Caliper clamping force estimation method and device, medium, equipment and program product

Abstract

The invention provides a caliper clamping force estimation method and device, a medium, equipment and a program product. The caliper clamping force estimation method comprises the steps that an EMB is used for braking wheels; generating an actual clamping force change value of a caliper of a wheel braked by the EMB based on an actual deceleration and / or an actual yaw rate of the wheel; acquiring an expected clamping force change value of the calipers; the difference value between the actual clamping force change value and the expected clamping force change value is calculated; and compensating the difference value between the actual clamping force change value and the expected clamping force change value to the expected clamping force change value, so that the expected clamping force change value is consistent with the actual clamping force change value. The problem that the clamping force of the calipers is easily estimated wrongly in an existing device is solved.

Description

Technical Field

[0001] This application relates to the technical field of vehicle braking devices, and in particular to a caliper clamping force estimation method, device, medium, equipment, and program product. Background Technology

[0002] EMB (Electromechanical Brake) uses a motor and transmission mechanism to drive a piston to achieve caliper clamping. The caliper clamping force feedback is estimated through motor rotation angle or torque signals, without direct measurement by a real force sensor, which easily leads to errors in caliper clamping force estimation. Therefore, existing devices suffer from the problem of easily inaccurate caliper clamping force estimation. Summary of the Invention

[0003] The purpose of this application is to provide a caliper clamping force estimation method that is less prone to errors in caliper clamping force estimation, including:

[0004] Use EMB to brake the wheels;

[0005] The actual clamping force change of the caliper of the wheel is generated based on the actual deceleration and / or actual yaw rate of the wheel being braked by EMB.

[0006] Obtain the expected change in clamping force of the caliper;

[0007] Calculate the difference between the actual clamping force change and the expected clamping force change; and

[0008] The difference between the actual clamping force change and the expected clamping force change is compensated to the expected clamping force change, so that the expected clamping force change and the actual clamping force change are consistent.

[0009] Optionally, the use of EMB to brake the wheels includes simultaneously braking all four wheels of the vehicle, wherein all four wheels are braked using EMB.

[0010] Optionally, the use of EMB to brake the wheels includes: first braking the left front wheel of the vehicle, and then braking the right front wheel of the vehicle, wherein both the left and right front wheels are braked using EMB.

[0011] Optionally, the use of EMB to brake the wheels further includes: first braking the left front wheel of the vehicle, and then braking the right rear wheel of the vehicle, wherein both the left front wheel and the right rear wheel are braked using EMB.

[0012] Optionally, the use of EMB to brake the wheels further includes: first braking the right front wheel of the vehicle, and then braking the left rear wheel of the vehicle, wherein both the right front wheel and the left rear wheel are braked using EMB.

[0013] Optionally, the use of EMB to brake the wheels further includes simultaneously braking all four wheels of the vehicle, wherein the two front wheels of the vehicle are braked using EMB, and the two rear wheels of the vehicle are braked using energy recovery. Alternatively, the two front wheels of the vehicle are braked using energy recovery, and the rear wheels of the vehicle are braked using EMB.

[0014] This application also provides a caliper clamping force estimation device, including:

[0015] The braking module is configured to use EMB to brake the wheels;

[0016] The generation module is configured to generate the actual clamping force change of the wheel's caliper based on the actual deceleration and / or actual yaw rate of the wheel being braked by EMB.

[0017] The acquisition module is configured to acquire the expected change in clamping force of the caliper;

[0018] The calculation module is configured to calculate the difference between the actual change in clamping force and the expected change in clamping force; and

[0019] The compensation module is configured to compensate the difference between the actual clamping force change value and the expected clamping force change value to the expected clamping force change value, so that the expected clamping force change value and the actual clamping force change value are consistent.

[0020] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method.

[0021] This application also provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method.

[0022] This application also provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to implement the method described.

[0023] The beneficial effects of this application are as follows: using EMB to brake the wheel; generating the actual clamping force change value of the caliper of the wheel based on the actual deceleration and / or actual yaw rate of the wheel braked by EMB; obtaining the expected clamping force change value of the caliper; calculating the difference between the actual clamping force change value and the expected clamping force change value; compensating the expected clamping force change value with the difference between the actual clamping force change value and the expected clamping force change value, so that the expected clamping force change value and the actual clamping force change value are consistent.

[0024] By generating the actual clamping force change value of the caliper of the wheel braked by EMB, obtaining the expected clamping force change value of the caliper, calculating the difference between the actual clamping force change value and the expected clamping force change value, and compensating the difference between the actual clamping force change value and the expected clamping force change value to the expected clamping force change value, the estimation of caliper clamping force is less prone to error.

