阅读说明：本技术 自动驾驶车辆的电子助力器液压标定方法、装置及车辆 (Hydraulic calibration method and device for electronic booster of automatic driving vehicle and vehicle ) 是由 黄欧 江天保 卜凡 刘富裕 于 2021-07-19 设计创作，主要内容包括：本申请涉及车辆制动系统技术领域,特别涉及一种自动驾驶车辆的电子助力器液压标定方法、装置及车辆,方法包括：根据电子助力器的制动器需液量、软管膨胀量、建压单元转动角度对应的活塞行程生成电机转动角度对应输出液压的曲线；根据电机转动角度对应输出液压的曲线生成预设范围偏差内的上偏差范围曲线和下偏差范围曲线；根据上偏差范围曲线和下偏差范围曲线选择电子助力器的离散点图内的目标离散点,得到电机转动角度与制动系统液压的输出曲线,以基于电机转动角度与制动系统液压的输出曲线标定电子助力器的输出液压。由此,解决了因实际输出液压与需求液压存在差异,对行车安全造成一定隐患的问题,电子助力器输出液压更加精准,提高行车安全。(The application relates to the technical field of vehicle braking systems, in particular to a method and a device for calibrating the hydraulic pressure of an electronic booster of an automatic driving vehicle and the vehicle, wherein the method comprises the following steps: generating a curve of the corresponding output hydraulic pressure of the rotation angle of the motor according to the liquid demand of a brake of the electronic booster, the expansion amount of the hose and the piston stroke corresponding to the rotation angle of the pressure building unit; generating an upper deviation range curve and a lower deviation range curve within a preset range deviation according to a curve of the output hydraulic pressure corresponding to the rotation angle of the motor; and selecting a target discrete point in a discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve to obtain an output curve of the motor rotation angle and the hydraulic pressure of the braking system, and calibrating the output hydraulic pressure of the electronic booster based on the output curve of the motor rotation angle and the hydraulic pressure of the braking system. From this, solved because of there is the difference in actual output hydraulic pressure and demand hydraulic pressure, led to the fact the problem of certain hidden danger to driving safety, electronic booster output hydraulic pressure is more accurate, improves driving safety.)

1. A hydraulic calibration method for an electronic booster of an automatic driving vehicle is characterized by comprising the following steps:

generating a curve of the corresponding output hydraulic pressure of the rotation angle of the motor according to the liquid demand of a brake of the electronic booster, the expansion amount of the hose and the piston stroke corresponding to the rotation angle of the pressure building unit;

generating an upper deviation range curve and a lower deviation range curve within a preset range deviation according to the curve of the output hydraulic pressure corresponding to the rotation angle of the motor; and

and selecting a target discrete point in a discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve to obtain an output curve of the motor rotation angle and the hydraulic pressure of the braking system, so as to calibrate the output hydraulic pressure of the electronic booster based on the output curve of the motor rotation angle and the hydraulic pressure of the braking system.

2. The method according to claim 1, further comprising, before selecting a target discrete point in the discrete point map of the electronic booster according to the upper deviation range curve and the lower deviation range curve:

and generating the discrete point diagram according to the average value of the multiple groups of angle-hydraulic pressure test data.

3. The method of claim 1, wherein the upper deviation range curve and the lower deviation range curve are calculated by:

wherein, a₁、a₂、a₃、b₁、b₂、b₃、c₁、c₂、c₃D is a constant, d is the forward stroke of the steel ball screw rod piston when the pressure building unit motor rotates for one circle, f is the cylinder diameter of the pressure building unit piston, w is the rotation angle of the pressure building unit, and f is the deviation range.

4. The method according to claim 1, wherein selecting a target discrete point in a discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve comprises:

screening the discrete point diagram by the upper deviation range curve and the lower deviation range curve;

and taking a discrete point between the upper deviation range curve and the lower deviation range curve as the target discrete point.

