in the opposite direction, and the motor is in the non-braking state.

[0044] For example, when the vehicle is driving normally, the driver steps on the brake pedal, the motor enters the braking state, brakes the vehicle, and slows it down. When the vehicle just stops, the caliper still clamps the brake disc, and the motor is still in the braking state. Then the vehicle's electronic mechanical braking system is offline, and the motor is controlled to return to the non-braking state.

[0045] Step 1300: Control the motor to advance to the plate-touching state.

[0046] When the motor is in the non-braking state, control the motor to move forward. That is, let the motor rotate forward, drive the caliper close to the brake disc, until the caliper clamps the brake pad. The disc-touching state means that the caliper clamps the brake disc, that is, the motor is in the braking state.

[0047] Step 1400: Initialize the first array data and the second array data, wherein the first array data is the corresponding data of the braking force and the motor current, and the second array data is the corresponding data of the braking response time, the gap and the motor voltage.

[0048] The first array data is a pre-configured array representing the corresponding relationship between braking force and motor current, and the first array data can be obtained by performing relevant tests before the vehicle leaves the factory. The second array data is a pre-configured array representing the teammate relationship between braking response time, clearance, and motor voltage, and the second array data can also be obtained by performing relevant tests before the vehicle leaves the factory.

[0049] In the braking system, when braking is required, the driver steps on the brake pedal, generates a braking force target according to the travel of the brake pedal, and then obtains the motor current by querying the first array of data, and drives the motor to move forward according to the motor current. The forward movement of the motor drives the caliper to move, so that the gap between the caliper and the brake disc gradually decreases, and the braking force is applied to the wheel after the caliper clamps the brake disc. The braking response time is the time from the forward movement of the motor from the non-braking state to the disc-touching state.

[0050] Step 1500: Calibrate the first array of data according to a preset first calibration process.

[0051] The first calibration process is a calibration process for testing the corresponding relationship between the braking force and the motor current. By executing the first calibration process, a set of corresponding data of the braking force and the motor current is tested, and the first array data is updated according to the tested data.

[0052] Here, the first calibration process is performed under the current state of the vehicle, and the corresponding data of the braking force and the motor current tested are consistent with the current state of the vehicle and have higher accuracy.

[0053] Step 1600: Calibrate the second array of data according to a preset second calibration process.

[0054] The second calibration process is a calibration process for testing the corresponding data of the braking response time, gap, and motor voltage. By executing the second calibration process, a set of corresponding data of the braking response time, gap, and motor voltage is tested, and the second array data is updated according to the tested data.

[0055] Similarly, the second calibration process here is performed under the current state of the vehicle, and the corresponding data of the tested braking response time, gap, and motor voltage are consistent with the current state of the vehicle and have higher accuracy.

[0056] The present invention calibrates the first array data according to the first calibration process and calibrates the second array data according to the second calibration process after the electronic mechanical braking system of the vehicle is offline. The calibrated first array data and the calibrated second array data are consistent with the current state of the vehicle, and the control accuracy of the vehicle braking force and braking response time can be effectively improved.

[0057] In this embodiment, step 1500 includes steps 1510-1540.

[0058] Step 1510: Control the motor to move forward according to a specified step length.

[0059] Step 1520: After the motor has finished moving forward, the braking force and the motor current are collected.

[0060] Step 1530: If the braking force reaches the step force target, the first array data is updated according to the braking force and the motor current.

[0061] Step 1540: Re-execute the step of controlling the motor to move forward according to the specified step length.

[0062] Before executing the first calibration process, the motor is already in a braking state. On this basis, if the motor continues to move forward, the braking force will gradually increase. The increase in the braking force is positively correlated with the step length of the motor. The larger the step length of the motor, the greater the increase in the braking force.

[0063] Each time the motor moves forward according to the specified step length, the braking force and motor current are collected. The step force target is the braking force corresponding to each time the motor moves forward. As the number of times the motor moves forward increases, the step force target also increases accordingly. For example, the step force target for the first time the motor moves forward is 2KN, and the step force target for the second time the motor moves forward is 4KN. The step force target for the second time the motor moves forward is greater than the step force target for the first time the motor moves forward.

[0064] The step force target is related to the specified step size of the motor. For example, if the specified step size is 1, the step force target after the motor moves forward for the first time is 2KN. If the specified step size is 2, the step force target after the motor moves forward for the first time is 3KN.

[0065] If the braking force tested after the motor advances according to the specified step length reaches the step force target, it means that the group of data is valid, and the first array of data is updated according to the tested braking force and motor current. If the braking force tested after the motor advances according to the specified step length does not reach the step force target, it means that the group of data is valid, and the first array of data will not be updated according to the tested braking force and motor current.

[0066] The specified step size can be set according to actual needs. The smaller the specified step size, the more sets of corresponding data of braking force and motor current can be tested, and the higher the control accuracy of braking force. For example, let the motor move forward in steps with a step size of 1, and test a set of corresponding data of braking force and motor current after each movement of the motor. The motor needs to move forward 10 times to reach the maximum position. After the motor moves forward 10 times, a total of 10 sets of corresponding data of braking force and motor current are tested. In another way, let the motor move forward in steps with a step size of 2. Since the step size of the motor becomes twice that of the previous way, the motor only needs to move forward 5 times to reach the maximum position, that is, only 5 sets of corresponding data of braking force and motor current can be tested.

[0067] In this embodiment, step 1550 is also included: if the braking force reaches the maximum force target, exit the loop.

