阅读说明：本技术 一种汽车电子驻车系统中控制器单元编码值的校正方法 (Method for correcting controller unit coding value in automobile electronic parking system ) 是由 朱志峰 姚勇 常雁龙 周芳 于 2021-09-16 设计创作，主要内容包括：本发明公开了一种汽车电子驻车系统中控制器单元编码值的校正方法,包括以下步骤：步骤1：检测汽车拉线调节力,通过调整制动执行机构和制动电机的间隙,使得拉线调节力在标准值±10%误差以内；步骤2：利用多项式回归分析方法,建立拉线调节力、驻车控制器编码和制动电机间隙的回归校正模型,步骤3：检验并确认回归校正模型,通过测试误差判断拉线调节力检测值与其回归校正模型的估计值之差是否小于阈值,如小于阈值则该确定回归校正模型；步骤4：将拉线调节力标准值作为估计值输入回归校正模型,得到的驻车控制器编码值作为其校正值。本发明方法简单、易操作,使得校正效率大大提高。(The invention discloses a method for correcting a controller unit coding value in an automobile electronic parking system, which comprises the following steps: step 1: detecting the automobile stay wire adjusting force, and adjusting the clearance between the brake actuating mechanism and the brake motor to enable the stay wire adjusting force to be within +/-10% of the standard value; step 2: establishing a regression correction model of the stay wire adjusting force, the parking controller code and the brake motor clearance by using a polynomial regression analysis method, and step 3: checking and confirming the regression correction model, judging whether the difference between the stay wire adjusting force detection value and the estimation value of the regression correction model is smaller than a threshold value through the test error, and if the difference is smaller than the threshold value, determining the regression correction model; and 4, step 4: and inputting the standard value of the stay wire adjusting force as an estimated value into a regression correction model, and taking the obtained encoding value of the parking controller as a correction value. The method is simple and easy to operate, and the correction efficiency is greatly improved.)

1. A correction method for a controller unit coding value in an automobile electronic parking system is characterized by comprising the following steps: the method comprises the following steps:

step 1: detecting the automobile stay wire adjusting force, and adjusting the clearance between the brake actuating mechanism and the brake motor to enable the stay wire adjusting force to be within +/-10% of the standard value;

step 2: a polynomial regression analysis method is utilized to establish a regression correction model of the stay wire adjusting force, the parking controller code and the brake motor clearance,

and step 3: the regression correction model was checked and validated: judging whether the difference between the stay wire adjusting force detection value and the estimation value of the regression correction model is smaller than a threshold value or not through the test error, and if the difference is smaller than the threshold value, determining the regression correction model;

and 4, step 4: and inputting the standard value of the stay wire adjusting force as an estimated value into a regression correction model, and taking the obtained encoding value of the parking controller as a correction value.

2. The method for correcting the controller unit code value in the electronic parking system for the automobile according to claim 1, characterized in that: the equation of the regression correction model is as follows:

=

wherein the content of the first and second substances,an estimate of the pull-line adjustment force for the model,in order to encode the value for the parking controller,to brake the motor gap.

3. The method for correcting the controller unit code value in the electronic parking system for the automobile according to claim 2, characterized in that: the specific method for establishing the regression correction model comprises the following steps:

(1) determining an initial value: when the stay wire adjusting force is within +/-5% of the standard value, determining the encoding value of the parking controllerAnd braking motor clearanceIs an initial value;

(2) determining test data: on the basis of the initial values, the encoding values of the parking controller are respectively adjustedAnd braking motor clearanceObtaining n groups of test data;

(3) determining a regression correction model: inputting the n groups of test data in the step 2) into a regression correction model, estimating parameters b0, b1, b2, b3, b4 and b5 of the regression correction model by using a polynomial regression analysis method, and determining an equation of the regression correction model.

4. The method for correcting the controller unit code value in the electronic parking system of the automobile according to claim 1, wherein:

the specific method for testing the error is as follows: encode value of parking controllerAnd braking motor clearanceInputting the determined regression correction model to obtain an estimated valueThe difference between the detected value of the pull-wire adjusting force and the estimated value thereofAs a model estimation error, when the error is less than a threshold, the model is accurate, and the regression correction model is determined.

