Brake control method and device, electronic equipment, vehicle, storage medium and product

Abstract

The invention relates to a braking control method and device, electronic equipment, a vehicle, a storage medium and a product, a braking device of first equipment is controlled to operate to generate the target clamping force according to the target clamping force needed by braking of the first equipment and the control parameters corresponding to the target clamping force, and equipment braking can be accurately controlled.

Description

Technical Field

[0001] The present application relates to the field of electronic technology, and in particular to a braking control method, device, electronic equipment, vehicle, storage medium and product, wherein the storage medium is a computer-readable storage medium and the product is a computer program product. Background Art

[0002] During the operation of the equipment, there are usually situations where it is necessary to control the braking of the equipment, so it is very important to control the braking of the equipment accurately. Summary of the invention

[0003] Embodiments of the present application provide a braking control method, device, electronic device, vehicle, storage medium and product, which can accurately control the braking of the device based on control parameters corresponding to the target clamping force required for braking.

[0004] In order to achieve the above object, according to a first aspect of the present application, a braking control method is provided, comprising: According to the target clamping force required for braking the first device and a control parameter corresponding to the target clamping force, the braking device of the first device is controlled to operate so as to generate the target clamping force.

[0005] In one embodiment, controlling the operation of the braking device of the first device according to the target clamping force required for braking the first device and the control parameter corresponding to the target clamping force includes: Determining, based on a target clamping force required for controlling the braking of the first device, a target rotation angle at which the braking device needs to rotate to generate the target clamping force; The operation of the braking device is controlled according to the target rotation angle and the control parameter.

[0006] In one embodiment, controlling the operation of the braking device according to the target rotation angle and the control parameter includes: Obtaining an angle error between a current angle of the braking device and the target angle; The operation of the braking device is controlled according to the rotation angle error and the control parameter.

[0007] In one embodiment, after controlling the operation of the braking device according to the rotation angle error and the control parameter, the method further includes: Obtaining the rotation angle of the braking device at the next moment; The rotation angle at the next moment is used as the rotation angle at the current moment, and the step of obtaining the rotation angle error between the rotation angle of the braking device at the current moment and the target rotation angle is returned to be executed until a preset condition is met.

[0008] In one embodiment, controlling the operation of the braking device according to the rotation angle error and the control parameter includes: determining an operating parameter of the braking device at a next moment according to the rotation angle error and the control parameter; The brake device operation is controlled based on the operating parameter.

[0009] In one embodiment, the method further comprises: Acquiring an electrical signal of the braking device at the current moment; If the electrical signal does not meet the preset condition, the step of obtaining the angle error between the current angle of the braking device and the target angle is performed.

[0010] In one embodiment, the preset condition includes that the electrical signal is greater than a preset threshold.

[0011] In one embodiment, the method further comprises: In the case where the first device needs to be braked, determining the target clamping force required for braking the first device; According to a preset mapping relationship between the clamping force and the control parameter, a control parameter corresponding to the target clamping force is determined.

[0012] In one embodiment, the mapping relationship includes control parameters corresponding to each clamping force at different braking response times.

[0013] In one embodiment, in the case where the first device needs to brake, a target braking response time required for braking of the first device is also determined; The determining of the control parameter corresponding to the target clamping force according to the preset mapping relationship between the clamping force and the control parameter includes: The control parameter corresponding to the target clamping force and the target braking response time is determined according to the mapping relationship.

[0014] In one embodiment, the control parameter is a parameter of a controller, and the control of the operation of the braking device of the first device according to the target clamping force required for braking the first device and the control parameter corresponding to the target clamping force includes: The controller controls the operation of the braking device according to the target clamping force and the control parameter.

[0015] In one embodiment, the control parameter includes at least one of a proportional coefficient, an integral time coefficient and a differential time coefficient.

[0016] In one embodiment, controlling the operation of the braking device according to the target clamping force and the control parameter by the controller includes: Determining, by a controller, operating parameters for the braking device according to the target clamping force and the control parameter; The brake device operation is controlled based on the operating parameter.

[0017] In one embodiment, the first device comprises a vehicle, and / or the braking device comprises a brake motor.

[0018] In one embodiment, the method further comprises: For different required clamping forces for controlling the braking of the second device, controlling the operation of the braking device of the second device according to each required clamping force and the initial control parameter; The initial control parameters are adjusted according to the clamping force currently generated by the braking device of the second equipment and the required clamping force to obtain the control parameters corresponding to each required clamping force, so as to determine the control parameters corresponding to the target clamping force based on the control parameters corresponding to the required clamping force.

