Calibration method and device

Abstract

The invention relates to the technical field of vehicle sensing component calibration, and provides a calibration method and device suitable for calibrating a sensor, the sensor is used for responding to a braking force applied by a vehicle braking component to output a corresponding electric signal, and the calibration method comprises the steps that the vehicle braking component is controlled to be gradually released, and the braking force applied by the vehicle braking component is generated; recording the electric signal output by the sensor until the electric signal output by the sensor does not change along with release of the vehicle brake component and reaches a preset zero pressure state; according to the electric signal output by the sensor in the preset zero pressure state, the actual braking force-electric signal relation is determined and obtained; based on the actual braking force-electric signal relation and the preset standard braking force-electric signal relation, the electric signal output by the sensor is adjusted to be a standard electric signal, and calibration of the sensor is completed. According to the calibration method, the sensor used for detecting the braking force applied by the vehicle braking component can be quickly calibrated, disassembly and assembly are not needed, and the calibration speed and the calibration convenience are improved.

Description

Technical Field

[0001] This application relates to the field of vehicle sensor component calibration technology, and to a calibration method and apparatus. Background Technology

[0002] During the development of a vehicle's EMB (Electro-Mechanical Brake) system, sensors are needed to measure the actual braking force applied to the vehicle's brake discs by the EMB system.

[0003] The accuracy of a sensor may decrease after repeated use, and the accuracy of a sensor is also affected by temperature and electromagnetic environment. Therefore, the sensor needs to be calibrated when using it to measure braking force.

[0004] In existing calibration methods, the sensor and the test piece need to be removed from the test vehicle together, and then the sensor is calibrated using a specialized calibrator. This calibration method requires disassembling and reassembling the test vehicle, resulting in high time consumption and low efficiency, making it difficult to meet the needs of rapid calibration. Summary of the Invention

[0005] In view of this, this application aims to propose a calibration method to achieve rapid calibration of sensors.

[0006] To achieve the above objectives, the technical solution of this application is implemented as follows: A calibration method is provided for calibrating a sensor that responds to an electrical signal corresponding to a braking force applied by a vehicle braking component, and the calibration method includes: The vehicle braking component is controlled to gradually release under a preset pressure state. During the release process, the electrical signal output by the sensor is detected until the electrical signal output by the sensor no longer changes as the vehicle braking component is released, reaching a preset zero pressure state. Record the electrical signal output by the sensor under the preset zero pressure state; Based on the electrical signal output by the sensor under the preset zero pressure state, the correspondence between the braking force applied by the vehicle braking component and the actual electrical signal output by the sensor is determined, thus obtaining the actual braking force-electrical signal relationship. Based on the actual braking force-electrical signal relationship and the preset standard braking force-electrical signal relationship, the electrical signal output by the sensor is adjusted to the standard electrical signal corresponding to the actual braking force currently applied by the vehicle braking components, thereby completing the calibration of the sensor.

[0007] Furthermore, determining the correspondence between the braking force applied by the vehicle braking component and the actual electrical signal output by the sensor based on the electrical signal output by the sensor under the preset zero pressure state, to obtain the actual braking force-electrical signal relationship, includes: Obtain the preset sensitivity coefficient of the sensor, which is a proportional coefficient that reflects the change of the electrical signal output by the sensor with the change of the braking force applied by the vehicle braking component; The preset sensitivity coefficient is used as a proportional coefficient, and the electrical signal output by the sensor under the preset zero pressure state is substituted into the preset linear equation to calculate the adjustment amount of the electrical signal output by the sensor. Based on the preset sensitivity coefficient and the adjustment amount of the electrical signal output by the sensor, a linear relationship between the braking force applied by the vehicle braking component and the actual electrical signal output by the sensor is fitted to determine the actual braking force-electrical signal relationship.

[0008] Furthermore, obtaining the preset sensitivity coefficient of the sensor includes: Obtain the output parameters corresponding to each input parameter of the sensor at the time of manufacture; A linear fitting equation is obtained by performing linear fitting on the input parameters and corresponding output parameters of the sensor at the time of manufacture. The scaling factor of the linear fitting equation is determined as the preset sensitivity factor.

[0009] Furthermore, the calibration of the sensor, based on the actual braking force-electrical signal relationship and a preset standard braking force-electrical signal relationship, involves adjusting the sensor's output electrical signal to correspond to the standard electrical signal of the actual braking force currently applied by the vehicle's braking components, thereby completing the sensor calibration. This includes: Acquire the electrical signal output by the sensor before calibration; Based on the electrical signal output by the sensor before calibration, the preset standard braking force-electrical signal relationship, and the actual braking force-electrical signal relationship, the electrical signal output by the sensor after calibration is determined, and the output of the sensor is adjusted to the calibrated electrical signal to complete the calibration of the sensor.

[0010] Furthermore, determining the electrical signal output by the sensor after calibration based on the electrical signal output by the sensor before calibration, the preset standard braking force-electrical signal relationship, and the actual braking force-electrical signal relationship includes: Based on the electrical signal output by the sensor before calibration and the actual braking force-electrical signal relationship, the actual braking force applied by the vehicle braking component is determined. Based on the actual braking force applied by the vehicle braking components and the preset standard braking force-electrical signal relationship, the electrical signal output by the sensor corresponding to the actual braking force applied by the vehicle braking components is determined, and the electrical signal output by the sensor is used as the electrical signal output by the sensor after calibration. The preset standard braking force-electrical signal relationship is a correspondence between the electrical signal output by the sensor and the braking force applied by the vehicle braking component, which is preset in the vehicle controller. The vehicle controller determines the braking force applied by the vehicle braking component based on the preset standard braking force-electrical signal relationship and the electrical signal output by the sensor.

[0011] Furthermore, determining the actual braking force applied by the vehicle braking components based on the electrical signal output by the sensor before calibration and the actual braking force-electrical signal relationship includes: Based on the actual braking force-electrical signal relationship, determine the reference value for the lookup table; Using a pre-defined lookup table method, the actual braking force applied by the vehicle braking component corresponding to the electrical signal output by the sensor before calibration is found in the lookup table reference value.