[0068] The maximum force target indicates the maximum braking force. When the tested braking force reaches the maximum force target, the test process is completed and the loop is exited. The maximum force target can be determined according to the vehicle's braking system. Different maximum force targets can be set for different models of vehicles. For example, the maximum force target can be set to 20KN.

[0069] The present invention allows the motor to move forward step by step and tests multiple sets of corresponding data of braking force and motor current, thereby improving the control accuracy of the vehicle braking force.

[0070] In this embodiment, step 1600 includes steps 1610-1640.

[0071] Step 1610: Control the motor to move backward to a first target gap.

[0072] Step 1620: Control the motor to move forward to the collision plate, and calculate the time consumed by the motor to move from the first target gap to the collision plate and the voltage of the motor.

[0073] Step 1630: If the first target gap does not reach the second target gap, update the second array data according to the target gap, the time consumed by the motor from the target gap to the collision plate, and the voltage of the motor.

[0074] Step 1640: Update the first target gap, and re-execute the step of controlling the motor to move back to the first target gap.

[0075] Before executing the second calibration process, the motor is already in a braking state, and the gap is zero. On this basis, the motor is reversed and retreats to the first target gap. Then, at the first target gap position, the motor is advanced to the collision plate, and the time consumed by the motor from the first target gap to the collision plate and the voltage of the motor are calculated.

[0076] In the process of executing the second calibration process to calibrate the second array data, the motor needs to perform multiple action cycles. In each action cycle of the motor, the motor first retreats to the first target gap, then advances to the contact plate, and collects the time consumed by the motor from the first target gap to the contact plate and the voltage of the motor, so as to update the second array data.

[0077] Since one action cycle of the motor can only obtain a set of corresponding data of gap, voltage and time, in order to test multiple sets of data, the motor needs to perform multiple action cycles.

[0078] In this embodiment, the method further includes step 1650: if the first target gap reaches the second target gap, exit the loop.

[0079] In this embodiment, updating the first target gap includes: when the first target gap is larger than the second target gap, reducing the first target gap according to a preset gap value; when the first target gap is smaller than the second target gap, increasing the first target gap according to a preset gap value.

[0080] During the process of the motor performing multiple action cycles, the motor performs each action with a different first target gap. After each cycle is completed, the first target gap is updated. If the second target gap is greater than the first target gap, the first target gap is increased.

[0081] The second target gap is used to determine whether to exit the loop. The second target gap can be the maximum gap, or the second target gap can be the minimum gap. For example, according to the actual situation of the vehicle, the gap range can be determined to be 0.1-0.2, and the second target gap can be set to 0.2, with a preset gap value of 0.01. The first target gap increases by 0.01 after each cycle starting from 0.1, until the second target gap of 0.2 is reached and the loop stops, completing the update of the second array data. For another example, the second target gap can be set to 0.1, with a preset gap value of 0.01, and the first target gap decreases by 0.01 after each cycle starting from 0.2, until the second target gap of 0.1 is reached and the loop stops.

[0082] 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 calibration method for an electronic mechanical braking system as described in any embodiment of the present invention are implemented.

[0083] This embodiment introduces a vehicle, including the electronic device described in the above embodiment of the present invention.

[0084] This embodiment introduces a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of a calibration method for an electronic mechanical brake system as described in any embodiment of the present invention are implemented.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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 calibration method for an electromechanical brake system, characterized in that: include: Detect whether the vehicle's electronic mechanical braking system is offline; After detecting that the electronic mechanical brake system of the vehicle is offline, controlling the motor to retract to a non-braking state; Control the motor to move forward to the plate-touching state; Initialize a first array of data and a second array of data, wherein the first array of data is corresponding data of braking force and motor current, and the second array of data is corresponding data of braking response time, gap and motor voltage; Calibrate the first array of data according to a preset first calibration process; Calibrate the second array of data according to a preset second calibration process; The calibrating the second array of data according to a preset second calibration process includes: Controlling the motor to retreat to a first target gap; Control the motor to move forward to the collision plate, and calculate the time consumed by the motor to move forward from the first target gap to the collision plate and the voltage of the motor; If the first target gap does not reach the second target gap, updating the second array data according to the target gap, the time consumed by the motor from the target gap to the collision plate, and the voltage of the motor; The first target gap is updated, and the step of controlling the motor to move back to the first target gap is re-executed.

2. The method according to claim 1, characterized in that The step of calibrating the first array of data according to a preset first calibration process includes: Controlling the motor to move forward according to a specified step length; After the motor has finished moving forward, collecting the braking force and the motor current; If the braking force reaches the step force target, updating the first array data according to the braking force and the motor current; Re-execute the step of controlling the motor to move forward according to the specified step size.

3. The method according to claim 2, characterized in that The method further comprises: If the braking force reaches the maximum force target, the loop is exited.

4. The method according to claim 1, characterized in that: The method further comprises: If the first target gap reaches the second target gap, exit the loop.

5. The method according to claim 1, characterized in that The updating of the first target gap includes: When the first target gap is greater than the second target gap, reducing the first target gap according to a preset gap value; When the first target gap is smaller than the second target gap, the first target gap is increased according to a preset gap value.

6. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of a calibration method for an electronic mechanical brake system as described in any one of claims 1 to 5 are implemented.

7. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 6.

8. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of a calibration method for an electronic mechanical brake system as claimed in any one of claims 1 to 5 are implemented.

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