[0025] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, the following describes the application in detail with reference to the preferred embodiments and accompanying drawings. Attached Figure Description

[0026] Figure 1 This is a flowchart of a caliper clamping force estimation method in one embodiment of this application;

[0027] Figure 2 This is a schematic diagram of vehicle braking in one embodiment of this application (the straight arrows indicate the direction of vehicle deceleration, and the curved arrows indicate the direction of vehicle yaw rate).

[0028] Figure 3 This is a block diagram of a caliper clamping force estimation device in one embodiment of this application;

[0029] Figure 4 This is a block diagram of a computer device according to one embodiment of this application.

[0030] In the attached figures, the following labels are used:

[0031] 100 Braking Module

[0032] 101 Generation Module

[0033] 102 Acquisition Module

[0034] 103 Calculation Module

[0035] 104 Compensation Module

[0036] 200 Left front wheel

[0037] 201 Right front wheel

[0038] 202 Left Rear Wheel

[0039] 203 Right Rear Wheel

[0040] S1-S5: Steps in the method for estimating caliper clamping force Detailed Implementation

[0041] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification.

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present application will now be described in detail with reference to the accompanying drawings and embodiments. To enable those skilled in the art to better understand the solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0043] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0044] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections 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 based on the specific circumstances.

[0045] like Figure 1 As shown, this embodiment provides a method for estimating caliper clamping force, including:

[0046] S1: Use EMB to brake the wheels:

[0047] S2: Generate the actual clamping force change of the caliper of the wheel based on the actual deceleration and / or actual yaw rate of the wheel being braked by EMB.

[0048] S3: Obtain the expected change in clamping force of the caliper;

[0049] S4: Calculate the difference between the actual clamping force change and the expected clamping force change; and

[0050] S5: The difference between the actual clamping force change and the expected clamping force change is compensated to the expected clamping force change, ensuring consistency between the expected and actual clamping force changes. This process involves generating the actual clamping force change of the caliper for the wheel braked by EMB, obtaining the expected clamping force change of the caliper, calculating the difference between the actual and expected clamping force changes, and compensating for the difference to the expected clamping force change. This makes it less prone to errors in caliper clamping force estimation.

[0051] EMB, or Electromechanical Brake, refers to the braking mechanism used to brake wheels. When using EMB to brake wheels, the control current and duration input to the EMB can be set via a computer program to enable braking. For example, the ECU can use PWM (Pulse Width Modulation) to control the magnitude and direction of the control current input to the EMB.

[0052] Based on the torque balance equation of the clamping motor of the EMB caliper (the following formulas are all applied to EMB calipers for a single tire), we obtain:

[0053]

[0054] In the formula: T e T represents the electromagnetic torque of the motor. e =1.5P n ψ f i q , where P n ψ represents the number of pole pairs of the motor. f Indicates the motor flux linkage, i q dω represents the q-axis current; J represents the moment of inertia of the motor; m / dt represents the derivative of the motor rotor angular velocity with respect to time; T L T represents the load torque. L =F CL L0 / (2πi g ), where F CL L0 represents the clamping force, and L0 represents the ball screw lead. g Indicates the reduction ratio of the transmission mechanism; T f This represents the total frictional torque;

[0055] During braking, the q-axis current can generate Δi. q Based on the above formula, the expected change in clamping force ΔF can be obtained from the change in force. cl1 (where dω) m / dt and T L Let be a constant, and calculate ΔF. cl1 When the constant is the same before and after the change, therefore Δdω m / dt=0,ΔT L =0):

[0056]

[0057] η represents the transmission efficiency of the EMB;

[0058] Changes in tire braking cause changes in the overall vehicle state, such as changes in deceleration and yaw rate. Taking a tire under EMB braking as an example, the deceleration is calculated using the following formula:

[0059]

[0060] In the formula: R disc - Brake disc radius;

[0061] R whl - Wheel radius;

[0062] m - Vehicle weight;

[0063] μ - the coefficient of friction of the brake disc;

[0064] The actual deceleration can be measured using wheel speed or vehicle acceleration sensors, and the actual clamping force change ΔF can be calculated from the deceleration. cl2 The deceleration is preferably measured using a wheel speed sensor, or calculated using signals from a MEMS accelerometer. By comparison, the compensation value ΔF = ΔF is calculated. cl2 -ΔF cl1 The compensation value ΔF and the expected clamping force change value ΔF cl1 By adding them together, the accurate actual clamping force can be obtained. For example, ΔF cl2 =5KN,ΔF cl1 =3KN, then ΔF = 2KN, the compensation value ΔF and the expected change in clamping force ΔF cl1 Adding them together gives the accurate actual clamping force of 5KN.