[0019] In one embodiment, there is a specified mapping relationship between the clamping force generated by the braking device and the rotation angle of the braking device; The initial control parameter is adjusted according to the clamping force currently generated by the brake device of the second device and the required clamping force to obtain the control parameter corresponding to each required clamping force, including: The initial control parameters are adjusted according to the current first rotation angle of the braking device of the second equipment and the second rotation angle corresponding to the required clamping force to obtain the control parameters corresponding to each required clamping force.

[0020] In one embodiment, the method further comprises: Under different braking response times, for different required clamping forces for controlling the braking of the second device, the braking device of the second device is controlled to operate according to each required clamping force and initial control parameters to obtain the control parameters corresponding to each required clamping force under different braking response times.

[0021] According to a second aspect of the present application, a brake control device is provided, comprising: The control unit is used to control the braking device of the first device to operate so as to generate the target clamping force according to the target clamping force required for braking the first device and the control parameters corresponding to the target clamping force.

[0022] According to a third aspect of the present application, an electronic device is provided, comprising a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute any one of the braking control methods provided in the embodiments of the present application.

[0023] According to a fourth aspect of the present application, a vehicle is provided, comprising an electronic device; the vehicle executes any one of the braking control methods provided in the embodiments of the present application through the electronic device.

[0024] According to a fifth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program, and the computer program is loaded by a processor to execute any one of the braking control methods provided in the embodiments of the present application.

[0025] According to a sixth aspect of the present application, a computer program product is provided, the computer program product comprising a computer program or instructions, the computer program or instructions being loaded by a processor to execute any one of the braking control methods provided in the embodiments of the present application.

[0026] In summary, the embodiment of the present application can achieve precise control of equipment braking by controlling the operation of the braking device of the first device to generate the target clamping force according to the target clamping force required for braking of the first device and the control parameters corresponding to the target clamping force.

[0027] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0028] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0029] Figure 1 is a flowchart of a braking control method provided in an exemplary embodiment of the present disclosure; Figure 2 is a flow chart of control parameters corresponding to a rotation angle provided in an exemplary embodiment of the present disclosure; Figure 3 is a schematic diagram of a brake control system provided in an exemplary embodiment of the present disclosure; Figure 4 is a schematic diagram of a brake control device provided in an exemplary embodiment of the present disclosure; Figure 5 is a schematic structural diagram of an electronic device provided in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0031] The embodiments of the present application provide a braking control method, device, electronic device, vehicle, storage medium and product. The following are detailed descriptions. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0032] This embodiment will be described from the perspective of a brake control device, which may be specifically integrated into an electronic device.

[0033] A braking control method provided in an embodiment of the present application is as follows: Figure 1 As shown, the specific process of the braking control method can be as follows: 101. According to a target clamping force required for braking a first device and a control parameter corresponding to the target clamping force, control a braking device of the first device to operate so as to generate the target clamping force.

[0034] Among them, the first equipment can be an equipment that needs to be braked, such as vehicles, ships, airplanes and other means of transportation. The first equipment can also be some machinery. The braking device can be a device in the first equipment that can directly or indirectly generate a clamping force to brake the first equipment. The braking device indirectly generates a clamping force when the operation of the braking device causes another mechanical structure on the first equipment to generate a clamping force.

[0035] In an embodiment, the first device comprises a vehicle, and / or the braking device comprises a brake motor.

[0036] Braking includes controlling the first device to stop running or reduce speed. For example, for a vehicle, braking may be controlling the vehicle to slow down or stop.

[0037] Among them, the control parameters are used to determine the parameters for controlling the operation of the braking device. The parameters for the operation of the braking device may include the rotational speed, power, or the force value of the force ring of the braking device. The parameters for the operation of the braking device can be set according to the specific braking device used, and are not limited here.

[0038] The control parameters corresponding to the target clamping force may be obtained by the first device from other devices, for example, from a server. The server may determine the corresponding control parameters according to the target clamping force sent by the first device, and send them to the first device.

[0039] The target clamping force and the control parameter may satisfy a specified mapping relationship. After determining the target clamping force required for braking the first device, the control parameter may be determined according to the mapping relationship. That is, in one embodiment, before step 101, the braking control method provided in the embodiment of the present application may further include: In the case where the first device needs to be braked, determining the target clamping force required for braking the first device; According to a preset mapping relationship between the clamping force and the control parameter, a control parameter corresponding to the target clamping force is determined.

