Method and device for estimating clamping force of calipers, vehicle and electronic equipment

Abstract

The invention discloses a caliper clamping force estimation method and device, a vehicle and electronic equipment, and relates to the technical field of vehicles, a first mapping relation between a test motion parameter and a test current is established, and a second mapping relation between a historical test motion parameter and a historical test current is acquired; acquiring a third mapping relation between the historical test motion parameters and the historical caliper clamping force; inputting the first mapping relation, the second mapping relation and the third mapping relation into a clamping force correction model to obtain a corrected third mapping relation; and obtaining the current motion parameter of the motor, and estimating the clamping force of the target caliper based on the corrected third mapping relation. According to the embodiment of the invention, the first mapping relation, the second mapping relation and the third mapping relation are input into the clamping force correction model to obtain the corrected third mapping relation, and the clamping force of the target caliper is estimated based on the corrected third mapping relation, so that the accuracy of estimating the clamping force of the brake caliper is improved.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more particularly to a method and apparatus for estimating caliper clamping force, a vehicle, and electronic equipment. Background Technology

[0002] The motor drives the piston through the reduction mechanism to push the caliper, pressing the caliper onto the brake friction pad. Tire braking is achieved by the sliding between the caliper and the friction pad. The clamping force that presses the caliper onto the brake friction pad directly determines the magnitude of the braking force, and therefore becomes the controlled object of braking control, that is, controlling the clamping force of the caliper.

[0003] In electromechanical braking, since the controlled object is the clamping force of the caliper, it is necessary to determine whether the clamping force has reached the required clamping force. In related technologies for estimating caliper clamping force, the correlation between the motor rotation angle information calibrated on the production line and the caliper clamping force, and the correlation between the motor current information and the motor rotation angle, are typically used to estimate the caliper clamping force corresponding to the motor current information during vehicle braking.

[0004] During the braking process, the brake caliper will age and wear, causing the parameters of the brake caliper to change, resulting in inaccurate estimation of the clamping force of the brake caliper. Summary of the Invention

[0005] This disclosure provides a method and apparatus for estimating caliper clamping force, as well as a vehicle and electronic equipment. Its main purpose is to solve the problem of inaccurate estimation of brake caliper clamping force caused by changes in caliper parameters due to aging and wear.

[0006] According to a first aspect of this disclosure, a method for estimating caliper clamping force is provided, comprising:

[0007] Collect the test motion parameters of the motor and the corresponding test current, establish a first mapping relationship between the test motion parameters and the test current, obtain a second mapping relationship between the historical test motion parameters of the motor and the historical test current, and obtain a third mapping relationship between the historical test motion parameters and the historical caliper clamping force.

[0008] Input the first mapping relationship, the second mapping relationship, and the third mapping relationship into the clamping force correction model to obtain the corrected third mapping relationship;

[0009] The current motion parameters of the motor are obtained, and the clamping force of the target caliper corresponding to the current motion parameters is estimated based on the corrected third mapping relationship.

[0010] Optionally, the training method for the clamping force correction model includes:

[0011] A first training mapping relationship is obtained between the first training motion parameter and the corresponding first training current; a second training mapping relationship is obtained between the second training motion parameter and the corresponding second training current; and a third training mapping relationship is obtained between the second training motion parameter and the reference caliper clamping force. The first training motion parameter, the first training current, the second training motion parameter, and the second training current are obtained from the training caliper of the training vehicle at different wear levels. The reference caliper clamping force is the actual caliper clamping force measured using an external clamping force sensor.

[0012] The first training mapping relationship, the second training mapping relationship, and the third training mapping relationship are input into the initial clamping force correction model for training to obtain the clamping force correction model.

[0013] Optionally, the step of acquiring the test motion parameters of the motor and the corresponding test current, and establishing a first mapping relationship between the test motion parameters and the test current includes:

[0014] With the motor at a fixed first speed, record the first test motion parameters and the first test current corresponding to the motor controlling the caliper to perform a clamping operation by changing from the minimum motor torque to the maximum motor torque at a constant speed, and the second test motion parameters and the second test current corresponding to the motor controlling the caliper to perform a release operation by changing from the maximum motor torque to the minimum motor torque at a constant speed.

[0015] With the motor at a fixed second speed, record the third test motion parameters and the third test current corresponding to the motor controlling the caliper to perform a clamping operation by changing from the minimum motor torque to the maximum motor torque at a constant speed, and the fourth test motion parameters and the fourth test current corresponding to the motor controlling the caliper to perform a releasing operation by changing from the maximum motor torque to the minimum motor torque at a constant speed; the first speed is less than the second speed;

[0016] Based on the first test motion parameter, the first test current, the second test motion parameter, the second test current, the third test motion parameter, the third test current, the fourth test motion parameter, and the fourth test current, a first mapping relationship is established. The test motion parameter includes the first motion parameter, the second motion parameter, the third motion parameter, and the fourth motion parameter, and the test current includes the first test current, the second test current, the third test current, and the fourth test current.

[0017] Optionally, the step of estimating the target caliper clamping force corresponding to the current motion parameters based on the corrected third mapping relationship includes:

[0018] The current motion parameters and the corrected third mapping relationship are input into the clamping force prediction model to obtain the first target caliper clamping force; the target caliper clamping force includes the first target caliper clamping force.