[0012] Furthermore, determining the lookup reference value based on the actual braking force-electrical signal relationship includes: Based on the actual braking force-electrical signal relationship, the electrical signals output by the sensor when multiple preset braking forces are applied by the vehicle braking components are obtained, and the multiple preset braking forces and the corresponding electrical signals output by the sensor are used as the lookup table reference values.

[0013] Furthermore, the sensor includes a strain gauge, a Wheatstone bridge, and a signal amplification circuit; The step of adjusting the output of the sensor to the calibrated electrical signal includes: Adjust the amplification ratio of the signal amplification circuit so that the sensor (1) outputs the calibrated electrical signal.

[0014] Compared with related technologies, this application has at least the following advantages: The calibration method described in this application obtains the actual braking force-electrical signal relationship by using the electrical signal output by the sensor under a preset zero-pressure state. Then, it adjusts the electrical signal output by the sensor according to the actual braking force-electrical signal relationship, so that the electrical signal output by the sensor is adjusted to the standard electrical signal corresponding to the actual braking force, thereby achieving sensor calibration without disassembly and assembly, which is conducive to rapid calibration and improves the convenience of calibration for staff.

[0015] Another object of this application is to provide a calibration device adapted to calibrate a sensor for responding to an electrical signal corresponding to a braking force applied by a vehicle braking component, and the calibration device includes: The control module is used to control the vehicle braking component to gradually release under a preset pressure state. During the release process, the electrical signal output by the sensor is detected until the electrical signal output by the sensor no longer changes as the vehicle braking component is released, reaching a preset zero pressure state. A data recording module is used to record the electrical signal output by the sensor under the preset zero pressure state; The relationship determination module is used to determine the correspondence between the braking force applied by the vehicle braking component and the actual electrical signal output by the sensor based on the electrical signal output by the sensor under the preset zero pressure state, so as to obtain the actual braking force-electrical signal relationship. The calibration module is used to adjust the electrical signal output by the sensor to the standard electrical signal corresponding to the actual braking force currently applied by the vehicle braking components, based on the actual braking force-electrical signal relationship and the preset standard braking force-electrical signal relationship, thereby completing the calibration of the sensor.

[0016] Furthermore, the sensor includes a strain gauge, a Wheatstone bridge, and a signal amplification circuit; The calibration module adjusts the amplification ratio of the signal amplification circuit to adjust the electrical signal output by the sensor to the standard electrical signal corresponding to the actual braking force currently applied by the vehicle braking components.

[0017] The calibration device described in this application is designed for sensors that measure the braking force applied by vehicle braking components. It enables rapid calibration of the sensor without disassembly or reassembly during the calibration process, thereby improving the convenience for staff and the efficiency of calibration. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the architecture of the EMB system described in the embodiments of this application; Figure 2 This is a schematic flowchart of the calibration method described in the embodiments of this application; Figure 3 This is a schematic diagram of the process for determining the actual braking force-electrical signal relationship in the calibration method described in the embodiments of this application; Figure 4 This is a schematic diagram of the process for obtaining a preset sensitivity coefficient in the calibration method described in the embodiments of this application; Figure 5 This is a schematic diagram of the calibration process based on the electrical signal before calibration in the calibration method described in the embodiments of this application; Figure 6 This is a schematic diagram of the calibration process of adjusting the electrical signal in the calibration method described in the embodiments of this application; Figure 7 This is a schematic diagram of the rapid calibration process in the embodiments of this application; Figure 8 This is a schematic diagram of the architecture of the calibration device described in the embodiments of this application; Explanation of reference numerals in the attached figures: 1. Sensors; 2. Vehicle braking components; 21. Clamp body and clamp; 22. Motor; 23. Reduction mechanism; 24. Ball screw; 3. Brake pads; 4. Brake disc; 5. Motor controller; 810. Control module; 820. Data recording module; 830. Relationship determination module; 840. Calibration module. Detailed Implementation

[0019] To make the technical solution and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0021] Furthermore, it should be noted that in the description of this application, if terms such as "upper," "lower," "inner," or "outer" appear, indicating orientation or positional relationship, these are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, if terms such as "first" or "second" appear, they are also used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] Furthermore, in the description of this application, unless otherwise expressly defined, the terms "installation," "connection," "joining," and "connector" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application in light of the specific circumstances.

[0023] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0024] The present application will now be described in detail through exemplary embodiments. However, it should be understood that, without further description, elements, structures, and features in one embodiment may be advantageously incorporated into other embodiments.

[0025] An embodiment of the first aspect of this application provides a calibration method suitable for rapid calibration of sensor 1. Specifically, sensor 1 may be a sensor 1 used to respond to an electrical signal corresponding to the braking force output applied by vehicle braking component 2.

[0026] More specifically, the sensor 1 can be a sensor 1 used in a vehicle's EMB (Electro-Mechanical Brake) system. Furthermore, the sensor 1 can be a strain gauge force sensor.

[0027] The vehicle's EMB system is used to control vehicle braking. The vehicle controller sends a braking command to the EMB system, which responds to the command and applies the corresponding braking force through the vehicle braking component 2. During the development of the vehicle's EMB system, it is necessary to measure whether the braking force actually applied by the vehicle braking component 2 of the EMB system matches the braking force required by the vehicle controller. Therefore, it is necessary to measure the actual braking force applied by the vehicle's EMB system. Sensor 1 is used to measure the actual braking force applied by the vehicle braking component 2 of the EMB system.

[0028] The vehicle controller can be either the vehicle's EMB controller or the vehicle controller; there is no limitation on this.

[0029] Figure 1 The architecture of the vehicle's EMB system is shown, with reference to... Figure 1 The EMB system includes an electric motor brake 5 and a vehicle braking component 2. Specifically, the vehicle braking component 2 may include a brake caliper, which specifically includes a caliper body caliper frame 21, a motor 22, a reduction mechanism 23, and a ball screw 24.

[0030] The vehicle's braking is achieved by the brake pads 3 (i.e., brake linings) and the brake disc 4. When the brake pads 3 and the brake disc 4 come into contact and are pressed together, the resulting friction will hinder the rotation of the brake disc 4, thereby causing the vehicle to decelerate or stop, thus performing braking.