[0040] The situation where the first device needs to brake may include detecting a braking instruction or a braking request of the device. For a vehicle, the situation where the vehicle needs to brake may include detecting that a brake pedal (also referred to as a brake pedal) of the vehicle is pressed down.

[0041] When the first device needs to brake, the target clamping force required for braking the first device is determined. For example, the braking instruction or braking request contains the target clamping force, or contains information for determining the target clamping force. For example, for a vehicle, the target clamping force can be determined based on the depth to which the brake pedal is pressed to control the vehicle to decelerate or stop.

[0042] After the target clamping force is determined, the control parameter corresponding to the target clamping force may be determined according to a preset mapping relationship, and the mapping relationship may include a plurality of different clamping forces and corresponding control parameters.

[0043] In one embodiment, the mapping relationship includes control parameters corresponding to each clamping force at different braking response times.

[0044] Different devices require different braking response times. The braking response time may include the time from detecting that the first device needs to brake to completing the braking of the device. If the vehicle is instructed to brake through a braking instruction, the braking response time may include the sum of the time from issuing and accepting the braking instruction, executing the braking instruction, and completing the execution of the instruction.

[0045] In one embodiment, in the case where the first device needs to brake, a target braking response time required for braking of the first device is also determined; The determining of the control parameter corresponding to the target clamping force according to the preset mapping relationship between the clamping force and the control parameter includes: The control parameter corresponding to the target clamping force and the target braking response time is determined according to the mapping relationship.

[0046] The target brake response time may be the shortest time or the longest time for the first device to generate the target clamping force.

[0047] The control parameters corresponding to the target clamping force and the braking response time are determined according to the mapping relationship. Based on the control parameters of the braking response time and the target clamping force, the braking device can be controlled to generate the target clamping force within the braking response time to meet the braking requirements of the first device.

[0048] After the control parameters are determined, the brake transposition operation of the first device can be controlled according to the target clamping force and the control parameters, for example, operating at a specified power movement, speed, or torque to generate the target clamping force.

[0049] In one embodiment, the braking device may generate the clamping force by rotating, and the step of “controlling the operation of the braking device of the first device according to the target clamping force required for braking of the first device and the control parameter corresponding to the target clamping force” may include: Determining, based on a target clamping force required for controlling the braking of the first device, a target rotation angle at which the braking device needs to rotate to generate the target clamping force; The operation of the braking device is controlled according to the target rotation angle and the control parameter.

[0050] Specifically, the target clamping force required for the braking device to generate braking of the first device and the target rotation angle required can be determined, that is, the target clamping force can be provided by rotating the braking device by the target rotation angle, and the rotation angle and the target clamping force can conform to a specific relationship so that the target rotation angle required for the braking device to be rotated can be determined based on the target clamping force.

[0051] After the target angle is determined, the parameters for controlling the operation of the brake device are determined according to the target angle and the control parameters. For example, the target angle and the control parameters can be input into a neural network model, and the parameters for controlling the operation of the brake device are output through the neural network model. The brake device is controlled to operate according to the parameters to generate a clamping force, and the first device is controlled to brake.

[0052] In one embodiment, the step of “controlling the operation of the braking device according to the target rotation angle and the control parameter” may include: Obtaining an angle error between a current angle of the braking device and the target angle; The operation of the braking device is controlled according to the rotation angle error and the control parameter.

[0053] Specifically, the difference between the target angle and the current angle of the brake device can be calculated to obtain the angle error, which can indicate the difference between the current angle of the brake device and the target angle. The brake device is controlled to operate according to the error angle so that the brake transposed angle approaches the target angle to provide the target clamping force. The current angle of the brake device is the angle that the brake device has rotated from the initial position to the current moment.

[0054] Optionally, controlling the rotation of the braking device according to the error angle may specifically be determining a parameter for controlling the operation of the braking device according to the error angle, and then controlling the operation of the braking device to generate a target clamping force to brake the first device. That is, in one embodiment, the step of "controlling the operation of the braking device according to the angle error and the control parameter" may include: determining an operating parameter of the braking device at a next moment according to the rotation angle error and the control parameter; The brake device operation is controlled based on the operating parameter.