5. The method of claim 4, wherein the obtaining an output curve of motor rotation angle versus brake system hydraulic pressure comprises:

and fitting discrete points between the upper deviation range curve and the lower deviation range curve to generate the output curve.

6. An electronic booster hydraulic pressure calibration device of an automatic driving vehicle is characterized by comprising:

the first generation module is used for generating a curve of the output hydraulic pressure corresponding to the rotation angle of the motor according to the liquid demand of a brake of the electronic booster, the expansion amount of the hose and the piston stroke corresponding to the rotation angle of the pressure building unit;

the second generation module is used for generating an upper deviation range curve and a lower deviation range curve within a preset range deviation according to the curve of the output hydraulic pressure corresponding to the rotation angle of the motor; and

and the calibration module is used for selecting a target discrete point in a discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve to obtain an output curve of the motor rotation angle and the hydraulic pressure of the braking system, so as to calibrate the output hydraulic pressure of the electronic booster based on the output curve of the motor rotation angle and the hydraulic pressure of the braking system.

7. The apparatus of claim 6, wherein before selecting the target discrete point in the discrete point map of the electronic booster according to the upper deviation range curve and the lower deviation range curve, the calibration module is further configured to:

and generating the discrete point diagram according to the average value of the multiple groups of angle-hydraulic pressure test data.

8. The apparatus of claim 7, wherein the upper deviation range curve and the lower deviation range curve are calculated by:

wherein, a₁、a₂、a₃、b₁、b₂、b₃、c₁、c₂、c₃D is a constant, d is the forward stroke of the steel ball screw rod piston when the pressure building unit motor rotates for one circle, f is the cylinder diameter of the pressure building unit piston, w is the rotation angle of the pressure building unit, and f is the deviation range.

9. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of electronic booster hydraulic calibration of an autonomous vehicle as claimed in any of claims 1-5.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing the electronic booster hydraulic pressure calibration method of an autonomous vehicle as claimed in any of claims 1 to 5.

Technical Field

The application relates to the technical field of vehicle braking systems, in particular to a method and a device for calibrating hydraulic pressure of an electronic booster of an automatic driving vehicle and the vehicle.

Background

A certain ibooster internal pressure unit motor rotates by a certain rotation angle, and a certain stroke is generated corresponding to a pressure unit piston, so that corresponding hydraulic pressure is generated; the calibration method of the output hydraulic pressure is that a hydraulic value is tested every time a motor rotates for a certain angle, and a plurality of groups of hydraulic data are tested to take an average value; forming a discrete point diagram of the rotation angle of the motor of the pressure building unit corresponding to the hydraulic pressure of the brake system; and taking a discrete point at a certain rotation angle interval, fitting the selected discrete point into a curve, and calibrating the output hydraulic pressure of the ibooster by using the curve.

However, the calibration method causes a certain difference between a calibration hydraulic curve and an actual hydraulic curve due to point taking difference, hydraulic fluctuation, accuracy of a hydraulic sensor and the like; when the automatic driving mode is adopted, certain hidden dangers are caused to driving safety due to the fact that the actual output hydraulic pressure is different from the required hydraulic pressure, and urgent solution is needed.

Content of application

The application provides a method and a device for calibrating hydraulic pressure of an electronic booster of an automatic driving vehicle and the vehicle, and aims to solve the problem that certain hidden danger is caused to driving safety due to the fact that actual output hydraulic pressure and required hydraulic pressure are different in the related art, reduce the influence of external factors, enable Iboost to output hydraulic pressure more accurately and improve driving safety.

An embodiment of a first aspect of the present application provides a hydraulic calibration method for an electronic booster of an autonomous vehicle, including the following steps:

generating a curve of the corresponding output hydraulic pressure of the rotation angle of the motor according to the liquid demand of a brake of the electronic booster, the expansion amount of the hose and the piston stroke corresponding to the rotation angle of the pressure building unit;

generating an upper deviation range curve and a lower deviation range curve within a preset range deviation according to the curve of the output hydraulic pressure corresponding to the rotation angle of the motor; and

and selecting a target discrete point in a discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve to obtain an output curve of the motor rotation angle and the hydraulic pressure of the braking system, so as to calibrate the output hydraulic pressure of the electronic booster based on the output curve of the motor rotation angle and the hydraulic pressure of the braking system.