[0031] The EMB system receives external control signals output by the vehicle controller. These external control signals can be braking commands issued by the vehicle controller. The motor brake 5 outputs motor control signals (e.g., signals controlling the three-phase currents Ia, Ib, and Ic of motor 22) to motor 22 according to the braking command. Motor 22 responds to the motor control signals and applies a corresponding pushing force to the reduction mechanism 23. The reduction mechanism 23 converts the high-speed rotational motion of motor 22 into linear motion, and then converts it into axial motion (e.g., through a ball screw 24) Figure 1 (In the direction of the red arrow) linear thrust. This linear thrust pushes the brake pads 3 to clamp the brake disc 4, and the brake disc 4 is subjected to the braking force (which is also the clamping force on the brake disc 4) applied by the vehicle braking components 2 of the EMB system, thus achieving braking control.

[0032] The strain gauge force sensor may include a strain gauge, a Wheatstone bridge, and a signal amplification circuit.

[0033] A strain gauge consists of a substrate, a sensing grid, a cover plate, and wires. When a strain gauge is attached to the test piece, the metal foil inside the strain gauge stretches or shortens as the object deforms, causing a change in its resistance. Therefore, a strain gauge can be attached to the test piece; when the test piece is subjected to force and deforms, the resistance of the strain gauge changes, resulting in an output impedance.

[0034] Specifically, in some embodiments, strain gauges can be attached to the caliper body 21 of the brake caliper, positioned directly above the brake disc 4. Here, "directly above" refers to a position perpendicular to and above the brake disc 4, with the direction of clamping the brake disc 4 as the horizontal direction. Figure 1As shown in the diagram, when the deceleration mechanism 23 applies a pushing force to clamp the brake disc 4, the strain gauge and the brake disc 4 respond to the pushing force simultaneously and are clamped with the same clamping force. The strain gauge deforms under the force, and its output impedance reflects the clamping force of the brake caliper. It is worth noting that the specific position of the strain gauge can be adjusted according to the actual braking structure, as long as it can be subjected to the same force as the test piece and thus produce the corresponding deformation.

[0035] The Wheatstone bridge converts the impedance output of the strain gauge into a voltage or current signal, which is then amplified by a signal amplifier circuit to obtain the corresponding electrical signal. Sensor 1 outputs this electrical signal, and the magnitude of this signal reflects the clamping force on the strain gauge, thereby reflecting the clamping force on the brake disc 4. This clamping force is the braking force applied by the vehicle braking component 2, thus enabling the measurement of the braking force applied by the vehicle braking component 2.

[0036] During the development of the EMB system, multiple tests are required, so sensor 1 often needs to be used multiple times.

[0037] However, strain gauge force sensors are prone to deformation after repeated use. After deformation, the accuracy of the electrical signal corresponding to the braking force decreases. Furthermore, the detection accuracy of strain gauge force sensors is affected by temperature and electromagnetic environment. Under different temperature and electromagnetic environments, when the same braking force is applied, the electrical signal output by sensor 1 will also differ. Therefore, sensor 1 needs to be calibrated when used to measure braking force.

[0038] The calibration methods in related technologies are complex, requiring the use of specialized calibrators to disassemble sensor 1 for calibration. Furthermore, since the EMB system's brake caliper is mounted on the experimental wheel along with sensor 1, sensor 1 must be disassembled along with the EMB system's brake caliper. This calibration method is cumbersome, time-consuming, and inefficient, making it difficult to meet the need for rapid calibration.

[0039] In view of this, in order to overcome the shortcomings of related technologies, the calibration method of this embodiment is used to quickly calibrate the sensor 1 described above, wherein the calibration is further performed by... Figure 1 and combined Figure 2 In terms of overall design, it includes steps S110-S140.

[0040] For ease of description, this embodiment uses a voltage signal as the example of the electrical signal output by sensor 1. It is worth noting that in other embodiments, the electrical signal output by sensor 1 can also be a current signal or other signals; this is only an example of a voltage signal and is not a limitation.

[0041] Step S110: Control the vehicle braking component 2 to gradually release under a preset pressure state. During the release process, detect the electrical signal output by the sensor 1 until the electrical signal output by the sensor 1 no longer changes as the vehicle braking component 2 is released, reaching the preset zero pressure state.

[0042] Specifically, the preset pressure state can be the state when a clamping force is applied to the brake disc 4. For example, if the brake pad 3 applies a clamping force to the brake disc 4 before calibration, this state can be used as the preset pressure state.

[0043] Step S120: Record the electrical signal output by sensor 1 under the preset zero pressure state.

[0044] For example, during calibration, step S110 is executed first to control the brake caliper of the EMB system to gradually release, gradually reducing the braking force applied to the brake disc 4. Specifically, this can be done by the operator releasing the brake pedal or by the vehicle controller issuing a release control command to the motor brake 5, causing the motor 22 to reverse (when rotating forward, it rotates along...). Figure 1 The brake pad 3 is pushed in the direction of the red arrow, and when it is reversed, the brake pad 3 moves in the opposite direction to the red arrow, thereby reducing the clamping force applied to the brake disc 4, that is, gradually reducing the braking force applied by the vehicle control components.

[0045] As the clamping force decreases, the strain on sensor 1 also decreases, and the output voltage continuously decreases. When the voltage output by sensor 1 no longer changes as the vehicle braking component 2 is released, it can be considered that the EMB braking system has been completely released, meaning that the clamping force applied by the brake pads 3 to the brake disc 4 has actually changed to 0, reaching the preset zero pressure state. Therefore, the vehicle braking component 2 is no longer controlled to continue releasing.

[0046] Under the preset zero pressure state, the braking force on the brake disc 4 is 0. The electrical signal output by the sensor 1 under the preset zero pressure state is recorded, that is, the voltage output by the sensor 1 under the preset zero pressure state is recorded, and the values ​​of braking force and output voltage under the preset zero pressure state are obtained.

[0047] For ease of description, the braking force under the preset zero pressure state will be described as zero clamping force, and the voltage output by sensor 1 under the preset zero pressure state will be described as zero clamping force voltage.

[0048] Step S130: Based on the electrical signal output by sensor 1 under the preset zero pressure state, determine the correspondence between the braking force applied by vehicle braking component 2 and the actual electrical signal output by sensor 1, and obtain the actual braking force-electrical signal relationship.