[0055] Specifically, according to the angle error and the control parameters, the operating parameters of the braking device at the next moment are determined, and the operation of the braking device is controlled based on the operating parameters. The operating parameters may include rotational speed, power, or force value of the force ring of the braking device, etc., so as to control the braking rotation to the target angle based on the operating parameters and provide the target clamping force.

[0056] In one embodiment, after the step of “controlling the operation of the braking device according to the rotation angle error and the control parameter”, the braking control method provided in the embodiment of the present application may further include: Obtaining the rotation angle of the braking device at the next moment; The rotation angle at the next moment is used as the rotation angle at the current moment, and the step of obtaining the rotation angle error between the rotation angle of the braking device at the current moment and the target rotation angle is returned to be executed until a preset condition is met.

[0057] The next moment may be the next moment of the current moment, such as the next 1 second or the next 1 millisecond, etc. It may be set as required and is not limited here.

[0058] In the process of controlling the operation of the braking device based on the angle error and control parameters corresponding to the braking device at the current moment, the angle of the braking device can be obtained in real time, and the operation of the braking device can be controlled based on the angle error between the real-time obtained angle and the target angle, so that the braking device rotates to the target angle and provides the target clamping force.

[0059] In one embodiment, the braking control method provided in the embodiment of the present application may further include: Acquiring an electrical signal of the braking device at the current moment; If the electrical signal does not meet the preset condition, the step of obtaining the angle error between the current angle of the braking device and the target angle is performed.

[0060] The electrical signal may include current, voltage, resistance or inductance, etc., and a suitable electrical signal may be selected according to the characteristics of the braking device.

[0061] In one embodiment, the preset condition includes that the electrical signal is greater than a preset threshold.

[0062] Exemplarily, the braking device can be a brake motor, and the rotation angle and current of the brake motor conform to a certain relationship. The current can be selected as an electrical signal to determine whether the error between the rotation angle of the brake motor at the current moment and the target rotation angle is less than an error threshold. For example, the preset threshold can be the current value corresponding to the target rotation angle when the braking device rotates, or a threshold set based on the current value and the allowable error. If the current value of the braking device at the current moment is not greater than the preset threshold, it is considered that there is still a large gap between the rotation angle of the braking device at the current moment and the target rotation angle, and it needs to continue to rotate. If the current value of the braking device at the current moment is greater than the preset threshold, it can be considered that the difference between the rotation angle of the braking device at the current moment and the target rotation angle is very small, and the braking device can provide the target clamping force at the current moment, and the braking device can be controlled to stop operating.

[0063] In one embodiment, the control parameter is a parameter of a controller, and step 101 may include: The controller controls the operation of the braking device according to the target clamping force and the control parameter.

[0064] The controller may be a P controller, a PI controller or a PID controller.

[0065] In one embodiment, the control parameter includes at least one of a proportional coefficient, an integral time coefficient and a differential time coefficient.

[0066] Taking the controller as a PID controller as an example, the controller controls the operation of the brake device according to the target clamping force and the control parameter. Specifically, the operation parameter of the brake device can be determined by the following formula: , the operating parameters may include speed, power or other operating parameters, is the proportionality coefficient, is the integration time coefficient, is the differential time coefficient.

[0067]

[0068] In one embodiment, the step of “controlling the operation of the braking device according to the target clamping force and the control parameter by the controller” may include: Determining, by a controller, operating parameters for the braking device according to the target clamping force and the control parameter; The brake device operation is controlled based on the operating parameter.

[0069] Specifically, the target clamping force and the current clamping force of the brake device may be used as control inputs, and the controller outputs operating parameters based on the input and control parameters, and the operation of the brake device is controlled based on the operating parameters output by the controller.

[0070] Controller Input It can be the difference between the clamping force currently provided by the brake device and the target clamping force. In one embodiment, the brake device can provide the clamping force through the rotation angle. The controller controls the operation of the brake device according to the target clamping force and the control parameter. Specifically, the operation of the brake device can be controlled according to the target rotation angle corresponding to the target clamping force, the current rotation angle of the brake device and the control parameter, or the operation of the brake device can be controlled according to the error between the target rotation angle and the current rotation angle. That is, the input of the controller It can be the error between the target rotation angle corresponding to the target clamping force and the rotation angle of the braking device at the current moment. The specific process can refer to the above-mentioned content on controlling the operation of the braking device based on the rotation angle and the rotation angle error, which will not be elaborated here.