[0019] Optionally, after inputting the current motion parameters and the corrected third mapping relationship into the clamping force prediction model to obtain the clamping force of the first target caliper, the method further includes:

[0020] In the corrected third mapping relationship, find the second target caliper clamping force corresponding to the target historical test motion parameter that is the same as the current motion parameter; the target caliper clamping force includes the first target caliper clamping force and the second target caliper clamping force.

[0021] Optionally, after finding the second target caliper clamping force corresponding to the target historical test motion parameter that is the same as the current motion parameter, the method further includes:

[0022] Determine whether the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is less than a difference threshold.

[0023] If the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is less than the difference threshold, the clamping force of the first target caliper is determined as the final clamping force of the target caliper.

[0024] Optionally, after determining whether the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is less than a difference threshold, the method further includes:

[0025] If the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is determined to be greater than or equal to the difference threshold, the clamping force of the second target caliper is determined to be the final clamping force of the target caliper.

[0026] According to a second aspect of this disclosure, a caliper clamping force prediction device is provided, comprising:

[0027] The unit is used to collect the test motion parameters of the motor and the corresponding test current, and to establish a first mapping relationship between the test motion parameters and the test current, and to obtain a second mapping relationship between the historical test motion parameters of the motor and the historical test current, and to obtain a third mapping relationship between the historical test motion parameters and the historical caliper clamping force.

[0028] The input unit is used to input the first mapping relationship, the second mapping relationship and the third mapping relationship into the clamping force correction model to obtain the corrected third mapping relationship;

[0029] The estimation unit is used to obtain the current motion parameters of the motor and, based on the corrected third mapping relationship, to estimate the target caliper clamping force corresponding to the current motion parameters.

[0030] Optionally, the device further includes:

[0031] The acquisition unit is used to acquire a first training mapping relationship between a first training motion parameter and a corresponding first training current, a second training mapping relationship between a second training motion parameter and a corresponding second training current, and a third training mapping relationship between the second training motion parameter and a reference caliper clamping force; the first training motion parameter, the first training current, the second training motion parameter, and the second training current are obtained from the training caliper of the training vehicle at different wear levels, and the reference caliper clamping force is the actual caliper clamping force measured by an external clamping force sensor;

[0032] The training unit is used to input the first training mapping relationship, the second training mapping relationship, and the third training mapping relationship into the initial clamping force correction model for training, so as to obtain the clamping force correction model.

[0033] Optionally, the establishment unit includes:

[0034] The recording module is used to record, when the motor is fixed at a first speed, the first test motion parameters and the first test current corresponding to the clamping operation of the caliper controlled by the motor changing from the minimum motor torque to the maximum motor torque at a constant speed, and the second test motion parameters and the second test current corresponding to the release operation of the caliper controlled by the motor changing from the maximum motor torque to the minimum motor torque at a constant speed.

[0035] The recording module is further configured to, when the motor is fixed at a second speed, record a third test motion parameter and a third test current corresponding to the clamping operation of the caliper controlled by the motor changing from the minimum motor torque to the maximum motor torque at a constant speed, and a fourth test motion parameter and a fourth test current corresponding to the release operation of the caliper controlled by the motor changing from the maximum motor torque to the minimum motor torque at a constant speed; the first speed is less than the second speed;

[0036] A module is established to establish a first mapping relationship based on the first test motion parameter, the first test current, the second test motion parameter, the second test current, the third test motion parameter, the third test current, the fourth test motion parameter, and the fourth test current. The test motion parameter includes the first motion parameter, the second motion parameter, the third motion parameter, and the fourth motion parameter, and the test current includes the first test current, the second test current, the third test current, and the fourth test current.

[0037] Optionally, the prediction unit includes:

[0038] The input module is used to input the current motion parameters and the corrected third mapping relationship into the clamping force prediction model to obtain the first target caliper clamping force; the target caliper clamping force includes the first target caliper clamping force.

[0039] Optionally, the device further includes:

[0040] The lookup unit is used to, after inputting the current motion parameters and the corrected third mapping relationship into the clamping force prediction model to obtain the first target caliper clamping force, search in the corrected third mapping relationship for the second target caliper clamping force corresponding to the target historical test motion parameters that are the same as the current motion parameters; the target caliper clamping force includes the first target caliper clamping force and the second target caliper clamping force.

[0041] Optionally, the device further includes:

[0042] The judgment unit is used to determine whether the difference between the first target caliper clamping force and the second target caliper clamping force is less than a difference threshold after finding the second target caliper clamping force corresponding to the target historical test motion parameter that is the same as the current motion parameter;

[0043] The determining unit is configured to determine the first target caliper clamping force as the final target caliper clamping force when the difference between the first target caliper clamping force and the second target caliper clamping force is less than the difference threshold.

[0044] Optionally, the device further includes:

[0045] The determining unit is further configured to, after determining whether the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is less than a difference threshold, determine the clamping force of the second target caliper as the final clamping force of the target caliper if the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is greater than or equal to the difference threshold.

[0046] According to a third aspect of this disclosure, a vehicle is provided, the vehicle including a caliper clamping force estimation device as described in the second aspect above.