[0065] The actual change in clamping force can also be calculated using the yaw rate. Taking a tire under EMB braking as an example, the formula for calculating the vehicle's actual yaw rate is as follows:

[0066]

[0067] J m Let be the vehicle's rotational inertia, and b be the track width (the distance between the two tires on the same axle). The actual yaw rate of the vehicle can be measured using inertial sensors (such as gyroscopes), and then ΔF can be calculated. cl3 By comparison, the compensation value ΔF = ΔF is calculated. cl3 -ΔFcl1 The compensation value ΔF and the expected clamping force change value ΔF cl1 By adding them together, the accurate expected change in clamping force can be obtained. For example, ΔF cl3 =2KN,ΔF cl1 =4KN, then ΔF = -2KN, the compensation value ΔF and the expected clamping force change value ΔF cl1 Adding them together gives the accurate actual clamping force of 2KN.

[0068] The vehicle is preferably a four-wheeled sedan, and all four wheels preferably use EMB braking. Taking one tire being braked by EMB as an example, during braking, the q-axis current of the EMB caliper is increased by 3A or 5A (i.e., Δi). q =3A or 5A), and then restores the original control current after 200ms. When the vehicle is moving, this current pulse will cause a change in the deceleration or yaw rate of the braked tire.

[0069] When both deceleration and yaw rate exist after braking, and the calculated actual clamping force changes are inconsistent, a decision can be made based on the weighted values ​​of deceleration and yaw rate (the sum of their weighted values ​​equals 1). For example, if the weighted value of deceleration (ranging from 0 to 1) is 0.1, then the actual clamping force change ΔF1 calculated from deceleration is multiplied by 0.1, and the actual clamping force change ΔF2 calculated from yaw rate is multiplied by 0.9. The final actual clamping force change of the tire caliper using EMB braking is: 0.1 × ΔF1 + 0.9 × ΔF2. The setting of the weighted values ​​for deceleration and yaw rate depends on the road conditions and steering situation.

[0070] When both deceleration and yaw rate exist after braking, and the calculated actual clamping force changes are inconsistent, the decision to use the actual clamping force change calculated based on deceleration or yaw rate can be determined based on the number of EMBs involved in braking (each EMB corresponds to one tire). For example, when multiple EMBs are involved in braking, the actual clamping force change calculated based on deceleration is used as the actual clamping force change of the caliper. When only a single EMB is braking, the actual clamping force change calculated based on yaw rate is used as the actual clamping force change of the caliper.

[0071] Optionally, EMB braking can be applied to all four wheels of the vehicle simultaneously, with all four wheels using EMB braking. When all four wheels are braked using EMB, the total braking force (which equals the vehicle's mass multiplied by its deceleration, or the vehicle's moment of inertia multiplied by half the track width and then by the yaw rate) is the sum of the actual clamping forces of each individual caliper. Using the single-wheel deceleration formula, the actual change in clamping force can be calculated. Based on the clamping force ratio of each wheel, the actual change in clamping force for each wheel can be calculated. If the vehicle also yaws simultaneously, the braking force deviation between the left and right sides of the vehicle can be calculated using the single-wheel yaw rate formula. Combined with the clamping force ratio of the front and rear wheels, the actual change in clamping force for each wheel can be calculated.

[0072] Similarly, if only two of the four wheels use EMB braking, the actual change in clamping force for the entire vehicle can be calculated using the single-wheel deceleration formula. Then, based on the clamping force ratio of the two wheels, the actual change in clamping force for each individual caliper can be calculated. If the vehicle also yaws, the braking force deviation on the left and right sides can be calculated using the single-wheel yaw rate formula. Combined with the clamping force ratio of the two calipers, the actual change in clamping force for each individual caliper can then be calculated.

[0073] like Figure 2 As shown, optionally, using EMB to brake the wheels includes: first braking the left front wheel 200, then braking the right front wheel 201, wherein both the left front wheel 200 and the right front wheel 201 are braked using EMB. This braking method maintains vehicle stability when estimating caliper clamping force. For example, the left front wheel 200 is braked for 200ms, then the braking of the right front wheel 201 is switched to 200ms. While the left front wheel 200 and the right front wheel 201 are braking, the remaining two tires (i.e., the left rear wheel 202 and the right rear wheel 203) are not braked. Alternatively, the right front wheel 201 can be braked for 200ms using EMB first, then the left front wheel 200 can be braked for 200ms using EMB.