[0071] In one embodiment, the control parameters corresponding to different required clamping forces can be predetermined so that when the first device needs to brake, the control parameters corresponding to the target clamping force can be obtained, that is, the braking control method provided in the embodiment of the present application can also include: For different required clamping forces for controlling the braking of the second device, controlling the operation of the braking device of the second device according to each required clamping force and the initial control parameter; The initial control parameters are adjusted according to the clamping force currently generated by the braking device of the second equipment and the required clamping force to obtain the control parameters corresponding to each required clamping force, so as to determine the control parameters corresponding to the target clamping force based on the control parameters corresponding to the required clamping force.

[0072] The first device and the second device may be the same device or different devices, and the second device may also be a simulator, for example, the operation of the first device may be simulated by the simulator. Optionally, the braking method of the second device may be the same as that of the first device, so that the control coefficient for the first device may be determined based on the second device.

[0073] Specifically, for different required clamping forces, the operation of the braking device of the second equipment can be controlled according to the required clamping force and the initial control parameters. During the operation of the braking device, the initial control parameters can be adjusted according to the clamping force currently generated by the braking device and the required clamping force, so that the control parameters can enable the braking device to generate a clamping force that is consistent with the required clamping force, thereby obtaining the control parameters.

[0074] In one embodiment, the control parameters are model parameters in the neural network model. The initial control parameters can be adjusted based on the loss between the clamping force and the required clamping force. The neural network model is back-propagated to update the initial control parameters until the loss of the neural network model satisfies a preset loss threshold to obtain the control parameters.

[0075] In one embodiment, there is a specified mapping relationship between the clamping force generated by the braking device and the rotation angle of the braking device; the step of "adjusting the initial control parameters according to the clamping force currently generated by the braking device of the second device and the required clamping force to obtain the control parameters corresponding to each required clamping force" may include: The initial control parameters are adjusted according to the current first rotation angle of the braking device of the second equipment and the second rotation angle corresponding to the required clamping force to obtain the control parameters corresponding to each required clamping force.

[0076] Specifically, the braking device can generate clamping force by rotating. The angle at which the braking device needs to rotate to generate the target clamping force, i.e., the second rotation angle, can be determined. The initial control parameters are adjusted according to the first rotation angle and the second rotation angle to obtain the control parameters corresponding to each required clamping force.

[0077] If the control parameter is a model parameter in a neural network model, the initial control parameter can be adjusted based on the loss between the first corner and the second corner, and the neural network model is back-propagated to update the initial control parameter until the loss of the neural network model satisfies a preset loss threshold to obtain the control parameter.

[0078] Exemplarily, the step of determining the control parameters corresponding to different second rotation angles may be as follows: Figure 2 As shown, firstly, the angle required to rotate, that is, the second rotation angle, is obtained. The second rotation angle can be determined according to the required clamping force, or can be a preset angle that needs to determine the corresponding control parameters.

[0079] When the second device reaches the second rotation angle, the control coefficient affecting the rotation speed of the second device and reaching the steady state is adjusted to obtain a control coefficient corresponding to the second rotation angle so that the second device can reach the steady state within a specified time.

[0080] Save the second rotation angle and the corresponding control coefficient.

[0081] In one embodiment, the braking control method provided in the embodiment of the present application may further include: Under different braking response times, for different required clamping forces for controlling the braking of the second device, the braking device of the second device is controlled to operate according to each required clamping force and initial control parameters to obtain the control parameters corresponding to each required clamping force under different braking response times.

[0082] The initial control parameters can be the parameters of the controller, and the control parameters include the proportional coefficient, the integral time constant and the differential time constant. The second device directly or indirectly provides the clamping force by rotating. The difference between the first angle and the second angle is input into the controller, and the proportional coefficient is increased to speed up the system response. At the same time, the integral time constant and the differential time constant are adjusted to adjust the error and oscillation to appropriate values, so that the braking response time of the system is faster when the error and oscillation fluctuate within an appropriate range. At this time, the proportional coefficient, the integral time constant and the differential time constant are the values ​​of the control system at the relatively fastest response speed.

[0083] After determining the control parameters corresponding to different required clamping forces under different braking response times, the mapping relationship between different required clamping forces and corresponding control parameters under different braking response times can be stored, so that when the first device needs to brake, the control parameters corresponding to the target clamping force required for braking of the first device can be determined based on the stored mapping relationship.

[0084] As can be seen from the above, the embodiment of the present application can achieve precise control of equipment braking by controlling the operation of the braking device of the first device to generate the target clamping force according to the target clamping force required for braking of the first device and the control parameters corresponding to the target clamping force.