[0049] Specifically, theoretically speaking, when sensor 1 is not affected by deformation or other factors and does not need to be calibrated, when the braking force on the brake disc 4 is zero, that is, under the preset zero pressure state, the strain force on sensor 1 is also zero, and its output voltage should be zero.

[0050] However, when sensor 1 is affected, the voltage output by sensor 1 may not be 0, but will have a certain deviation (i.e., zero clamping force voltage). Therefore, in step S130, the deviation of the output voltage of sensor 1 can be determined based on the zero clamping force voltage, and the output voltage of sensor 1 corresponding to each braking force can be adjusted according to the deviation. The relationship between the current actual braking force of sensor 1 and the actual output voltage of sensor 1 can be obtained, which is equivalent to determining the correspondence between the braking force applied by the vehicle braking component 2 and the actual output electrical signal of sensor 1, thereby obtaining the actual braking force-electrical signal relationship.

[0051] Step S140: Based on the actual braking force-electrical signal relationship and the preset standard braking force-electrical signal relationship, adjust the electrical signal output by sensor 1 to the standard electrical signal corresponding to the actual braking force currently applied by the vehicle braking component 2, and complete the calibration of sensor 1.

[0052] Specifically, the preset standard braking force-electrical signal relationship is the relationship between the braking force of sensor 1 under standard conditions and the electrical signal output by sensor 1. For example, under standard conditions, when a braking force of 100N is applied, the voltage output by sensor 1 is 0.8V.

[0053] Specifically, in step S140, based on the actual braking force-electrical signal relationship, the actual braking force corresponding to the value of the electrical signal output by the current sensor 1 can be obtained. Then, based on the actual braking force and combined with the preset standard braking force-electrical signal relationship, the standard electrical signal under the actual braking force is obtained. Then, the electrical signal output by the sensor 1 is adjusted to the standard electrical signal to complete the calibration of the sensor 1.

[0054] For example, during calibration, the voltage output of sensor 1 is 0.5V. Based on the actual braking force-electrical signal relationship, the actual applied braking force is deduced to be 100N. Then, based on the preset standard braking force-electrical signal relationship, it is determined that under a braking force of 100N, when sensor 1 is in its standard state, sensor 1 should output a voltage of 0.8V. However, the current voltage output of sensor 1 is 0.5V. This voltage deviation is due to the ambient temperature, electromagnetic environment, and deformation caused by repeated use. Therefore, the current voltage output of sensor 1 is adjusted to 0.8V to complete the calibration of sensor 1.

[0055] Therefore, by pre-setting the electrical signal output by sensor 1 under zero pressure, the actual braking force-electrical signal relationship is obtained. Then, the electrical signal output by sensor 1 is adjusted according to the actual braking force-electrical signal relationship, so that the electrical signal output by sensor 1 is adjusted to the standard electrical signal corresponding to the actual braking force, thereby realizing the calibration of sensor 1. This does not require multiple tests or disassembly and reassembly of the EMB system, thus facilitating rapid calibration.

[0056] Continue by Figures 1-2 and combined Figure 3 As shown, in some exemplary embodiments, in step S130 above, the correspondence between the braking force applied by the vehicle braking component 2 and the actual electrical signal output by the sensor 1 is determined based on the electrical signal output by the sensor 1 under a preset zero pressure state, thereby obtaining the actual braking force-electrical signal relationship. Specifically, this may include the following steps S131-S133.

[0057] Step S131: Obtain the preset sensitivity coefficient of sensor 1.

[0058] The preset sensitivity coefficient is a proportionality coefficient that reflects the change in the electrical signal output by the reaction sensor 1 as the braking force applied by the vehicle braking component 2 changes.

[0059] Specifically, the strain gauge of strain gauge force sensor 1 senses the deformation of an object, causing a change in its resistance, and calculates the strain force based on this change in resistance. The rate of change of resistance of the strain gauge is proportional to the strain of the measured object. The strain gauge force sensor converts resistivity into a voltage signal output, and the output voltage is also proportional to the strain force of the measured object, for example, in the form of y=kx+b, where y is the output voltage, x is the strain force, and k is the sensitivity coefficient of the strain gauge, i.e., the preset sensitivity coefficient.

[0060] More specifically, the preset sensitivity coefficient can be obtained by calculating the ratio of the change in braking force to the change in the output voltage of the corresponding sensor 1. For example, there is one output voltage corresponding to a braking force of 100N and another output voltage corresponding to a braking force of 200N. The difference between the two braking forces is calculated, and the difference between the output voltages at braking forces of 100N and 200N is also calculated. The coefficient is then obtained by calculating the ratio of these differences.

[0061] In some embodiments, refer to Figure 4 The process of obtaining the preset sensitivity coefficient of sensor 1 in step S131 may specifically include steps S1311, S1312 and S1313, wherein: Step S1311: Obtain the output parameters corresponding to each input parameter of sensor 1 at the time of manufacture.

[0062] Specifically, sensor 1 undergoes factory testing before leaving the factory. This involves inputting a series of strain forces into the strain gauge and measuring the voltage output by sensor 1 to obtain the factory test data of sensor 1.

[0063] The input parameter is equivalent to a series of strain forces input to the strain gauge, and the output parameter is the voltage (i.e., the output electrical signal) output by the sensor 1.

[0064] In step S1311, the output parameters corresponding to each input parameter of sensor 1 at the time of its manufacture are obtained, that is, the strain force input to sensor 1 during the factory test and the corresponding output voltage under each strain force are obtained.

[0065] Step S1312: Based on the input parameters of sensor 1 at the time of manufacture and their corresponding output parameters, perform linear fitting to obtain the linear fitting equation.

[0066] Specifically, the strain force of strain gauge 1 has a linear relationship with the output voltage. Therefore, in step S1312, a series of strain forces used for testing at the factory and the output voltage corresponding to each strain force can be linearly fitted to calculate the linear fitting equation corresponding to the strain gauge. That is, the strain force is taken as x and the output voltage is taken as y, and substituted into the equation y=kx+b1 to calculate the values ​​of k and b1, thereby obtaining the linear fitting equation.

[0067] Step S1313: Determine the proportional coefficient of the linear fitting equation as the preset sensitivity coefficient.

[0068] Specifically, k described in step S1312 above is the proportional coefficient of the linear fitting equation, which is also determined as the preset sensitivity coefficient.