[0047] According to a fourth aspect of this disclosure, an electronic device is provided, comprising:

[0048] At least one processor; and

[0049] A memory communicatively connected to the at least one processor; wherein,

[0050] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect above.

[0051] According to a fifth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method described in the first aspect above.

[0052] According to a sixth aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0053] The caliper clamping force estimation method, apparatus, vehicle, and electronic equipment disclosed herein collect test motion parameters of a motor and corresponding test current, establish a first mapping relationship between the test motion parameters and the test current, obtain a second mapping relationship between historical test motion parameters and historical test currents of the motor, and obtain a third mapping relationship between historical test motion parameters and historical caliper clamping forces. The first, second, and third mapping relationships are input into a clamping force correction model to obtain a corrected third mapping relationship. The current motion parameters of the motor are obtained, and based on the corrected third mapping relationship, the target caliper clamping force corresponding to the current motion parameters is estimated. Compared with related technologies, the embodiments of this disclosure improve the accuracy of brake caliper clamping force estimation by inputting the first mapping relationship between the test motion parameters of the motor and corresponding test current, the second mapping relationship between historical test motion parameters and historical test currents, and the third mapping relationship between historical test motion parameters and historical caliper clamping forces into a clamping force correction model to obtain a corrected third mapping relationship, and by estimating the target caliper clamping force corresponding to the current motion parameters based on the corrected third mapping relationship.

[0054] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0055] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0056] Figure 1 A schematic flowchart illustrating a method for estimating caliper clamping force provided in an embodiment of this disclosure;

[0057] Figure 2 A schematic flowchart illustrating a training method for a clamping force correction model provided in an embodiment of this disclosure;

[0058] Figure 3 This is a schematic diagram illustrating a second mapping relationship between historical test motion parameters and historical test current provided in an embodiment of this disclosure;

[0059] Figure 4 This is a schematic diagram illustrating a third mapping relationship between historical test motion parameters and historical caliper clamping force, provided in an embodiment of this disclosure.

[0060] Figure 5 A schematic diagram illustrating the process of estimating the clamping force of a caliper according to an embodiment of this disclosure;

[0061] Figure 6 This is a schematic diagram of the structure of a caliper clamping force estimation device provided in an embodiment of the present disclosure;

[0062] Figure 7 A schematic diagram of another caliper clamping force estimation device provided in an embodiment of this disclosure;

[0063] Figure 8 A schematic block diagram of an example electronic device provided for embodiments of this disclosure. Detailed Implementation

[0064] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0065] The following description, with reference to the accompanying drawings, describes a method and apparatus for estimating caliper clamping force, a vehicle, and electronic equipment according to embodiments of the present disclosure.

[0066] Figure 1 This is a flowchart illustrating a method for estimating caliper clamping force according to an embodiment of the present disclosure.

[0067] like Figure 1As shown, this method is applied to a vehicle and includes the following steps:

[0068] Step 101: Collect the test motion parameters of the motor and the corresponding test current, establish a first mapping relationship between the test motion parameters and the test current, obtain a second mapping relationship between the historical test motion parameters of the motor and the historical test current, and obtain a third mapping relationship between the historical test motion parameters and the historical caliper clamping force.

[0069] The vehicle's electric motor drives hydraulic power to push the caliper to press against the brake pads for braking. The pedal simulator receives the driver's braking intention and calculates the required braking force. The clamping force of the caliper on the brake pads directly determines the braking force, i.e., the caliper clamping force. The wheel-end actuator converts and controls this clamping force. The wheel-end actuator sends the caliper clamping force to the motor, which drives the piston through a reduction mechanism to push the caliper against the brake pads. Tire braking is achieved through the sliding between the caliper and the brake pads.

[0070] The clamping force test state is a specific test mode or state for a vehicle. In the clamping force test state, the vehicle's clamping force is adjusted to a certain level for relevant performance testing or data collection. The clamping force test state is triggered during the self-test process of the vehicle every time it is powered on or off, or it is triggered periodically during the self-test process of the vehicle's power-on or power-off. The period can be any value, such as one month. However, it should be clarified that this statement is not intended to limit the period to only one month, and it can be other values.

[0071] The motion parameters described in this application embodiment include, but are not limited to, motor position, motor angle, motor speed, torque, etc. For ease of description, this application embodiment uses motor angle as an example for illustration. However, when the motion parameters are motor position, motor speed, and torque, the working principle is the same as that of motor angle, and will not be repeated here.

[0072] As one implementation of this application, the first mapping relationship between the test motor angle (test motion parameter) and the test current, the second mapping relationship between the historical test motor angle (historical test motion parameter) and the historical test current, and the third mapping relationship between the historical test motor angle (historical test motion parameter) and the historical caliper clamping force can be characterized in the form of charts, tables, etc.

[0073] Sensors or measuring devices can be used to collect motor angles (motion parameters) and corresponding currents and caliper clamping forces.

[0074] The first mapping relationship between test motor angle (test motion parameter) and test current helps to understand the direct relationship between them under specific test conditions. This aids in understanding the motor's operating characteristics. The second mapping relationship between historical test motor angle (historical test motion parameter) and historical test current can further confirm or optimize the relationship between motor angle (motion parameter) and current to reflect the motor's performance under different operating conditions. The third mapping relationship between historical test motor angle (historical test motion parameter) and historical caliper clamping force allows for indirect estimation of caliper clamping force by monitoring the motor angle (motion parameter) without directly measuring the caliper clamping force.