[0085] In order to better implement the braking control method provided in the embodiment of the present application, a braking control system is also provided in one embodiment, wherein the meanings of the terms are the same as those in the above braking control method, and the specific implementation details can refer to the description in the method embodiment.

[0086] like Figure 3 The braking system shown may include a power supply component, a communication component, an input / output interface, a processor, and a memory.

[0087] The communication component realizes the communication function of the control system; the input / output interface module: the system can be configured with corresponding output or accept corresponding input functions in order to execute related functions; the communication component and the input / output interface module can be used to receive the braking instructions of the first device, and output the operating parameters of the control braking device.

[0088] The processor module is used to determine the operating parameters for controlling the braking device according to the target clamping force required for braking the first device.

[0089] Storage module: This storage module stores the initial position information and updated initial position information of the brake device, and can also store control parameters for achieving different clamping forces and different brake response times.

[0090] It can be seen from the above that the braking control system of the embodiment of the present application can achieve precise control of equipment braking by controlling the operation of the braking device of the first device to generate the target clamping force according to the target clamping force required for braking of the first device and the control parameters corresponding to the target clamping force.

[0091] In order to better implement the braking control method provided in the embodiment of the present application, a braking control device is also provided in one embodiment. The meanings of the terms are the same as those in the above braking control method, and the specific implementation details can refer to the description in the method embodiment.

[0092] The brake control device can be integrated in a vehicle, such as Figure 4 As shown, the brake control device may include: a control unit 301, specifically as follows: (1) A control unit 301 is used to control the braking device of the first device to operate so as to generate the target clamping force according to the target clamping force required for braking the first device and a control parameter corresponding to the target clamping force.

[0093] In one embodiment, the control unit 301 may also be used to: Determining, based on a target clamping force required for controlling the braking of the first device, a target rotation angle at which the braking device needs to rotate to generate the target clamping force; The operation of the braking device is controlled according to the target rotation angle and the control parameter.

[0094] In one embodiment, the control unit 301 may also be used to: Obtaining an angle error between a current angle of the braking device and the target angle; The operation of the braking device is controlled according to the rotation angle error and the control parameter.

[0095] In one embodiment, the control unit 301 may also be used to: Obtaining the rotation angle of the braking device at the next moment; The rotation angle at the next moment is used as the rotation angle at the current moment, and the step of obtaining the rotation angle error between the rotation angle of the braking device at the current moment and the target rotation angle is returned to be executed until a preset condition is met.

[0096] In one embodiment, the control unit 301 may also be used to: determining an operating parameter of the braking device at a next moment according to the rotation angle error and the control parameter; The brake device operation is controlled based on the operating parameter.

[0097] In one embodiment, the control unit 301 may also be used to: Acquiring an electrical signal of the braking device at the current moment; If the electrical signal does not meet the preset condition, the step of obtaining the angle error between the current angle of the braking device and the target angle is performed.

[0098] In one embodiment, the preset condition includes that the electrical signal is greater than a preset threshold.

[0099] In one embodiment, the brake control device may further include a determination unit, which may be used to: In the case where the first device needs to be braked, determining the target clamping force required for braking the first device; According to a preset mapping relationship between the clamping force and the control parameter, a control parameter corresponding to the target clamping force is determined.

[0100] In one embodiment, the mapping relationship includes control parameters corresponding to each clamping force at different braking response times.

[0101] In one embodiment, in the case where the first device needs to brake, a target braking response time required for braking of the first device is also determined; The determining unit may be configured to: The control parameter corresponding to the target clamping force and the target braking response time is determined according to the mapping relationship.

[0102] In one embodiment, the control parameter is a parameter of a controller, and the control of the operation of the braking device of the first device according to the target clamping force required for braking the first device and the control parameter corresponding to the target clamping force includes: The controller controls the operation of the braking device according to the target clamping force and the control parameter.

[0103] In one embodiment, the control parameter includes at least one of a proportional coefficient, an integral time coefficient and a differential time coefficient.

[0104] In one embodiment, the control unit 301 may also be used to: Determining, by a controller, operating parameters for the braking device according to the target clamping force and the control parameter; The brake device operation is controlled based on the operating parameter.

[0105] In an embodiment, the first device comprises a vehicle, and / or the braking device comprises a brake motor.