5. The method according to claim 4, wherein the controller unit code value is corrected by a correction unit that includes: the threshold value determining method comprises the following steps:

the error of the square root of the calculated value and the detected value of the regression correction model of n groups of test dataAs the threshold value, among others,=。

6. the method according to claim 3, wherein the controller unit code value is corrected by a correction unit that includes: the n groups of data are at least 25 groups.

7. The method according to claim 3, wherein the controller unit code value is corrected by a correction unit that includes: in the determination test data, the encoding value of the parking controller is adjustedAnd braking motor clearanceAnd the times are the same, and the test is carried out by cross combination to obtain test data.

8. The method according to claim 3, wherein the controller unit code value is corrected by a correction unit that includes: in the determination test data, the encoding value of the parking controller is adjusted according to 1%, 2%, 0%, -1%, -2% of the initial valueAnd braking motor clearanceRespectively obtainAndand (3) carrying out cross combination on two groups of data, wherein each group of data comprises 5 data, and carrying out 25 times of tests on the two groups of data to obtain the stay wire adjusting force y, namely obtaining 25 groups of test data.

Technical Field

The invention relates to the field of automobile detection and diagnosis equipment, in particular to a method for correcting a controller unit coding value in an automobile electronic parking system.

Background

Electronic parking systems are designed specifically for situations where the driver is unable to quickly depress the brake pedal in very emergency situations. The system utilizes the sensor to sense the stepping force and speed of the brake pedal of the driver, and then judges the braking intention of the driver through the computer. If the emergency braking is performed, the braking system is instructed to generate higher oil pressure to enable the ABS to act, so that the braking force is generated quickly, and the braking distance is shortened. And for normal braking, the common accidental rear-end collision can be effectively prevented by judging that the ABS is not started.

Compared with a mechanical brake, the electronic parking system has higher integration level and is more intelligent, but the failure rate of the system is relatively higher. If the electronic parking system equipment is replaced, the system parameters of the electronic parking system equipment are mainly adjusted by a maintenance technician according to the vehicle model maintenance experience. The quality of the maintenance is highly dependent on the level of the maintenance technician, and the actual state parameters of the automobile are difficult to reflect.

Problems often arise, such as: the clearance of the electromechanical parking brake motor is not appropriate, and the tension line is not matched with the standard value of the code of the control unit. The problems can cause the tension line to be too loose or too tight, the driving experience of an automobile owner can be influenced, the brake pad is quickly abraded, the electronic parking cannot play the original role in the event of the automobile parking, and the automobile using safety of the automobile owner is endangered.

Disclosure of Invention

In order to solve the technical problems, the invention provides a method for correcting the coded value of the controller unit in the electronic parking system of the automobile, which can more accurately obtain the standard value of the coded value of the parking controller unit, so that the braking mechanism and the pull wire adjusting force are kept in the optimal state when the automobile is parked electronically, and the service life of the electronic parking braking mechanism is prolonged under the condition of ensuring the safety of the automobile.

In order to solve the technical problems, the invention adopts the following technical scheme:

a correction method for a controller unit code value in an automobile electronic parking system comprises the following steps:

step 1: detecting the automobile stay wire adjusting force, and adjusting the clearance between the brake actuating mechanism and the brake motor to enable the stay wire adjusting force to be within +/-10% of the standard value;

step 2: establishing a regression correction model of the stay wire adjusting force, the parking controller code and the brake motor clearance by using a polynomial regression analysis method;

and step 3: the regression correction model was checked and validated: judging whether the difference between the stay wire adjusting force detection value and the estimation value of the regression correction model is smaller than a threshold value or not through the test error, and if the difference is smaller than the threshold value, determining the regression correction model;

and 4, step 4: and inputting the standard value of the stay wire adjusting force as an estimated value into a regression correction model, and taking the obtained encoding value of the parking controller as a correction value. In a further technical scheme, the regression correction model has the equation:

=

wherein the content of the first and second substances,an estimate of the pull-line adjustment force for the model,in order to encode the value for the parking controller,to brake the motor gap.

Because the detection errors of the force sensor and the brake motor clearance are mutually independent and the like and conform to normal distribution with the generated model error, the model error can be assumedA normal distribution with a mean value of 0. When the electronic parking system of the automobile works normally, the correction model can be approximate to a linear system, and a polynomial regression model can be adopted.