[0075] Step 102: Input the first mapping relationship, the second mapping relationship and the third mapping relationship into the clamping force correction model to obtain the corrected third mapping relationship.

[0076] The clamping force correction model is based on a neural network algorithm and is trained using a first training mapping relationship between the first training motor angle (first training motion parameter) and the corresponding first training current, a second training mapping relationship between the second training motor angle (second training motion parameter) and the corresponding second training current, and a third training mapping relationship between the second training motor angle (second training motion parameter) and the reference caliper clamping force. The first training motor angle (first training motion parameter), the first training current, the second training motor angle (second training motion parameter), and the second training current are obtained from the training calipers of the training vehicle at different wear levels, and the reference caliper clamping force is the actual caliper clamping force measured using an external clamping force sensor.

[0077] The clamping force correction model can be a back propagation (BP) neural network model or any type of network model; specifically, this disclosure does not limit the specific type. However, it should be clear that in practical applications, the network model type for the clamping force correction model should be determined with reference to the attribute information of the vehicle-side computing power.

[0078] The operating characteristics of the motor and the clamping force of the caliper may change with the changes in vehicle condition, ambient temperature, wear degree and other factors. The clamping force correction model can dynamically adjust the third mapping relationship based on the real-time data of the current motor angle and current current, as well as the historical motor angle, historical motor current and historical caliper clamping force, to adapt to these changes.

[0079] Step 103: Obtain the current motion parameters of the motor, and based on the corrected third mapping relationship, estimate the clamping force of the target caliper corresponding to the current motion parameters.

[0080] The braking state refers to the vehicle being in braking operation. In this state, the braking system is activated to slow or stop the vehicle's movement. After a period of use, the vehicle's calipers will experience varying degrees of wear. Since the third mapping relationship is established based on historical test motion parameters and historical caliper clamping forces before caliper wear, using this third mapping relationship to calculate the target caliper clamping force at the current motor angle (current motion parameter) will lead to inaccurate calculations. The corrected third mapping relationship considers caliper wear and better reflects the mapping relationship between the current motor angle (current motion parameter) and the current caliper clamping force, resulting in a more accurate calculated target caliper clamping force.

[0081] Based on the modified third mapping relationship, the target caliper clamping force corresponding to the brake motor angle can be estimated, which can also realize real-time control of braking performance, improve braking safety, optimize energy use, support fault diagnosis and predictive maintenance, and improve driving experience.

[0082] The caliper clamping force estimation method disclosed herein collects test motion parameters of the motor and corresponding test current, establishes a first mapping relationship between the test motion parameters and the test current, obtains a second mapping relationship between historical test motion parameters and historical test current of the motor, and obtains a third mapping relationship between historical test motion parameters and historical caliper clamping force; inputs the first, second, and third mapping relationships into a clamping force correction model to obtain a corrected third mapping relationship; obtains the current motion parameters of the motor, and estimates the target caliper clamping force corresponding to the current motion parameters based on the corrected third mapping relationship. Compared with related technologies, the embodiments of this disclosure improve the accuracy of brake caliper clamping force estimation by inputting the first mapping relationship between the test motion parameters of the motor and corresponding test current, the second mapping relationship between historical test motion parameters and historical test current, and the third mapping relationship between historical test motion parameters and historical caliper clamping force into a clamping force correction model to obtain a corrected third mapping relationship, and by estimating the target caliper clamping force corresponding to the current motion parameters based on the corrected third mapping relationship.

[0083] In practical applications, to improve the accuracy of the clamping force correction model in correcting the third mapping relationship between historical motor angles and historical caliper clamping forces, the clamping force correction model needs to be trained. This can be achieved in ways that are not limited to the following: Figure 2 As shown, Figure 2 A flowchart illustrating a training method for a clamping force correction model provided in this embodiment of the disclosure includes:

[0084] Step 201: Obtain the first training mapping relationship between the first training motion parameter and the corresponding first training current; obtain the second training mapping relationship between the second training motion parameter and the corresponding second training current; and obtain the third training mapping relationship between the second training motion parameter and the reference caliper clamping force. The first training motion parameter, the first training current, the second training motion parameter, and the second training current are obtained by the training caliper of the training vehicle at different wear levels. The reference caliper clamping force is the actual caliper clamping force measured by an external clamping force sensor.

[0085] In practical applications, vehicle calipers gradually wear down over time. By collecting data from calipers with varying degrees of wear and training a clamping force correction model, the model can adapt to different wear conditions, thus maintaining high prediction accuracy and control performance.

[0086] Step 202: Input the first training mapping relationship, the second training mapping relationship, and the third training mapping relationship into the initial clamping force correction model for training to obtain the clamping force correction model.

[0087] By inputting training data collected under different wear levels (including a first training mapping relationship between the first training motor angle (first training motion parameter) and the corresponding first training current, a second training mapping relationship between the second training motor angle (second training motion parameter) and the corresponding second training current, and a third training mapping relationship between the second training motor angle (second training motion parameter) and the reference caliper clamping force), the clamping force correction model can learn the influence of caliper wear on the relationship between motor control and caliper clamping force. Thus, in practical applications, even with caliper wear, the clamping force correction model can provide relatively accurate corrections, thereby maintaining the stability and reliability of the braking system.