[0106] In one embodiment, the brake control device may further include an operation unit and a calibration unit, specifically: An operating unit, for controlling the operation of the brake device of the second device according to different required clamping forces for controlling the braking of the second device and according to each required clamping force and an initial control parameter; The adjustment unit is used to adjust the initial control parameters according to the clamping force currently generated by the braking device of the second device and the required clamping force, and obtain the control parameters corresponding to each required clamping force, so as to determine the control parameters corresponding to the target clamping force based on the control parameters corresponding to the required clamping force.

[0107] In one embodiment, there is a specified mapping relationship between the clamping force generated by the braking device and the rotation angle of the braking device; The calibration unit may also be used for: The initial control parameters are adjusted according to the current first rotation angle of the braking device of the second equipment and the second rotation angle corresponding to the required clamping force to obtain the control parameters corresponding to each required clamping force.

[0108] In one embodiment, the operation unit may also be used for: Under different braking response times, for different required clamping forces for controlling the braking of the second device, the braking device of the second device is controlled to operate according to each required clamping force and initial control parameters to obtain the control parameters corresponding to each required clamping force under different braking response times.

[0109] As can be seen from the above, the embodiment of the present application controls the braking device of the first device to operate to generate the target clamping force according to the target clamping force required for braking of the first device and the control parameters corresponding to the target clamping force, thereby achieving precise control of device braking.

[0110] The present application also provides an electronic device, such as Figure 5 As shown, it shows a schematic diagram of the structure of the electronic device involved in the embodiment of the present application, specifically: The electronic device may include components such as a processor 1001 with one or more processing cores, a memory 1002 with one or more computer-readable storage media, a power supply 1003, and an input unit 1004. Those skilled in the art will appreciate that Figure 5The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. The processor 1001 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1002 and calling data stored in the memory 1002, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. Optionally, the processor 1001 may include one or more processing cores; preferably, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, computer program, etc., and the modem processor mainly processes wireless communication. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1001.

[0111] The memory 1002 can be used to store software programs and modules. The processor 1001 executes various functional applications and data processing by running the software programs and modules stored in the memory 1002. The memory 1002 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 1002 may also include a memory electronic device to provide the processor 1001 with access to the memory 1002.

[0112] The electronic device also includes a power supply 1003 for supplying power to each component. Preferably, the power supply 1003 can be logically connected to the processor 1001 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 1003 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0113] The electronic device may further include an input unit 1004, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0114] Although not shown, the electronic device may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 1001 in the electronic device will load the executable files corresponding to the processes of one or more computer programs into the memory 1002 according to the following instructions, and the processor 1001 will run the computer programs stored in the memory 1002, thereby realizing various functions, as follows: According to the target clamping force required for braking the first device and a control parameter corresponding to the target clamping force, the braking device of the first device is controlled to operate so as to generate the target clamping force.

[0115] The specific implementation of the above operations can be found in the previous embodiments and will not be described in detail here.

[0116] As can be seen from the above, the electronic device in the embodiment of the present application can achieve precise control of device braking by controlling the operation of the braking device of the first device to generate the target clamping force according to the target clamping force required for braking of the first device and the control parameters corresponding to the target clamping force.

[0117] According to one aspect of the present application, a vehicle is provided, the vehicle including an electronic device, etc., and the vehicle can execute the braking control method provided in various optional implementations of the above embodiments through the electronic device. The vehicle can be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., and the present application does not specifically limit this.

[0118] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a vehicle reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the vehicle executes the braking control method provided in various optional implementations in the above-mentioned embodiments.

[0119] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0120] According to one aspect of the present application, a computer-readable storage medium is provided, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned braking control method.

[0121] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0122] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0123] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0125] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0126] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0127] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated communication signals and carrier waves.

[0128] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0129] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0130] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0131] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A braking control method, characterized in that: include: According to the target clamping force required for braking the first device and a control parameter corresponding to the target clamping force, the braking device of the first device is controlled to operate so as to generate the target clamping force.

2. The method according to claim 1, characterized in that The step of controlling the operation of the braking device of the first device according to the target clamping force required for braking the first device and the control parameter corresponding to the target clamping force comprises: Determining, based on a target clamping force required for controlling the braking of the first device, a target rotation angle at which the braking device needs to rotate to generate the target clamping force; The operation of the braking device is controlled according to the target rotation angle and the control parameter.