The further technical scheme is that the specific method for establishing the regression correction model comprises the following steps:

1) determining an initial value: when the stay wire adjusting force is within +/-5% of the standard value, determining the encoding value of the parking controllerAnd braking motor clearanceIs an initial value;

2) determining test data: on the basis of the initial values, the encoding values of the parking controller are respectively adjustedAnd braking motor clearanceObtaining n groups of test data;

3) determining a regression correction model: inputting the n groups of test data in the step 2) into a regression correction model, estimating parameters b0, b1, b2, b3, b4 and b5 of the regression correction model by using a polynomial regression analysis method, and determining an equation of the regression correction model;

4) and (3) error checking: by judging the test error of whether the initial value is<And if the threshold value is met, determining a regression correction model, wherein y is a stay wire adjusting force detection value.

In a further technical scheme, the specific method for error detection is as follows: encode value of parking controllerAnd braking motor clearanceInputting the initial value of (3) into the regression correction model determined in step 3) to obtain an estimated valueThe difference between the detected value of the pull-wire adjusting force and the estimated value thereofAs a model estimation error, when this error is less than a threshold, the model is accurate and the regression correction model is determined.

In a further technical scheme, the threshold determination method comprises the following steps:

the error of the square root of the calculated value and the detected value of the regression correction model of n groups of test dataAs the threshold value, among others,=。

in a further technical scheme, the n groups of data are at least 25 groups.

In a further technical scheme, in the determination test data, the encoding value of the parking controller is adjustedAnd braking motor clearanceAnd the times are the same, and the test is carried out by cross combination to obtain test data.

According to a further technical scheme, in the determination test data, the adjustment is respectively carried out according to 1%, 2%, 0%, -1%, -2% of the initial valueParking controller coding valueAnd braking motor clearanceRespectively obtainAndand (3) carrying out cross combination on two groups of data, wherein each group of data comprises 5 data, and carrying out 25 times of tests on the two groups of data to obtain the stay wire adjusting force y, namely obtaining 25 groups of test data.

The invention can provide adjusting force signals for the locking brake through the pull wire adjusting force sensor testing pull wires. After the parking brake actuator is in place, the force sensor tests the pull wire to provide a regulating force signal for the locking brake.

Advantageous effects

Compared with the prior art, the invention has the following remarkable advantages:

1. the invention provides a method for correcting the coded value of a controller unit in an electronic parking system of an automobile based on automobile test data, which adopts a regression analysis method and carries out model inspection, so that the coded value of the controller unit corrected by the electronic parking system is more accurate, and the regression correction model is directly used for correction in the future maintenance, thereby replacing the experience of a maintenance technician for judgment.

2. The method is simple and easy to operate, and the correction efficiency is greatly improved.

Drawings

FIG. 1 is a flowchart of a method for correcting a controller unit code value in an electronic parking system of an automobile according to the present invention;

FIG. 2 is a flow chart of the present invention for establishing a regression correction model.

Fig. 3 is a screenshot of an operation interface of the diagnostic system to which the present invention is applied.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Examples

A correction method for a controller unit code value in an automobile electronic parking system comprises the following steps:

step 1: detecting the automobile stay wire adjusting force, and adjusting the clearance between the brake actuating mechanism and the brake motor to enable the stay wire adjusting force to be within +/-10% of the standard value;

step 2: a polynomial regression analysis method is utilized to establish a regression correction model of the stay wire adjusting force, the parking controller code and the brake motor clearance,

and step 3: the regression correction model was checked and validated: judging whether the difference between the stay wire adjusting force detection value and the estimation value of the regression correction model is smaller than a threshold value or not through the test error, and if the difference is smaller than the threshold value, determining the regression correction model;

and 4, step 4: and inputting the standard value of the stay wire adjusting force as an estimated value into a regression correction model, and taking the obtained encoding value of the parking controller as a correction value. The equation of the regression correction model is as follows:

=

wherein the content of the first and second substances,an estimate of the pull-line adjustment force for the model,in order to encode the value for the parking controller,to brake the motor gap.

Because the detection errors of the force sensor and the brake motor clearance are independent of each other and the like, and are in accordance with the generated modelThe error is in accordance with normal distribution, and the error of the model can be assumedA normal distribution with a mean value of 0. When the electronic parking system of the automobile works normally, the correction model can be approximate to a linear system, and a polynomial regression model can be adopted.