[0088] As a refinement of step 101, when performing the acquisition of the test motion parameters and corresponding test current of the motor, and establishing the first mapping relationship between the test motion parameters and the test current, it can be implemented in the following ways, but not limited to: When the motor is fixed at a first speed, record the first test motion parameters and first test current corresponding to the clamping operation of the caliper controlled by the motor changing from minimum motor torque to maximum motor torque at a constant speed, and the second test motion parameters and second test current corresponding to the release operation of the caliper controlled by the motor changing from maximum motor torque to minimum motor torque at a constant speed; when the motor is fixed at a second speed, record the clamping operation of the caliper controlled by the motor changing from minimum motor torque to maximum motor torque at a constant speed. The third test motion parameter and the third test current, and the fourth test motion parameter and the fourth test current corresponding to the motor controlling the caliper to perform a release operation by changing the maximum motor torque at a constant speed to the minimum motor torque; the first speed is less than the second speed; based on the first test motion parameter, the first test current, the second test motion parameter, the second test current, the third test motion parameter, the third test current, the fourth test motion parameter, and the fourth test current, a first mapping relationship is established, the test motion parameter including the first motion parameter, the second motion parameter, the third motion parameter, and the fourth motion parameter, and the test current including the first test current, the second test current, the third test current, and the fourth test current. Data at different speeds and torques can reflect the performance of the braking system under different working conditions. By establishing the first mapping relationship, the braking system can adapt to different working conditions and make corresponding adjustments, thereby maintaining the stability and reliability of the braking system under different conditions.

[0089] As one possible implementation of this disclosure, the first speed is 100 rpm and the second speed is 500 rpm, which is used as an example for illustration. However, it should be clear that this illustration is only for illustrative purposes and is not a limitation on the specific values ​​of the first speed and the second speed. In addition, the first speed can also be 200 rpm, the second speed can also be 600 rpm, etc. The specific data can be flexibly set according to different application scenarios, and this application embodiment does not limit them.

[0090] For example, when the motor is fixed at a first speed of 100 rpm, the first motor angle and the first motor current are recorded when the control caliper performs a clamping operation from the minimum motor torque to the maximum motor torque, and the second motor angle and the motor current are recorded when the control caliper performs a releasing operation from the maximum motor torque to the minimum motor torque.

[0091] When collecting the first test motor angle (first test motion parameter) and the first test current, it can be achieved by, but is not limited to, the following methods: starting from the minimum motor torque, the first test motor angle (first test motion parameter) is recorded once at each interval threshold clamping force until the maximum motor torque is reached; for example, a first test motor angle (first test motion parameter) and the first test current are collected every 1,000 Newton-meters until the maximum motor torque is reached, or a first test motor angle (first test motion parameter) and the first test current are collected every 800 Newton-meters until the maximum motor torque is reached. Specifically, the embodiments of this application do not limit the motor torque at the interval threshold.

[0092] As a refinement of step 103, when performing the estimation of the target caliper clamping force corresponding to the current motion parameters based on the modified third mapping relationship, it can be implemented in a manner not limited to the following: the current motion parameters and the modified third mapping relationship are input into the clamping force estimation model to obtain the first target caliper clamping force; the target caliper clamping force includes the first target caliper clamping force. The clamping force estimation model is a mathematical or computational model used to predict or estimate the target caliper clamping force. The clamping force estimation model uses the current motion parameters (e.g., current motor speed, current motor angle) and the modified third mapping relationship as input parameters, and calculates the first target caliper clamping force through a neural network. The first target caliper clamping force obtained by the clamping force estimation model can help the braking system control the braking force more accurately.

[0093] In practical applications, after inputting the current motion parameters and the corrected third mapping relationship into the clamping force prediction model to obtain the first target caliper clamping force, the corrected third mapping relationship can be used to find the target caliper clamping force. This can be achieved in ways not limited to the following: In the corrected third mapping relationship, find the second target caliper clamping force corresponding to the target historical test motion parameter that is the same as the current motion parameters; the target caliper clamping force includes the first target caliper clamping force and the second target caliper clamping force. By finding the second target caliper clamping force corresponding to the target historical test motor angle (target historical test motion parameter) that is the same as the current motor angle (current motion parameter) in the corrected third mapping relationship, and combining it with the first target caliper clamping force obtained through the clamping force prediction model to constitute the target caliper clamping force, the reliability of the prediction can be improved, adapting to complex working environments can be enhanced, the robustness of the system can be strengthened, system performance can be optimized, and a basis for fault diagnosis and maintenance can be provided.

[0094] To facilitate understanding, an example is provided. Suppose the current motor angle (current motion parameter) is a, and the historical test motor angles (historical test motion parameters) in the corrected third mapping relationship include b, c, and d. The caliper clamping force corresponding to b is e, the caliper clamping force corresponding to c is f, and the caliper clamping force corresponding to d is g. If a and b are the same, then the second target caliper clamping force corresponding to a is e.