Optionally, before selecting the target discrete point in the discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve, the method further includes:

and generating the discrete point diagram according to the average value of the multiple groups of angle-hydraulic pressure test data.

Optionally, the calculation formula of the upper deviation range curve and the lower deviation range curve is:

wherein, a₁、a₂、a₃、b₁、b₂、b₃、c₁、c₂、c₃D is a constant, d is the forward stroke of the steel ball screw rod piston when the pressure building unit motor rotates for one circle, f is the cylinder diameter of the pressure building unit piston, w is the rotation angle of the pressure building unit, and f is the deviation range.

Optionally, the selecting a target discrete point in a discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve includes:

screening the discrete point diagram by the upper deviation range curve and the lower deviation range curve;

and taking a discrete point between the upper deviation range curve and the lower deviation range curve as the target discrete point.

Optionally, the obtaining an output curve of the rotation angle of the motor and the hydraulic pressure of the braking system includes:

and fitting discrete points between the upper deviation range curve and the lower deviation range curve to generate the output curve.

An embodiment of a second aspect of the present application provides an electronic booster hydraulic calibration device for an automatic driving vehicle, including:

the first generation module is used for generating a curve of the output hydraulic pressure corresponding to the rotation angle of the motor according to the liquid demand of a brake of the electronic booster, the expansion amount of the hose and the piston stroke corresponding to the rotation angle of the pressure building unit;

the second generation module is used for generating an upper deviation range curve and a lower deviation range curve within a preset range deviation according to the curve of the output hydraulic pressure corresponding to the rotation angle of the motor; and

and the calibration module is used for selecting a target discrete point in a discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve to obtain an output curve of the motor rotation angle and the hydraulic pressure of the braking system, so as to calibrate the output hydraulic pressure of the electronic booster based on the output curve of the motor rotation angle and the hydraulic pressure of the braking system.

Optionally, before selecting the target discrete point in the discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve, the calibration module is further configured to:

and generating the discrete point diagram according to the average value of the multiple groups of angle-hydraulic pressure test data.

Optionally, the calculation formula of the upper deviation range curve and the lower deviation range curve is:

wherein, a₁、a₂、a₃、b₁、b₂、b₃、c₁、c₂、c₃D is a constant, d is the forward stroke of the steel ball screw rod piston when the pressure building unit motor rotates for one circle, f is the cylinder diameter of the pressure building unit piston, w is the rotation angle of the pressure building unit, and f is the deviation range.

Optionally, the calibration module is specifically configured to:

screening the discrete point diagram by the upper deviation range curve and the lower deviation range curve;

and taking a discrete point between the upper deviation range curve and the lower deviation range curve as the target discrete point.

Optionally, the calibration module is specifically configured to:

and fitting discrete points between the upper deviation range curve and the lower deviation range curve to generate the output curve.

An embodiment of a third aspect of the present application provides a vehicle, comprising: the hydraulic calibration method of the electronic booster of the automatic driving vehicle comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the hydraulic calibration method of the electronic booster of the automatic driving vehicle.

A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for calibrating the hydraulic pressure of an electronic booster of an autonomous vehicle as described in the foregoing embodiment.