[0074] like Figure 2 As shown, optionally, using EMB braking of the wheels also includes: first braking the left front wheel 200 of the vehicle, and then braking the right rear wheel 203 of the vehicle, wherein both the left front wheel 200 and the right rear wheel 203 are braked using EMB. This braking method maintains vehicle stability when estimating caliper clamping force. For example, the left front wheel 200 is braked for 200ms, and then the braking of the right rear wheel 203 is switched to 200ms. While the left front wheel 200 and the right rear wheel 203 are braking, the remaining two tires (i.e., the left rear wheel 202 and the right front wheel 201) are not braked.

[0075] like Figure 2As shown, optionally, using EMB braking of the wheels also includes: first braking the right front wheel 201 of the vehicle, and then braking the left rear wheel 202 of the vehicle, wherein both the right front wheel 201 and the left rear wheel 202 are braked using EMB. This braking method maintains vehicle stability when estimating caliper clamping force. For example, the right front wheel 201 is braked for 200ms, and then the braking of the left rear wheel 202 is switched to 200ms. While the right front wheel 201 and the left rear wheel 202 are braking, the remaining two tires (i.e., the right rear wheel 203 and the left front wheel 200) are not braked.

[0076] like Figure 2 As shown, optionally, using EMB braking also includes simultaneously braking all four wheels of the vehicle, wherein the two front wheels of the vehicle use EMB braking, and the two rear wheels of the vehicle use energy recovery braking. Alternatively, the two front wheels of the vehicle use energy recovery braking, and the rear wheels of the vehicle use EMB braking. For example, the left front wheel 200 and right front wheel 201 of the vehicle both use EMB braking, while the left rear wheel 202 and right rear wheel 203 use energy recovery braking. Energy recovery braking is a technology that converts the kinetic energy of a vehicle during braking into electrical energy and stores it through a motor. It is widely used in electric vehicles, hybrid vehicles, and industrial equipment. When the vehicle brakes, the motor rotor speed exceeds the rotational magnetic field speed, and the motor enters generator mode, converting mechanical energy into electrical energy. Through inverter regulation, the generated AC power is rectified and stored in the battery, achieving energy recovery.

[0077] like Figure 3 As shown, in another embodiment, a caliper clamping force estimation device is provided, comprising:

[0078] Braking module 100 is configured to use EMB to brake the wheels;

[0079] The generation module 101 is configured to generate the actual clamping force change value of the caliper of the wheel based on the actual deceleration and / or actual yaw rate of the wheel braked by EMB.

[0080] The acquisition module 102 is configured to acquire the expected change in clamping force of the caliper;

[0081] Calculation module 103 is configured to calculate the difference between the actual clamping force change and the expected clamping force change; and

[0082] The compensation module 104 is configured to compensate the difference between the actual clamping force change value and the expected clamping force change value to the expected clamping force change value, so that the expected clamping force change value and the actual clamping force change value are consistent.

[0083] In another embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the methods described in the foregoing embodiments.

[0084] In another embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory, the processor executing the computer program to implement the methods described in the foregoing embodiments.

[0085] In another embodiment, a computer program product is provided, which includes computer program code that, when run on a computer, causes the computer to perform the methods described in the foregoing embodiments.

[0086] Figure 4 This is a schematic block diagram of the computer device provided in the embodiments of this application. Figure 4 As shown, the computer device includes at least one processor 401, a memory 402, at least one network interface 403, and a user interface 405. The various components of the computer device are coupled together via a bus system 404. It is understood that the bus system 404 is used to implement communication between these components. In addition to a data bus, the bus system 404 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 4 The general will label all buses as bus systems.

[0087] The user interface 405 may include a monitor, keyboard, mouse, trackball, clicker, button, touchpad, or touch screen.

[0088] It is understood that memory 402 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM) or programmable read-only memory (PROM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM) and synchronous static random access memory (SSRAM). The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable categories of memory.

[0089] In this embodiment, the memory 402 is used to store various types of data to support the operation of the computer device 400. Examples of this data include any executable program that operates on the computer device 400, such as the operating system 4021 and application programs 4022. The operating system 4021 contains various system programs, such as the framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. The application program 4022 may contain various applications, such as a media player, browser, etc., used to implement various application services. The caliper clamping force estimation method provided in this embodiment can be included in the application program 4022.