[0095] In practical applications, after finding the second target caliper clamping force corresponding to the target historical test motion parameters that are the same as the current motion parameters, since two target caliper clamping forces are obtained through the above embodiments, namely the first target caliper clamping force and the second target caliper clamping force, it is necessary to select one of the first target caliper clamping force and the second target caliper clamping force as the final target caliper clamping force. This can be achieved in ways that are not limited to the following: determining whether the difference between the first target caliper clamping force and the second target caliper clamping force is less than a difference threshold; if it is determined that the difference between the first target caliper clamping force and the second target caliper clamping force is less than the difference threshold, the first target caliper clamping force is determined as the final target caliper clamping force. By comparing the first target caliper clamping force obtained based on the clamping force prediction model and the second target caliper clamping force found based on the corrected third mapping relationship, the accuracy of the prediction model can be verified. If the difference between the two is less than the difference threshold, it indicates that the prediction model is reliable under the current working conditions.

[0096] In practical applications, after determining whether the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is less than a difference threshold, if the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is greater than or equal to the difference threshold, this can be achieved in a manner not limited to the following: if it is determined that the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is greater than or equal to the difference threshold, the clamping force of the second target caliper is determined as the final target caliper clamping force. When there is a significant difference between the clamping force prediction model and the second target caliper clamping force obtained based on the modified third mapping relationship, it may mean that the clamping force prediction model has a large error or is not applicable under the current operating conditions. In this case, selecting the second target caliper clamping force obtained based on the modified third mapping relationship as the final target caliper clamping force can ensure that the braking system is controlled based on more reliable data, thereby improving the reliability of the braking system.

[0097] In one possible implementation of this disclosure, the second mapping relationship between historical test motor angle (historical test motion parameter) and historical test current, and the third mapping relationship between historical test motor angle (historical test motion parameter) and historical caliper clamping force are initially obtained by testing the vehicle on the production line. This is achieved by setting a production line pre-clamping program, recording information such as the clamping force of each caliper and the motor rotor position during the pre-clamping process, and constructing the mapping relationships between motor angle and motor current, and between motor angle and caliper clamping force during brake clamping and release. The production line pre-clamping is a calibration operation performed on the brake on the production line, using the motor... Speed ​​control drives the caliper to perform clamping-release operations, calibrating parameters such as product stiffness, friction, and damping. When collecting clamping force, this can be achieved, but is not limited to, the following methods: starting from the minimum clamping force, recording the motor angle (motion parameter) at intervals of a threshold clamping force until the maximum clamping force is reached; for example, collecting a motor angle (motion parameter) every 1000 Newtons (training clamping force) until the maximum clamping force is reached, or collecting a motor angle (motion parameter) every 800 Newtons (training clamping force) until the maximum clamping force is reached. Specifically, this disclosure does not limit the clamping force at the interval threshold. Figure 3 This is a schematic diagram illustrating a second mapping relationship between historical test motion parameters and historical test current provided in an embodiment of this disclosure. Figure 4 This is a schematic diagram illustrating a third mapping relationship between historical test motion parameters and historical caliper clamping force, provided in an embodiment of this disclosure.

[0098] To facilitate a better understanding of the entire process of estimating caliper clamping force, such as Figure 5 As shown, Figure 5 This is a schematic diagram illustrating the process of estimating the clamping force of a caliper according to an embodiment of this disclosure. Each execution... Figure 5 During the process, the clamping force of the caliper is estimated.

[0099] In summary, the embodiments disclosed herein can achieve the following effects:

[0100] This embodiment of the present disclosure inputs the first mapping relationship between the test motion parameters of the motor and the corresponding test current, the second mapping relationship between the historical test motion parameters and the historical test current, and the third mapping relationship between the historical test motion parameters and the historical caliper clamping force into the clamping force correction model to obtain the corrected third mapping relationship. Based on the corrected third mapping relationship, the target caliper clamping force corresponding to the current motion parameters is estimated, thereby improving the accuracy of the brake caliper clamping force prediction.

[0101] Corresponding to the above-described method for estimating caliper clamping force, this invention also proposes a device for estimating caliper clamping force. Since the device embodiments of this invention correspond to the method embodiments described above, details not disclosed in the device embodiments can be referred to in the method embodiments, and will not be repeated here.

[0102] Figure 6 This is a schematic diagram of a caliper clamping force prediction device provided in an embodiment of the present disclosure. The device is applied in a vehicle, such as... Figure 6 As shown, it includes:

[0103] Establishment unit 31 is used to collect the test motion parameters of the motor and the corresponding test current, establish a first mapping relationship between the test motion parameters and the test current, obtain a second mapping relationship between the historical test motion parameters of the motor and the historical test current, and obtain a third mapping relationship between the historical test motion parameters and the historical caliper clamping force.

[0104] Input unit 32 is used to input the first mapping relationship, the second mapping relationship and the third mapping relationship into the clamping force correction model to obtain the corrected third mapping relationship;

[0105] The estimation unit 33 is used to obtain the current motion parameters of the motor and, based on the corrected third mapping relationship, to estimate the target caliper clamping force corresponding to the current motion parameters.