Therefore, a curve of the motor rotation angle corresponding to the output hydraulic pressure can be generated according to the brake liquid demand of the electronic booster, the hose expansion amount and the piston stroke corresponding to the rotation angle of the pressure building unit, an upper deviation range curve and a lower deviation range curve within a preset range deviation are generated according to the curve of the motor rotation angle corresponding to the output hydraulic pressure, a target discrete point in a discrete point diagram of the electronic booster is selected according to the upper deviation range curve and the lower deviation range curve, an output curve of the motor rotation angle and the hydraulic pressure of the brake system is obtained, and the output hydraulic pressure of the electronic booster is calibrated based on the output curve of the motor rotation angle and the hydraulic pressure of the brake system. From this, solved among the correlation technique because of there is the difference in actual output hydraulic pressure and demand hydraulic pressure, led to the fact the problem of certain hidden danger to driving safety, reduced external factor's influence, make Iboost output hydraulic pressure more accurate, improved driving safety.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a method for calibrating hydraulic pressure of an electronic booster of an autonomous vehicle according to an embodiment of the present application;

FIG. 2 is a range plot of ibooster motor rotation angle versus output hydraulic pressure according to one embodiment of the present application;

FIG. 3 is a schematic diagram illustrating a screening of discrete points of hydraulic output corresponding to a rotation angle of an ibooster motor according to an embodiment of the present application;

FIG. 4 is a schematic diagram of fitting the ibooster motor rotation angle corresponding output hydraulic pressure using screening points according to an embodiment of the present application;

FIG. 5 is an ibooster motor rotation angle correspondence output hydraulic pressure scatter plot according to one embodiment of the present application;

FIG. 6 is an exemplary diagram of an electronic booster hydraulic calibration system for an autonomous vehicle according to one embodiment of the present application;

FIG. 7 is a block schematic diagram of an electronic booster hydraulic calibration arrangement for an autonomous vehicle according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

The following describes an electronic booster hydraulic pressure calibration method and device for an automatic driving vehicle and the vehicle according to the embodiment of the application with reference to the accompanying drawings. In the related art mentioned in the above background center, because the actual output hydraulic pressure is different from the required hydraulic pressure, the application provides a hydraulic calibration method of an electronic booster of an automatic driving vehicle, in the method, a curve of the output hydraulic pressure corresponding to the rotation angle of the motor can be generated according to the liquid demand of the brake of the electronic booster, the expansion amount of the hose and the piston stroke corresponding to the rotation angle of the pressure building unit, and an upper deviation range curve and a lower deviation range curve within a preset range deviation are generated according to the curve of the output hydraulic pressure corresponding to the rotation angle of the motor, and selecting a target discrete point in a discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve to obtain an output curve of the motor rotation angle and the hydraulic pressure of the brake system, and calibrating the output hydraulic pressure of the electronic booster by using an output curve based on the rotation angle of the motor and the hydraulic pressure of the braking system. From this, solved among the correlation technique because of there is the difference in actual output hydraulic pressure and demand hydraulic pressure, led to the fact the problem of certain hidden danger to driving safety, reduced external factor's influence, make Iboost output hydraulic pressure more accurate, improved driving safety.

Specifically, fig. 1 is a schematic flowchart of a hydraulic calibration method of an electronic booster of an autonomous vehicle according to an embodiment of the present disclosure.

As shown in fig. 1, the method for calibrating the hydraulic pressure of the electronic booster of the autonomous vehicle comprises the following steps:

in step S101, a curve of the output hydraulic pressure corresponding to the rotation angle of the motor is generated according to the liquid demand of the brake of the electronic booster, the expansion amount of the hose, and the piston stroke corresponding to the rotation angle of the pressure building unit.

In step S102, an upper deviation range curve and a lower deviation range curve within a preset range deviation are generated according to a curve of the output hydraulic pressure corresponding to the rotation angle of the motor.

Specifically, according to the embodiment of the application, a hydraulic curve graph corresponding to the rotation angle of the motor of the pressure building unit can be theoretically calculated according to the hydraulic relation corresponding to the liquid demand of the brake, the hydraulic relation corresponding to the expansion amount of the hose, the cylinder diameter of the brake, the cylinder diameter of the piston of the pressure building unit, the forward stroke of the piston of the motor which moves for one circle and the like; the curve is used as an output hydraulic pressure calibration reference, the upper deviation and the lower deviation are within a certain range (can be adjusted according to actual requirements), a range diagram of theoretically calculating the corresponding output hydraulic pressure of the lower ibooster motor rotation angle, namely an upper deviation range curve and a lower deviation range curve, is formed, and is shown in fig. 2, wherein alpha is a unit rotation angle scale value, and p is a unit hydraulic pressure scale value.