[0069] In this way, the preset sensitivity coefficient k of sensor 1 can be obtained from the input and output parameters of sensor 1 when it leaves the factory, so that the actual braking force-electric signal relationship can be determined according to the preset sensitivity coefficient k.

[0070] Step S132: Use the preset sensitivity coefficient as the proportional coefficient, and substitute the electrical signal output by sensor 1 under the preset zero pressure state into the preset linear equation to calculate the adjustment amount of the electrical signal output by sensor 1.

[0071] Step S133: Based on the preset sensitivity coefficient and the adjustment amount of the electrical signal output by sensor 1, fit the linear relationship between the braking force applied by the vehicle braking component 2 and the actual electrical signal output by sensor 1, and determine the actual braking force-electrical signal relationship.

[0072] Specifically, the input pressure and output voltage of sensor 1 are linearly related, and the ratio of the relative changes in input pressure and output voltage is determined by a preset sensitivity coefficient.

[0073] Therefore, using the preset sensitivity coefficient as the proportional coefficient k, a preset linear equation y=kx+b2 is obtained. Then, the zero clamping force is taken as x (i.e., x=0), and the zero clamping force voltage is taken as y, which are then substituted into the preset linear equation to obtain the value of b2. Here, b2 is equivalent to the adjustment amount of the electrical signal output by sensor 1.

[0074] Furthermore, after solving for b2, substituting k and b2 into y=kx+b2, we can obtain a linear relationship between the braking force applied by the vehicle braking component 2 and the actual electrical signal output by the sensor 1. This linear relationship represents the actual braking force-electrical signal relationship.

[0075] Therefore, by using steps S131-S133, the actual braking force-electrical signal relationship of sensor 1 can be calculated by using the preset sensitivity coefficient of sensor 1 and the braking force under the preset zero pressure state and the corresponding electrical signal output by sensor 1. It is not necessary to disassemble sensor 1 and the vehicle braking component 2 to which sensor 1 is attached. Instead, the actual braking force-electrical signal relationship can be calculated and analyzed directly by measurement, thereby improving the convenience and efficiency of calibration.

[0076] Continue by Figure 1 and Figure 2 and combined Figure 5 As shown, in some exemplary embodiments, after determining the actual braking force-electrical signal relationship in step S130, step S140 can be performed for calibration. In step S140, based on the actual braking force-electrical signal relationship and a preset standard braking force-electrical signal relationship, the output electrical signal of sensor 1 is adjusted to the standard electrical signal corresponding to the actual braking force currently applied by the vehicle braking component 2, thus completing the calibration of sensor 1. Specifically, this may include steps S141-S142.

[0077] Step S141: Obtain the electrical signal output by sensor 1 before calibration.

[0078] Specifically, when the EMB system receives a braking command from the vehicle controller, the motor brake 5 controls the motor 22 to respond to the motor control signal, and pushes the brake pads 3 through the reduction mechanism 23 and the ball screw 24, clamping the brake disc 4. At this time, the sensor 1 is not yet calibrated; it first detects the clamping force of the brake disc 4 and outputs a corresponding electrical signal. For example, if the actual applied braking force is 150N, the voltage output by the sensor 1 before calibration may be 0.7V, and the relationship between this braking force and the voltage output before calibration satisfies the actual braking force-electrical signal relationship determined above.

[0079] Step S142: Based on the electrical signal output by sensor 1 before calibration, the preset standard braking force-electrical signal relationship, and the actual braking force-electrical signal relationship, determine the electrical signal output by sensor 1 after calibration, and adjust the output of sensor 1 to the calibrated electrical signal to complete the calibration of sensor 1.

[0080] Specifically, in step S142, based on the actual braking force-electrical signal relationship, the preset standard braking force-electrical signal relationship, and based on the electrical signal output by the sensor 1 before calibration, the electrical signal that the sensor 1 should output after calibration can be obtained, thereby adjusting the output of the sensor 1 to the calibrated electrical signal and completing the calibration of the sensor 1.

[0081] Specifically, the preset standard braking force-electrical signal relationship can be determined based on a series of input and output parameters provided by sensor 1 at the time of manufacture, such as y=kx+b1 mentioned above.

[0082] The preset standard braking force-electrical signal relationship is the correspondence between the electrical signal output by sensor 1 in the vehicle controller and the braking force applied by the vehicle braking component 2. The vehicle controller is used to determine the braking force applied by the vehicle braking component 2 based on the preset standard braking force-electrical signal relationship and the electrical signal output by sensor 1.

[0083] When sensor 1 outputs an electrical signal before calibration, the voltage output by sensor 1 is not the voltage that sensor 1 should output under standard conditions. For example, if the input braking force is 150N, the output voltage is 0.7V because sensor 1 is not calibrated. However, according to the preset standard braking force-electrical signal relationship, when sensor 1 is in standard condition, it should output 0.75V when the braking force is 150N and 0.7V when the braking force is 140N.

[0084] When the vehicle controller receives an uncalibrated electrical signal from sensor 1, it determines the braking force based on the uncalibrated electrical signal and the preset standard braking force-electrical signal relationship. For example, if the output electrical signal before calibration is 0.7V, the vehicle controller determines the braking force to be 140N, but it should actually be 150N, resulting in a deviation, so calibration is required.

[0085] After calibrating the electrical signal output by sensor 1, the voltage change of the calibrated output is the voltage that should be output under standard conditions, for example, from 0.7V to 0.75V. Then it is transmitted to the vehicle controller. The vehicle controller determines the current braking force as 150N based on this 0.75V and the preset standard braking force-electrical signal relationship, and completes the calibration.

[0086] Continue by Figure 1 , Figure 2 and Figure 5 and combined Figure 6 As shown, in some exemplary embodiments, in step S142, when determining the electrical signal output by sensor 1 after calibration based on the electrical signal output by sensor 1 before calibration, the preset standard braking force-electrical signal relationship, and the actual braking force-electrical signal relationship, it can be specifically implemented through the following steps S1421 and S1422.

[0087] Step S1421: Determine the actual braking force applied by the vehicle braking component 2 based on the electrical signal output by sensor 1 before calibration and the relationship between the actual braking force and the electrical signal.

[0088] For example, the actual braking force applied by the vehicle braking component 2 is 150N, and the voltage output by the sensor 1 before calibration is 0.7V.