[0106] The caliper clamping force estimation device provided in this disclosure collects the test motion parameters of the motor and the corresponding test current, establishes a first mapping relationship between the test motion parameters and the test current, obtains a second mapping relationship between the historical test motion parameters and historical test current of the motor, and obtains a third mapping relationship between the historical test motion parameters and historical caliper clamping forces. The first, second, and third mapping relationships are input into a clamping force correction model to obtain a corrected third mapping relationship. The current motion parameters of the motor are obtained, and based on the corrected third mapping relationship, the target caliper clamping force corresponding to the current motion parameters is estimated. Compared with related technologies, the embodiments of this disclosure improve the accuracy of brake caliper clamping force estimation by inputting the first mapping relationship between the test motion parameters of the motor and the corresponding test current, the second mapping relationship between the historical test motion parameters and historical test current, and the third mapping relationship between the historical test motion parameters and historical caliper clamping forces into a clamping force correction model to obtain a corrected third mapping relationship, and by estimating the target caliper clamping force corresponding to the current motion parameters based on the corrected third mapping relationship.

[0107] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 7 As shown, the device further includes:

[0108] The acquisition unit 34 is used to acquire a first training mapping relationship between a first training motion parameter and a corresponding first training current, a second training mapping relationship between a second training motion parameter and a corresponding second training current, and a third training mapping relationship between the second training motion parameter and a reference caliper clamping force; the first training motion parameter, the first training current, the second training motion parameter, and the second training current are obtained by the training caliper of the training vehicle at different wear levels, and the reference caliper clamping force is the actual caliper clamping force measured by an external clamping force sensor;

[0109] The training unit 35 is used to input the first training mapping relationship, the second training mapping relationship, and the third training mapping relationship into the initial clamping force correction model for training, so as to obtain the clamping force correction model.

[0110] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 7 As shown, the establishment unit 31 includes:

[0111] The recording module 311 is used to record, when the motor is fixed at a first speed, the first test motion parameters and the first test current corresponding to the clamping operation of the caliper controlled by the motor changing from the minimum motor torque to the maximum motor torque at a constant speed, and the second test motion parameters and the second test current corresponding to the release operation of the caliper controlled by the motor changing from the maximum motor torque to the minimum motor torque at a constant speed.

[0112] The recording module 311 is further configured to, when the motor is fixed at a second speed, record a third test motion parameter and a third test current corresponding to the clamping operation of the caliper controlled by the motor changing from the minimum motor torque to the maximum motor torque at a constant speed, and a fourth test motion parameter and a fourth test current corresponding to the release operation of the caliper controlled by the motor changing from the maximum motor torque to the minimum motor torque at a constant speed; the first speed is less than the second speed;

[0113] The module 312 is used to establish a first mapping relationship based on the first test motion parameter, the first test current, the second test motion parameter, the second test current, the third test motion parameter, the third test current, the fourth test motion parameter, and the fourth test current. The test motion parameter includes the first motion parameter, the second motion parameter, the third motion parameter, and the fourth motion parameter, and the test current includes the first test current, the second test current, the third test current, and the fourth test current.

[0114] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 7 As shown, the prediction unit 33 includes:

[0115] Input module 331 is used to input the current motion parameters and the corrected third mapping relationship into the clamping force prediction model to obtain the first target caliper clamping force; the target caliper clamping force includes the first target caliper clamping force.

[0116] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 7 As shown, the device further includes:

[0117] The lookup unit 36 ​​is used to, after inputting the current motion parameters and the corrected third mapping relationship into the clamping force prediction model to obtain the first target caliper clamping force, look up the second target caliper clamping force corresponding to the target historical test motion parameters that are the same as the current motion parameters in the corrected third mapping relationship; the target caliper clamping force includes the first target caliper clamping force and the second target caliper clamping force.

[0118] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 7 As shown, the device further includes:

[0119] The judgment unit 37 is used to determine whether the difference between the first target caliper clamping force and the second target caliper clamping force is less than a difference threshold after finding the second target caliper clamping force corresponding to the target historical test motion parameter that is the same as the current motion parameter;

[0120] The determining unit 38 is configured to determine the first target caliper clamping force as the final target caliper clamping force when the difference between the first target caliper clamping force and the second target caliper clamping force is less than the difference threshold.

[0121] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 7 As shown, the device further includes:

[0122] The determining unit 38 is further configured to, after determining whether the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is less than a difference threshold, determine the clamping force of the second target caliper as the final clamping force of the target caliper if the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is greater than or equal to the difference threshold.

[0123] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of the embodiments of this disclosure, and the principle is the same. Therefore, the embodiments of this disclosure are not limited thereto.

[0124] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0125] Figure 8 A schematic block diagram of an example electronic device 400 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0126] like Figure 8 As shown, device 400 includes a computing unit 401, which can perform various appropriate actions and processes based on a computer program stored in ROM (Read-Only Memory) 402 or a computer program loaded from storage unit 408 into RAM (Random Access Memory) 403. RAM 403 may also store various programs and data required for the operation of device 400. The computing unit 401, ROM 402, and RAM 403 are interconnected via bus 404. I / O (Input / Output) interface 405 is also connected to bus 404.

[0127] Multiple components in device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of monitors, speakers, etc.; storage unit 408, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0128] The computing unit 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, CPUs (Central Processing Units), GPUs (Graphics Processing Units), various special-purpose AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSPs (Digital Signal Processors), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above, such as the caliper clamping force estimation method. For example, in some embodiments, the caliper clamping force estimation method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program may be loaded and / or installed on device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by the computing unit 401, one or more steps of the methods described above may be performed. Alternatively, in other embodiments, the calculation unit 401 may be configured to perform the aforementioned caliper clamping force estimation method by any other suitable means (e.g., by means of firmware).