For example, the required liquid amount is y, and the hydraulic pressure is x; measuring the amount of liquid required by the expansion of the front brake, the rear brake and the hose under a batch of different hydraulic pressures, taking an average value, and fitting the average value into a formula; the relation fitting formula of the sum of the liquid demands of 2 front brakes and the liquid pressure is as follows: a is₁x²+b₁x+c₁Wherein a is₁、b₁、c₁Is a parameter value; the relation fitting formula of the sum of the liquid demand of 2 rear brakes and the hydraulic pressure is as follows: a is₂x²+b₂x+c₂Wherein a is₂、b₂、c₂Is a parameter value; the sum of the liquid amount required by hose expansion and the hydraulic pressure are in relation with a fitting formula: a is₃x2+b₃x+c₃Wherein a is₃、b₃、c₃Is a parameter value; because the pressure building unit has enough rigidity, the expansion of the piston cylinder of the pressure building unit during pressure building is not considered;

the relation formula of the total liquid demand and the hydraulic pressure is as follows: y ═ a₁₊a₂₊a₃)x2+(b₁₊b₂₊b₃)x+c₁₊c₂₊c₃；

The pressure building unit motor rotates for one circle, the steel ball lead screw piston advances for a stroke d, and the cylinder diameters f, d and f of the pressure building unit piston are parameter values;

the liquid discharge amount y of the piston of one circle of movement of the motor of the voltage building unit is pi d²f/4；

The operation angle w of the motor of the voltage building unit; the corresponding piston liquid discharge capacity y is pi d2f/4 w/360;

the piston of the pressure building unit moves forwards to discharge the brake fluid to the brake, namely the liquid discharge amount of the piston is equal to the liquid amount required by the expansion of the brake and the hose;

the motor operation angle w of the pressure building unit corresponds to a hydraulic pressure x relation formula, which is as follows:

πd²f/4*w/360＝(a₁₊a₂₊a₃)x2+(b₁₊b₂₊b₃)x+c₁₊c₂₊c₃

solving the following steps:

wherein x is a hydraulic pressure positive value (more than 0), the acceptable deviation range of the hydraulic pressure is +/-f percent, and f is a parameter value;

further, the calculation formula of the upper deviation range curve and the lower deviation range curve is as follows:

wherein, a₁、a₂、a₃、b₁、b₂、b₃、c₁、c₂、c₃D is a constant, d is the rotation circle of the pressure building unit motor, the steel ball screw rod piston advances, f is the cylinder diameter of the pressure building unit piston, w is the rotation angle of the pressure building unit, and f is the deviation range.

Therefore, two range curves as shown in fig. 2 can be obtained by using the relation between the motor operation angle w of the pressure building unit and the hydraulic pressure x. In addition, a is₁、a₂、a₃、b₁、b₂、b₃、c₁、c₂、c₃The value of (a) can be preset, can be obtained through limited experiments, or can be obtained through limited computer simulation, and is not specifically limited herein.

In step S103, a target discrete point in the discrete point diagram of the electronic booster is selected according to the upper deviation range curve and the lower deviation range curve to obtain an output curve of the motor rotation angle and the brake system hydraulic pressure, so as to calibrate the output hydraulic pressure of the electronic booster based on the output curve of the motor rotation angle and the brake system hydraulic pressure.

Optionally, selecting a target discrete point in the discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve includes: screening the discrete point diagram by using the upper deviation range curve and the lower deviation range curve; and taking a discrete point between the upper deviation range curve and the lower deviation range curve as a target discrete point.