[0089] Since the actual braking force-electrical signal relationship (i.e., y=kx+b2 above) describes the relationship between the electrical signal output by sensor 1 before calibration and the actual braking force, the actual braking force applied by vehicle braking component 2 can be determined based on the electrical signal output before calibration and the actual braking force-electrical signal relationship. For example, by substituting the voltage of 0.7V output before calibration as y into the equation of the actual braking force-electrical signal relationship, the value of x can be derived, which gives the actual braking force as 150N.

[0090] Step S1422: Based on the actual braking force applied by the vehicle braking component 2 and the preset standard braking force-electrical signal relationship, determine the electrical signal output by the sensor 1 corresponding to the actual braking force applied by the vehicle braking component 2, and use the electrical signal output by the sensor 1 as the electrical signal output by the sensor 1 after calibration.

[0091] Specifically, the actual braking force determined in step S1421 can be understood as the currently applied braking force. Based on the standard braking force-electrical signal relationship (i.e., y=kx+b1 above), the actual braking force is used as x and substituted into the expression of the standard braking force-electrical signal relationship to solve for y. The value of y is the calibrated electrical signal, which is also the electrical signal output by sensor 1 after calibration. For example, the electrical signal corresponding to 150N is 0.75V.

[0092] After the electrical signal is output to the vehicle controller, the vehicle controller can determine the accurate actual braking force based on the calibrated electrical signal and the preset standard braking force-electrical signal relationship, thereby achieving the calibration of sensor 1.

[0093] In some exemplary embodiments, in step S1421 above, the actual braking force applied by the vehicle braking component 2 is determined based on the electrical signal output by sensor 1 before calibration and the actual braking force-electrical signal relationship. Specifically, this may include: determining a lookup table reference value based on the actual braking force-electrical signal relationship; and then using a preset lookup table method, finding the actual braking force applied by the vehicle braking component 2 corresponding to the electrical signal output by sensor 1 before calibration in the lookup table reference value.

[0094] Specifically, the reference value for the lookup table can be a series of braking forces and the corresponding electrical signal output by sensor 1, and the braking force and the corresponding electrical signal satisfy the actual braking force-electrical signal relationship.

[0095] In some exemplary embodiments, the reference value for looking up a table is determined based on the actual braking force-electrical signal relationship. Specifically, this may include: obtaining the electrical signal output by sensor 1 when multiple preset braking forces are applied by vehicle braking component 2 based on the actual braking force-electrical signal relationship, and using the multiple preset braking forces and the corresponding electrical signals output by sensor 1 as the reference value for looking up a table.

[0096] Specifically, multiple preset braking forces can be substituted as x into the linear equation y=kx+b2 above to obtain the voltage output by sensor 1 corresponding to each preset braking force, thereby obtaining multiple preset braking forces and the electrical signals output by sensor 1 corresponding to them, which is to obtain the lookup table reference value.

[0097] After obtaining the reference value, a preset lookup table method is used to find the electrical signal output before calibration from the preset braking force and the corresponding electrical signal output by sensor 1 in the reference value. The preset braking force corresponding to the electrical signal output before calibration is determined as the actual braking force applied by the vehicle's braking component 2. This preset lookup table method can be a two-dimensional lookup table method.

[0098] It is worth noting that if the electrical signal output before calibration is not found in the electrical signals corresponding to each preset braking force, then based on the reference value in the lookup table, interpolation is performed using linear interpolation methods, etc., to find the braking force corresponding to the electrical signal output before calibration from each preset braking force and its corresponding electrical signal after interpolation.

[0099] By using a lookup table to find the actual braking force applied by the vehicle braking component 2 corresponding to the electrical signal output before calibration, and if the electrical signal before calibration exists in the lookup table reference value, the corresponding actual applied braking force can be determined directly by looking up the reference value without having to substitute it into the linear equation for calculation, which helps to further improve calibration efficiency.

[0100] After determining the actual applied braking force, the calibrated electrical signal can be determined. Then, in step S1422, the output of sensor 1 is adjusted to the calibrated electrical signal.

[0101] In some exemplary embodiments, in step S1422, adjusting the output of sensor 1 to a calibrated electrical signal may specifically include adjusting the amplification ratio of the signal amplification circuit so that the signal amplification circuit outputs a calibrated electrical signal.

[0102] Sensor 1 includes a strain gauge, a Wheatstone bridge, and a signal amplification circuit. The strain gauge is used to deform under force and output corresponding impedance. The Wheatstone bridge converts the impedance into voltage. The signal amplification circuit amplifies the voltage to obtain the electrical signal output by sensor 1, which is then output to the vehicle controller.

[0103] Specifically, after determining the lookup reference value, the lookup reference value can be written into sensor 1. Since sensor 1 is a strain gauge pressure sensor, the lookup reference value can be written into the program of the signal amplification circuit of strain gauge pressure sensor 1.

[0104] When the vehicle braking component 2 performs a clamping or releasing action, causing the strain gauge to deform, the circuit converts the resistance output of the strain gauge into a voltage. The signal amplification circuit then performs calculations based on a two-dimensional lookup table and a reference value, adjusting the amplification ratio to output a calibrated voltage. This newly generated calibrated voltage is then transmitted to the vehicle controller. The vehicle controller can then calculate the actual braking force based on the calibrated voltage output from the signal amplification circuit and a preset standard braking force-electrical signal relationship, thus achieving calibration.

[0105] It is worth noting that, regarding the calibration method applicable to calibrating sensor 1 in this embodiment, based on the above exemplary embodiments, in specific implementation, as a preferred embodiment, it is still based on... Figure 1-6 and combined Figure 7 As shown, it may include, for example: Acquire the input parameters and corresponding output parameters of sensor 1 at the time of manufacture, and calculate the preset sensitivity coefficient k of the strain gauge based on the input parameters and corresponding output parameters. Then, adjust the EMB system to control the vehicle braking component 2 (brake caliper) to gradually release from the braking state, for example, gradually decreasing from 150N, while observing the output voltage of sensor 1 until the output voltage no longer changes, at which point the release stops. Record the output voltage of sensor 1 at this point (zero clamping force voltage) and the braking force at this point (zero clamping force).