[0129] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application-Specific Standard Products), SOCs (System-on-Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0130] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0131] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0132] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0133] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include LANs (Local Area Networks), WANs (Wide Area Networks), the Internet, and blockchain networks.

[0134] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service ecosystem, addressing the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0135] It's important to note that artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0136] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0137] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for predicting caliper clamping force, characterized in that, include: Collect the test motion parameters of the motor and the corresponding test current, establish a first mapping relationship between the test motion parameters and the test current, obtain a second mapping relationship between the historical test motion parameters of the motor and the historical test current, and obtain a third mapping relationship between the historical test motion parameters and the historical caliper clamping force. Input the first mapping relationship, the second mapping relationship, and the third mapping relationship into the clamping force correction model to obtain the corrected third mapping relationship; The current motion parameters of the motor are obtained, and the clamping force of the target caliper corresponding to the current motion parameters is estimated based on the corrected third mapping relationship.

2. The method according to claim 1, characterized in that, The training method for the clamping force correction model includes: A first training mapping relationship is obtained between the first training motion parameter and the corresponding first training current; a second training mapping relationship is obtained between the second training motion parameter and the corresponding second training current; and a third training mapping relationship is obtained between the second training motion parameter and the reference caliper clamping force. The first training motion parameter, the first training current, the second training motion parameter, and the second training current are obtained from the training caliper of the training vehicle at different wear levels. The reference caliper clamping force is the actual caliper clamping force measured using an external clamping force sensor. The first training mapping relationship, the second training mapping relationship, and the third training mapping relationship are input into the initial clamping force correction model for training to obtain the clamping force correction model.

3. The method according to claim 1, characterized in that, The process of acquiring the test motion parameters of the motor and the corresponding test current, and establishing a first mapping relationship between the test motion parameters and the test current, includes: With the motor at a fixed first speed, record the first test motion parameters and the first test current corresponding to the motor controlling the caliper to perform a clamping operation by changing from the minimum motor torque to the maximum motor torque at a constant speed, and the second test motion parameters and the second test current corresponding to the motor controlling the caliper to perform a release operation by changing from the maximum motor torque to the minimum motor torque at a constant speed. With the motor at a fixed second speed, record the third test motion parameters and the third test current corresponding to the motor controlling the caliper to perform a clamping operation by changing from the minimum motor torque to the maximum motor torque at a constant speed, and the fourth test motion parameters and the fourth test current corresponding to the motor controlling the caliper to perform a releasing operation by changing from the maximum motor torque to the minimum motor torque at a constant speed; the first speed is less than the second speed; Based on the first test motion parameter, the first test current, the second test motion parameter, the second test current, the third test motion parameter, the third test current, the fourth test motion parameter, and the fourth test current, a first mapping relationship is established. The test motion parameter includes the first motion parameter, the second motion parameter, the third motion parameter, and the fourth motion parameter, and the test current includes the first test current, the second test current, the third test current, and the fourth test current.

4. The method according to claim 1, characterized in that, The estimation of the target caliper clamping force corresponding to the current motion parameters based on the corrected third mapping relationship includes: The current motion parameters and the corrected third mapping relationship are input into the clamping force prediction model to obtain the first target caliper clamping force; the target caliper clamping force includes the first target caliper clamping force.

5. The method according to claim 4, characterized in that, After inputting the current motion parameters and the corrected third mapping relationship into the clamping force prediction model to obtain the first target caliper clamping force, the method further includes: In the corrected third mapping relationship, find the second target caliper clamping force corresponding to the target historical test motion parameter that is the same as the current motion parameter; the target caliper clamping force includes the first target caliper clamping force and the second target caliper clamping force.

6. The method according to claim 5, characterized in that, After finding the second target caliper clamping force corresponding to the target historical test motion parameters that are the same as the current motion parameters, the method further includes: Determine whether the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is less than a difference threshold. If the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is less than the difference threshold, the clamping force of the first target caliper is determined as the final clamping force of the target caliper.

7. The method according to claim 6, characterized in that, After determining whether the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is less than a difference threshold, the method further includes: If the difference between the clamping force of the first target caliper and the clamping force of the second target caliper is determined to be greater than or equal to the difference threshold, the clamping force of the second target caliper is determined to be the final clamping force of the target caliper.

8. A device for predicting the clamping force of a caliper, characterized in that, include: The unit is used to collect the test motion parameters of the motor and the corresponding test current, and to establish a first mapping relationship between the test motion parameters and the test current, and to obtain a second mapping relationship between the historical test motion parameters of the motor and the historical test current, and to obtain a third mapping relationship between the historical test motion parameters and the historical caliper clamping force. The input unit is used to input the first mapping relationship, the second mapping relationship and the third mapping relationship into the clamping force correction model to obtain the corrected third mapping relationship; The estimation unit is used to obtain the current motion parameters of the motor and, based on the corrected third mapping relationship, to estimate the target caliper clamping force corresponding to the current motion parameters.

9. A vehicle, characterized in that, The vehicle includes a caliper clamping force estimation device as described in claim 8.

10. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

11. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.

12. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1-7.

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