Optionally, obtaining an output curve of the rotation angle of the motor and the hydraulic pressure of the braking system includes: and fitting discrete points between the upper deviation range curve and the lower deviation range curve to generate an output curve. It should be understood that the embodiment of the present application may select discrete points within the range according to the upper deviation range curve and the lower deviation range curve obtained in step S102, fit a curve of the rotation angle of the motor and the hydraulic pressure of the brake system, and calibrate the output hydraulic pressure of the Ibooster (electronic booster) with the curve.

Specifically, the embodiment of the present application may screen out a discrete point between two curves as a target discrete point by using two range graphs shown in fig. 2, which may be shown in fig. 3.

Further, in the embodiment of the present application, the target discrete points screened out in fig. 3 may be fitted to a curve of the ibooster motor rotation angle corresponding to the output hydraulic pressure, as shown in fig. 4, and the curve is used to calibrate the ibooster output hydraulic pressure in the automatic driving mode.

Optionally, before selecting the target discrete point in the discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve, the method further includes: and generating a discrete point diagram according to the average value of the multiple groups of angle-hydraulic pressure test data.

Specifically, when the ibooster pressure building unit motor rotates by a certain angle, the motor drives the piston on the ball screw to move forward by a certain stroke, the braking system generates certain hydraulic pressure, a plurality of groups of hydraulic pressure are tested, and the hydraulic pressure average value is obtained; and obtaining a discrete point diagram of the rotation angle of the motor of the pressure building unit corresponding to the hydraulic pressure of the brake system, wherein the discrete point diagram can be shown in figure 5. In summary, as shown in fig. 6, fig. 6 is a schematic diagram of a connection of a brake System in an ADAS (Advanced Driving Assistance System) automatic Driving mode, where the System includes: the system comprises an ADAS controller 1, an ibooster controller 2, an ibooster pressure building unit 3, an ESC controller, a brake 5, a pressure building unit motor 3-1, a motor rotation angle sensor 3-2, a ball screw piston mechanism 3-3 and a hydraulic sensor 3-4. Specifically, the ADAS controller 1 outputs a target hydraulic pressure to the ibooster controller 2, the ibooster controller 2 calculates a required working angle of the motor according to a hydraulic pressure curve (fig. 4) output by the motor rotation angle corresponding to the target hydraulic pressure, controls the motor 3-1 to work, and rotates the motor 3-1 to drive the ball screw piston mechanism 3-3 to move forward to generate a hydraulic pressure.

According to the method for calibrating the hydraulic pressure of the electronic booster of the automatically-driven vehicle, the curve of the output hydraulic pressure corresponding to the rotation angle of the motor can be generated according to the liquid demand of the brake of the electronic booster, the expansion amount of the hose and the piston stroke corresponding to the rotation angle of the pressure building unit, the upper deviation range curve and the lower deviation range curve within the preset range deviation are generated according to the curve of the output hydraulic pressure corresponding to the rotation angle of the motor, the target discrete point in the discrete point diagram of the electronic booster is selected according to the upper deviation range curve and the lower deviation range curve, the output curve of the rotation angle of the motor and the hydraulic pressure of the brake system is obtained, and the output hydraulic pressure of the electronic booster is calibrated based on the output curve of the rotation angle of the motor and the hydraulic pressure of the brake system. From this, solved among the correlation technique because of there is the difference in actual output hydraulic pressure and demand hydraulic pressure, led to the fact the problem of certain hidden danger to driving safety, reduced external factor's influence, make Iboost output hydraulic pressure more accurate, improved driving safety.

Next, an electronic booster hydraulic pressure calibration apparatus of an autonomous vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 7 is a block diagram schematically illustrating an electronic booster hydraulic pressure calibration apparatus of an autonomous vehicle according to an embodiment of the present application.

As shown in fig. 7, the electronic booster hydraulic pressure calibration apparatus 10 of the autonomous vehicle includes: a first generation module 100, a second generation module 200, and a calibration module 300.