The specific method for establishing the regression correction model comprises the following steps:

1) determining an initial value: when the stay wire adjusting force is within +/-5% of the standard value, determining the encoding value of the parking controllerAnd braking motor clearanceIs an initial value;

2) determining test data: on the basis of the initial values, the encoding values of the parking controller are respectively adjustedAnd braking motor clearanceObtaining n groups of test data;

3) determining a regression correction model: inputting the n groups of test data in the step 2) into a regression correction model, estimating parameters b0, b1, b2, b3, b4 and b5 of the regression correction model by using a polynomial regression analysis method, and determining an equation of the regression correction model;

4) and (3) error checking: by judging the test error of whether the initial value is<And if the threshold value is met, determining a regression correction model, wherein y is a stay wire adjusting force detection value.

The specific method for error checking is as follows: encode value of parking controllerAnd braking motor clearanceInputting the initial value of (3) into the regression correction model determined in step 3) to obtain an estimated valueThe difference between the detected value of the pull-wire adjusting force and the estimated value thereofAs a model estimation error, when this error is less than a threshold, the model is accurate and the regression correction model is determined.

The threshold value determining method comprises the following steps:

the error of the square root of the calculated value and the detected value of the regression correction model of n groups of test dataAs the threshold value, among others,=。

the n groups of data are at least 25 groups. In the determination test data, the encoding value of the parking controller is adjustedAnd braking motor clearanceAnd the times are the same, and the test is carried out by cross combination to obtain test data. In the determination test data, the encoding value of the parking controller is adjusted according to 1%, 2%, 0%, -1%, -2% of the initial valueAnd braking motor clearanceRespectively obtainAndand (3) carrying out cross combination on two groups of data, wherein each group of data comprises 5 data, and carrying out 25 times of tests on the two groups of data to obtain the stay wire adjusting force y, namely obtaining 25 groups of test data.

The standard value of the stay wire adjusting force is in the range of 1500N-2500N, the standard value is slightly different according to different vehicle types, and the code value of the parking controller is reset by utilizing the stay wire adjusting force, the code of the parking controller and a regression correction model of the brake motor clearance. Taking a certain vehicle type as an example, the method for correcting the coded value of the electronic parking system controller unit comprises the following steps:

step 1: detecting the automobile stay wire adjusting force, and adjusting the clearance between the brake actuating mechanism and the brake motor to enable the stay wire adjusting force to be within +/-10% of the standard value;

step 2: establishing a regression correction model of the stay wire adjusting force, the parking controller code and the brake motor clearance by using a polynomial regression analysis method;

1) determining an initial value: the standard value of the stay wire adjusting force y is 2080N, when the stay wire adjusting force is 2114N and is within 5 percent of the standard value, the standard value is used as the initial value of the test, and the coded value of the parking controllerAnd braking motor clearanceAs an initial value.

2) Determining test data: on the basis of the initial values, the encoding values of the parking controller are respectively adjustedSystem for makingMoving motor gapTest data are obtained and are shown in the following table;

x2 x1
							y1=2189N	y2=2163N	y3=2058N	y4=1989N	y5=1976N
	y6=2214N	y7=2210N	y8=2068N	y9=2055N	y10=2088N
							y11=2296N	y12=2278N	y13=2114N	y14=2115N	y15=2099N
	y16=2319N	y17=2299N	y18=2252N	y19=2240N	y20=2196N
							y21=2410N	y22=2389N	y23=2311N	y24=2297N	y25=2234N

y1-y25 in the table are detected values of the adjusting force of the pulling wire,in order to encode the value for the parking controller,to brake the motor gap.

3) Determining a regression correction model: inputting the 25 groups of test data into a regression correction model, estimating parameters b0, b1, b2, b3, b4 and b5 of the regression correction model by a polynomial regression analysis method, and determining an equation of the regression correction model; the specific calculation of the equation is realized by a design program.

And step 3: testing error:=2114-2086=28N<if the threshold error condition is met, determining a regression correction model, wherein y is the pull-line adjustmentAnd (6) detecting the force.

And 4, step 4: the standard value 2080N of the stay wire adjusting force is used as an estimated value to be input into the regression correction model, and the obtained encoding value of the parking controller is used as a correction value.

The calibration method of the present invention can be applied to a calibration system related to an electronic parking system or other diagnostic systems, as shown in fig. 3, the present invention is applied to a diagnostic system, the operation interface of the diagnostic system is captured, and the setting of the parking brake in the figure refers to the calibration of the coded value of the controller unit.