[0090] The methods disclosed in the embodiments of this application described above can be applied to processor 401, or implemented by processor 401. Processor 401 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by integrated logic circuits in the hardware of processor 401 or by instructions in software form. The processor 401 described above may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0091] The processor 401 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor 401 can be a microprocessor or any conventional processor. The steps of the accessory optimization method provided in the embodiments of this application can be directly manifested as the hardware decoding processor executing the steps, or the hardware and software modules in the decoding processor combining to execute the steps. The software modules can be located in a storage medium, which is located in a memory. The processor reads the information in the memory and combines it with its hardware to complete the steps of the aforementioned method.

[0092] In an exemplary embodiment, the computer device 400 may be used by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), or complex programmable logic devices (CPLDs) to perform the aforementioned method.

[0093] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute... Figures 1 to 4 The method of any of the embodiments shown.

[0094] According to the method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when executed on a computer, causes the computer to perform... Figures 1 to 4 The method of any of the embodiments shown.

[0095] The terms “component,” “module,” “system,” etc., used in this specification are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component may be, but is not limited to, a process running on a processor, a processor, an object, an executable file, a thread of execution, a program, and / or a computer.

[0096] As illustrated, both the application running on the computing device and the computing device itself can be considered a component. One or more components may reside in a process and / or execution thread, and components may be located on a single computer and / or distributed across two or more computers. Furthermore, these components can execute from various computer-readable media on which various data structures are stored. Components can communicate via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0097] Those skilled in the art will recognize that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0098] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0099] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0100] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0101] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0102] In the above embodiments, the functions of each functional unit can be implemented entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. A computer program product includes one or more computer instructions (programs). When the computer program instructions (programs) are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated.

[0103] A computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0104] Computer-readable storage media can be any available medium that a computer can access, or a data storage device such as a server or data center that integrates one or more available media. Available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

[0105] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application.

[0106] The aforementioned storage media include: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0107] The foregoing has provided a detailed description of the caliper clamping force estimation method, apparatus, medium, device, and program products provided in the embodiments of this application. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application. All equivalent modifications or changes made in accordance with the spirit and technical concept of this application should still be covered by the claims of this application.

Claims

1. A method for estimating caliper clamping force, characterized in that, include: Use EMB to brake the wheels; The actual clamping force change of the caliper of the wheel is generated based on the actual deceleration and / or actual yaw rate of the wheel being braked by EMB. Obtain the expected change in clamping force of the caliper; Calculate the difference between the actual change in clamping force and the expected change in clamping force; as well as The difference between the actual clamping force change and the expected clamping force change is compensated to the expected clamping force change, so that the expected clamping force change and the actual clamping force change are consistent.

2. The caliper clamping force estimation method according to claim 1, characterized in that, The use of EMB to brake the wheels includes simultaneously braking all four wheels of the vehicle, wherein all four wheels are braked using EMB.

3. The caliper clamping force estimation method according to claim 1, characterized in that, The use of EMB to brake the wheels includes: first braking the left front wheel of the vehicle, and then braking the right front wheel of the vehicle, wherein both the left and right front wheels are braked using EMB.

4. The caliper clamping force estimation method according to claim 1, characterized in that, The use of EMB to brake the wheels also includes: first braking the left front wheel of the vehicle, and then braking the right rear wheel of the vehicle, wherein both the left front wheel and the right rear wheel are braked using EMB.

5. The caliper clamping force estimation method according to claim 1, characterized in that, The use of EMB to brake the wheels also includes: first braking the right front wheel of the vehicle, and then braking the left rear wheel of the vehicle, wherein both the right front wheel and the left rear wheel are braked using EMB.

6. The caliper clamping force estimation method according to claim 1, characterized in that... The use of EMB to brake the wheels also includes: simultaneously braking all four wheels of the vehicle, wherein the two front wheels of the vehicle are braked using EMB and the two rear wheels of the vehicle are braked using energy recovery, or the two front wheels of the vehicle are braked using energy recovery and the rear wheels of the vehicle are braked using EMB.

7. A caliper clamping force estimation device, characterized in that, include: The braking module is configured to use EMB to brake the wheels; The generation module is configured to generate the actual clamping force change of the wheel's caliper based on the actual deceleration and / or actual yaw rate of the wheel being braked by EMB. The acquisition module is configured to acquire the expected change in clamping force of the caliper; The calculation module is configured to calculate the difference between the actual change in clamping force and the expected change in clamping force. as well as The compensation module is configured to compensate the difference between the actual clamping force change value and the expected clamping force change value to the expected clamping force change value, so that the expected clamping force change value and the actual clamping force change value are consistent.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 6.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes computer program code that, when run on a computer, causes the computer to implement the method as described in any one of claims 1 to 6.

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