The first generating module 100 is used for generating a curve of the output hydraulic pressure corresponding to the rotation angle of the motor according to the liquid demand of the brake of the electronic booster, the expansion amount of the hose and the piston stroke corresponding to the rotation angle of the pressure building unit;

the second generating module 200 is configured to generate an upper deviation range curve and a lower deviation range curve within a preset range deviation according to a curve of the output hydraulic pressure corresponding to the rotation angle of the motor; and

the calibration module 300 is configured to select a target discrete point in a discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve to obtain an output curve of the motor rotation angle and the hydraulic pressure of the braking system, so as to calibrate the output hydraulic pressure of the electronic booster based on the output curve of the motor rotation angle and the hydraulic pressure of the braking system.

Optionally, in some embodiments, before selecting the target discrete point in the discrete point diagram of the electronic booster according to the upper deviation range curve and the lower deviation range curve, the calibration module 300 is further configured to:

and generating a discrete point diagram according to the average value of the multiple groups of angle-hydraulic pressure test data.

Optionally, the calculation formula of the upper deviation range curve and the lower deviation range curve is:

wherein, a₁、a₂、a₃、b₁、b₂、b₃、c₁、c₂、c₃D is a constant, d is the rotation circle of the pressure building unit motor, the steel ball screw rod piston advances, f is the cylinder diameter of the pressure building unit piston, w is the rotation angle of the pressure building unit, and f is the deviation range.

Optionally, in some embodiments, the calibration module 300 is specifically configured to:

screening the discrete point diagram by using the upper deviation range curve and the lower deviation range curve;

and taking a discrete point between the upper deviation range curve and the lower deviation range curve as a target discrete point.

Optionally, in some embodiments, the calibration module 300 is specifically configured to:

and fitting discrete points between the upper deviation range curve and the lower deviation range curve to generate an output curve.

It should be noted that the foregoing explanation of the embodiment of the method for calibrating the hydraulic pressure of the electronic booster of the automatically-driven vehicle is also applicable to the device for calibrating the hydraulic pressure of the electronic booster of the automatically-driven vehicle of the embodiment, and details are not repeated here.

According to the electronic booster hydraulic calibration device for the automatic driving vehicle, the curve of the motor rotation angle corresponding to the output hydraulic pressure can be generated according to the liquid demand of the brake of the electronic booster, the expansion amount of the hose and the piston stroke corresponding to the rotation angle of the pressure building unit, the upper deviation range curve and the lower deviation range curve within the preset range deviation are generated according to the curve of the motor rotation angle corresponding to the output hydraulic pressure, the target discrete point in the discrete point diagram of the electronic booster is selected according to the upper deviation range curve and the lower deviation range curve, the output curve of the motor rotation angle and the hydraulic pressure of the braking system is obtained, and the output hydraulic pressure of the electronic booster is calibrated according to the output curve of the motor rotation angle and the hydraulic pressure of the braking system. From this, solved among the correlation technique because of there is the difference in actual output hydraulic pressure and demand hydraulic pressure, led to the fact the problem of certain hidden danger to driving safety, reduced external factor's influence, make Iboost output hydraulic pressure more accurate, improved driving safety.

Fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

a memory 801, a processor 802, and a computer program stored on the memory 801 and executable on the processor 802.

The processor 802 executes a program to implement the electronic booster hydraulic pressure calibration method for an autonomous vehicle provided in the above-described embodiments.

Further, the vehicle further includes:

a communication interface 803 for communicating between the memory 801 and the processor 802.

A memory 801 for storing computer programs operable on the processor 802.

The memory 801 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 801, the processor 802 and the communication interface 803 are implemented independently, the communication interface 803, the memory 801 and the processor 802 may be connected to each other via a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 8, but this is not intended to represent only one bus or type of bus.

Optionally, in a specific implementation, if the memory 801, the processor 802, and the communication interface 803 are integrated on one chip, the memory 801, the processor 802, and the communication interface 803 may complete communication with each other through an internal interface.

The processor 802 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the above electronic booster hydraulic pressure calibration method for an autonomous vehicle.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.