[0106] Substituting the zero clamping force voltage and zero clamping force into a linear equation (y=kx+b2) with the aforementioned preset sensitivity coefficient k as the proportionality coefficient, the constant b2 is calculated, and finally the linear equation y=kx+b2 is obtained, which is used to describe the actual braking force-electrical signal relationship.

[0107] Then, a series of preset braking forces are substituted into the linear equation y=kx+b2, and the output voltage of sensor 1 corresponding to each preset braking force is obtained. The output voltage of sensor 1 corresponding to each preset braking force is then written into the signal amplification circuit program of sensor 1 as a lookup table reference value, so as to adjust the output of the signal amplification circuit according to the lookup table reference value, thus completing the calibration.

[0108] Reference Figure 7 When the EMB system controls the brake caliper to apply brakes, the brake pads 3 press against the brake disc 4, subjecting the brake disc 4 to braking force (also a clamping force). The strain gauges also experience this braking force and deform, thus outputting a corresponding impedance to the Wheatstone bridge. The Wheatstone bridge converts the impedance into a voltage signal, which is then input to the signal amplification circuit. The signal amplification circuit amplifies the voltage signal according to the original amplification ratio (the amplification ratio before calibration) to obtain the voltage before calibration. A rapid calibration strategy is then used to calibrate the voltage before calibration, and the amplification ratio of the signal amplification circuit is adjusted so that the signal amplification circuit outputs the calibrated voltage. This calibrated voltage is then output to the vehicle controller, which converts it into the corresponding pressure.

[0109] The vehicle controller can then adjust the braking pressure to the EMB system based on the current calibrated pressure, so that the brake calipers can continue to brake.

[0110] In the preferred embodiment of the above calibration method, the specific implementation process of each step can still be referred to the description in the above exemplary embodiments, and the beneficial effects brought about by the design in this preferred embodiment can also be referred to the description in the above exemplary embodiments.

[0111] The calibration method of this embodiment adopts the above design. By preset the electrical signal output by sensor 1 under zero pressure, the actual braking force-electrical signal relationship is obtained. Then, the electrical signal output by sensor 1 is adjusted according to the actual braking force-electrical signal relationship, so that the electrical signal output by sensor 1 is adjusted to the standard electrical signal corresponding to the actual braking force, thereby realizing the calibration of sensor 1. Moreover, it does not require multiple tests or disassembly and reassembly of the EMB system, which is conducive to achieving rapid calibration.

[0112] An embodiment of the second aspect of this application provides a calibration apparatus for calibrating a sensor 1. The sensor 1 is used to output an electrical signal corresponding to the braking force applied by a vehicle braking component 2. (Refer to...) Figure 8 The calibration device includes a control module 810, a data recording module 820, a relationship determination module 830, and a calibration module 840.

[0113] The control module 810 is used to control the vehicle braking component 2 to gradually release under a preset pressure state. During the release process, it detects the electrical signal output by the sensor 1 until the electrical signal output by the sensor 1 no longer changes as the vehicle braking component 2 is released, reaching a preset zero pressure state. The data recording module 820 is used to record the electrical signal output by the sensor 1 under the preset zero pressure state. The relationship determination module 830 is used to determine the correspondence between the braking force applied by the vehicle braking component 2 and the actual electrical signal output by the sensor 1 based on the electrical signal output by the sensor 1 under the preset zero pressure state, thus obtaining the actual braking force-electrical signal relationship. The calibration module 840 is used to adjust the electrical signal output by the sensor 1 to the standard electrical signal corresponding to the actual braking force currently applied by the vehicle braking component 2 based on the actual braking force-electrical signal relationship and the preset standard braking force-electrical signal relationship, thus completing the calibration of the sensor 1.

[0114] Specifically, in the actual implementation of the calibration device of this embodiment, the above-mentioned modules can be existing module products with data transmission, storage or computing functions.

[0115] In practical applications, the specific implementation process of the functions of each module in the calibration device of this embodiment can be found in the relevant descriptions in the above method embodiments, and will not be repeated here.

[0116] The calibration device of this embodiment can quickly calibrate the sensor 1 that measures the braking force applied by the vehicle braking component 2, and does not require disassembling the vehicle braking component 2 during the calibration process, thereby improving the convenience of the staff and the calibration efficiency.

[0117] In some exemplary embodiments, the sensor 1 includes a strain gauge, a Wheatstone bridge, and a signal amplification circuit; the calibration module 840 adjusts the amplification ratio of the signal amplification circuit to adjust the electrical signal output by the sensor 1 to the standard electrical signal corresponding to the actual braking force currently applied by the vehicle braking component 2, thereby completing the calibration of the sensor 1.

[0118] Similarly, referring to the aforementioned method embodiments, the strain gauge is used to respond to the clamping force of the brake pad 3 on the brake disc 4 (which is equivalent to the braking force on the brake disc 4), generating deformation and thus outputting a corresponding impedance to the Wheatstone bridge. The Wheatstone bridge converts the impedance into a voltage signal and inputs it to the signal amplification circuit, which then amplifies the voltage signal and outputs it to the vehicle controller.

[0119] When the calibration module 840 adjusts the electrical signal output by the sensor 1 for calibration, the amplification ratio of the signal amplification circuit is adjusted so that the signal amplification circuit outputs the calibrated voltage, and the calibrated voltage is output to the vehicle controller. The vehicle controller converts the calibrated voltage into the corresponding pressure to achieve calibration.

[0120] The above descriptions are merely some embodiments of this application and are not intended to limit this application. The technical features or structures in the foregoing different embodiments can be arbitrarily combined to form other specific technical solutions as needed. For those skilled in the art, this application can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of the claims of this application.

Claims

1. A calibration method suitable for calibrating a sensor (1), characterized in that, The sensor (1) is used to output an electrical signal in response to the braking force applied by the vehicle braking component (2), and the calibration method includes: The vehicle braking component (2) is controlled to gradually release under a preset pressure state. During the release process, the electrical signal output by the sensor (1) is detected until the electrical signal output by the sensor (1) no longer changes with the release of the vehicle braking component (2), thus reaching the preset zero pressure state. Record the electrical signal output by the sensor (1) under the preset zero pressure state; Based on the electrical signal output by the sensor (1) under the preset zero pressure state, the correspondence between the braking force applied by the vehicle braking component (2) and the electrical signal actually output by the sensor (1) is determined, and the actual braking force-electrical signal relationship is obtained. Based on the actual braking force-electric signal relationship and the preset standard braking force-electric signal relationship, the electrical signal output by the sensor (1) is adjusted to the standard electrical signal corresponding to the actual braking force currently applied by the vehicle braking component (2), thereby completing the calibration of the sensor (1).