3. The method according to claim 2, characterized in that The step of controlling the operation of the braking device according to the target rotation angle and the control parameter comprises: Obtaining an angle error between a current angle of the braking device and the target angle; The operation of the braking device is controlled according to the rotation angle error and the control parameter.

4. The method according to claim 3, characterized in that After controlling the operation of the braking device according to the rotation angle error and the control parameter, the method further includes: Obtaining the rotation angle of the braking device at the next moment; The rotation angle at the next moment is used as the rotation angle at the current moment, and the step of obtaining the rotation angle error between the rotation angle of the braking device at the current moment and the target rotation angle is returned to be executed until a preset condition is met.

5. The method according to claim 3, characterized in that: The step of controlling the operation of the braking device according to the rotation angle error and the control parameter comprises: determining an operating parameter of the braking device at a next moment according to the rotation angle error and the control parameter; The brake device operation is controlled based on the operating parameter.

6. The method according to claim 3, characterized in that The method further comprises: Acquiring an electrical signal of the braking device at the current moment; If the electrical signal does not meet the preset condition, the step of obtaining the angle error between the current angle of the braking device and the target angle is performed.

7. The method according to claim 3, characterized in that The preset condition includes that the electrical signal is greater than a preset threshold.

8. The method according to claim 1, characterized in that: The method further comprises: In the case where the first device needs to be braked, determining the target clamping force required for braking the first device; According to a preset mapping relationship between the clamping force and the control parameter, a control parameter corresponding to the target clamping force is determined.

9. The method according to claim 8, characterized in that The mapping relationship includes control parameters corresponding to each clamping force at different braking response times.

10. The method according to claim 9, characterized in that In the case where the first device needs to brake, further determining a target braking response time required for braking of the first device; The determining of the control parameter corresponding to the target clamping force according to the preset mapping relationship between the clamping force and the control parameter includes: The control parameter corresponding to the target clamping force and the target braking response time is determined according to the mapping relationship.

11. The method according to any one of claims 1 to 10, characterized in that: The control parameter is a parameter of the controller, and the operation of the braking device of the first device is controlled according to the target clamping force required for braking the first device and the control parameter corresponding to the target clamping force, including: The controller controls the operation of the braking device according to the target clamping force and the control parameter.

12. The method according to claim 11, characterized in that The control parameter includes at least one of a proportional coefficient, an integral time coefficient and a differential time coefficient.

13. The method according to claim 11, characterized in that The step of controlling the operation of the braking device according to the target clamping force and the control parameter by the controller includes: Determining, by a controller, operating parameters for the braking device according to the target clamping force and the control parameter; The brake device operation is controlled based on the operating parameter.

14. The method according to any one of claims 1 to 10, characterized in that: The first device comprises a vehicle, and / or the braking device comprises a brake motor.

15. The method according to any one of claims 1 to 10, characterized in that The method further comprises: For different required clamping forces for controlling the braking of the second device, controlling the operation of the braking device of the second device according to each required clamping force and the initial control parameter; The initial control parameters are adjusted according to the clamping force currently generated by the braking device of the second equipment and the required clamping force to obtain the control parameters corresponding to each required clamping force, so as to determine the control parameters corresponding to the target clamping force based on the control parameters corresponding to the required clamping force.

16. The method according to claim 15, characterized in that There is a specified mapping relationship between the clamping force generated by the braking device and the rotation angle of the braking device; The initial control parameter is adjusted according to the clamping force currently generated by the brake device of the second device and the required clamping force to obtain the control parameter corresponding to each required clamping force, including: The initial control parameters are adjusted according to the current first rotation angle of the braking device of the second equipment and the second rotation angle corresponding to the required clamping force to obtain the control parameters corresponding to each required clamping force.

17. The method according to claim 15, characterized in that The method further comprises: Under different braking response times, for different required clamping forces for controlling the braking of the second device, the braking device of the second device is controlled to operate according to each required clamping force and initial control parameters to obtain the control parameters corresponding to each required clamping force under different braking response times.

18. A brake control device, characterized in that: include: The control unit is used to control the braking device of the first device to operate so as to generate the target clamping force according to the target clamping force required for braking the first device and the control parameters corresponding to the target clamping force.

19. An electronic device, characterized in that: It comprises a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the braking control method according to any one of claims 1 to 17.

20. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 19.

21. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the brake control method according to any one of claims 1 to 17 is implemented.

22. A computer program product, characterized in that The method comprises a computer program or an instruction, which, when executed by a processor, implements the braking control method according to any one of claims 1 to 17.

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