2. The calibration method according to claim 1, characterized in that, The step of determining the correspondence between the braking force applied by the vehicle braking component (2) and the actual electrical signal output by the sensor (1) based on the electrical signal output by the sensor (1) under the preset zero pressure state, and obtaining the actual braking force-electrical signal relationship, includes: Obtain the preset sensitivity coefficient of the sensor (1), which is a proportional coefficient that reflects the change of the electrical signal output by the sensor (1) with the change of the braking force applied by the vehicle braking component (2); The preset sensitivity coefficient is used as the proportional coefficient, and the electrical signal output by the sensor (1) under the preset zero pressure state is substituted into the preset linear equation to calculate the adjustment amount of the electrical signal output by the sensor (1). Based on the preset sensitivity coefficient and the adjustment amount of the electrical signal output by the sensor (1), a linear relationship between the braking force applied by the vehicle braking component (2) and the electrical signal actually output by the sensor (1) is fitted to determine the actual braking force-electrical signal relationship.

3. The calibration method according to claim 2, characterized in that, The process of obtaining the preset sensitivity coefficient of the sensor (1) includes: Obtain the output parameters corresponding to each input parameter of the sensor (1) at the time of manufacture; Based on the input parameters of the sensor (1) at the time of manufacture and the corresponding output parameters, a linear fitting equation is obtained by linear fitting. The scaling factor of the linear fitting equation is determined as the preset sensitivity factor.

4. The calibration method according to claim 1, characterized in that, The calibration of the sensor (1) is completed by adjusting the electrical signal output by the sensor (1) to the standard electrical signal corresponding to the actual braking force currently applied by the vehicle braking component (2) based on the actual braking force-electrical signal relationship and the preset standard braking force-electrical signal relationship, including: Acquire the electrical signal output by the sensor (1) before calibration; Based on the electrical signal output by the sensor (1) before calibration, the preset standard braking force-electrical signal relationship, and the actual braking force-electrical signal relationship, the electrical signal output by the sensor (1) after calibration is determined, and the output of the sensor (1) is adjusted to the calibrated electrical signal to complete the calibration of the sensor (1).

5. The calibration method according to claim 4, characterized in that, The step of determining the electrical signal output by the sensor (1) after calibration based on the electrical signal output by the sensor (1) before calibration, the preset standard braking force-electrical signal relationship, and the actual braking force-electrical signal relationship includes: Based on the electrical signal output by the sensor (1) before calibration and the actual braking force-electrical signal relationship, the actual braking force applied by the vehicle braking component (2) is determined. Based on the actual braking force applied by the vehicle braking component (2) and the preset standard braking force-electric signal relationship, the electrical signal output by the sensor (1) corresponding to the actual braking force applied by the vehicle braking component (2) is determined, and the electrical signal output by the sensor (1) is used as the electrical signal output by the sensor (1) after calibration. The preset standard braking force-electric signal relationship is the correspondence between the electrical signal output by the sensor (1) and the braking force applied by the vehicle braking component (2) in the vehicle controller. The vehicle controller determines the braking force applied by the vehicle braking component (2) based on the preset standard braking force-electric signal relationship and the electrical signal output by the sensor (1).

6. The calibration method according to claim 5, characterized in that, The step of determining the actual braking force applied by the vehicle braking component (2) based on the electrical signal output by the sensor (1) before calibration and the actual braking force-electrical signal relationship includes: Based on the actual braking force-electrical signal relationship, determine the reference value for the lookup table; Using a pre-defined lookup table method, the actual braking force applied by the vehicle braking component (2) corresponding to the electrical signal output by the sensor (1) before calibration is found in the lookup table reference value.

7. The calibration method according to claim 6, characterized in that, The step of determining the lookup reference value based on the actual braking force-electrical signal relationship includes: Based on the actual braking force-electric signal relationship, the electrical signal output by the sensor (1) when multiple preset braking forces are applied by the vehicle braking component (2) is obtained, and the multiple preset braking forces and the corresponding electrical signals output by the sensor (1) are used as the lookup table reference value.

8. The calibration method according to claim 5, characterized in that, The sensor (1) includes a strain gauge, a Wheatstone bridge, and a signal amplification circuit; The step of adjusting the output of the sensor (1) to the calibrated electrical signal includes: Adjust the amplification ratio of the signal amplification circuit so that the sensor (1) outputs the calibrated electrical signal.

9. A calibration apparatus suitable for calibrating a sensor (1), characterized in that, The sensor (1) is used to output an electrical signal in response to the braking force applied by the vehicle braking component (2), and the calibration device includes: The control module (810) is used to control the vehicle braking component (2) to gradually release under a preset pressure state, and to detect the electrical signal output by the sensor (1) during the release process until the electrical signal output by the sensor (1) no longer changes with the release of the vehicle braking component (2), thus reaching a preset zero pressure state. The data recording module (820) is used to record the electrical signal output by the sensor (1) under the preset zero pressure state; The relationship determination module (830) is used to determine the correspondence between the braking force applied by the vehicle braking component (2) and the actual electrical signal output by the sensor (1) based on the electrical signal output by the sensor (1) under the preset zero pressure state, so as to obtain the actual braking force-electrical signal relationship. The calibration module (840) is used to adjust the electrical signal output by the sensor (1) to the standard electrical signal corresponding to the actual braking force currently applied by the vehicle braking component (2) based on the actual braking force-electrical signal relationship and the preset standard braking force-electrical signal relationship, thereby completing the calibration of the sensor (1).

10. The calibration apparatus according to claim 9, characterized in that, The sensor (1) includes a strain gauge, a Wheatstone bridge, and a signal amplification circuit; The calibration module (840) adjusts the amplification ratio of the signal amplification circuit to adjust the electrical signal output by the sensor (1) to the standard electrical signal corresponding to the actual braking force currently applied by the vehicle braking component (2).

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