CN107239038A - A kind of transient state throttle variable working condition drivability index recognizer under stable car speed - Google Patents

A kind of transient state throttle variable working condition drivability index recognizer under stable car speed Download PDF

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CN107239038A
CN107239038A CN201710332862.8A CN201710332862A CN107239038A CN 107239038 A CN107239038 A CN 107239038A CN 201710332862 A CN201710332862 A CN 201710332862A CN 107239038 A CN107239038 A CN 107239038A
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刘海江
黄伟
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Tongji University
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    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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Abstract

The invention discloses the transient state throttle variable working condition drivability index recognizer under a kind of stable car speed, including setting up the transient state throttle variable working condition test specification under Steady state speed, the automotive performance parameters such as accelerator open degree, acceleration, Che Du, time, engine speed, gear information are gathered by signal collecting device；Multi-source automotive performance Parameter fusion and discretization judgement, obtain the fragment of minimum operating mode unit, the differentiation of characteristic value is carried out again, obtain all evaluation indexes of transient state throttle under Steady state speed, the numerical relationship model that evaluation index and evaluation index score is set up by the self-characteristic of index again, the present invention provides the method from automotive performance parameter identification and evaluation index and index scoring for the objective evaluation of driving.

Description

一种稳车速下的瞬态油门变工况驾驶性指标识别算法An Algorithm for Recognition of Drivability Index in Transient Accelerator and Variable Conditions at Steady Vehicle Speed

技术领域technical field

本发明涉及瞬态油门变工况驾驶性评价指标的识别和评分方法。The invention relates to a method for identifying and scoring the drivability evaluation index of transient throttle variable working conditions.

背景技术Background technique

高效节能技术的应用使得汽车的驾驶品质降低。采取主观评价方式评价汽车性能存在成本高，重复性差等问题，严重影响了整车的标定周期。为了克服主观评价方法存在的缺点，分析了驾驶性评价内容的特点，将主观评价系统改进成客观评价系统。The application of high-efficiency and energy-saving technologies reduces the driving quality of the car. There are problems such as high cost and poor repeatability in evaluating vehicle performance by subjective evaluation, which seriously affects the calibration cycle of the whole vehicle. In order to overcome the shortcomings of the subjective evaluation method, the characteristics of the drivability evaluation content are analyzed, and the subjective evaluation system is improved into an objective evaluation system.

实现客观评估的前提是如何从大量的汽车性能参数中快速的获取评价指标以及将评价指标和评价值之间建立合理的数学关系，因此解决这一问题是实现客观评价的前提。The premise of achieving objective evaluation is how to quickly obtain evaluation indicators from a large number of vehicle performance parameters and establish a reasonable mathematical relationship between evaluation indicators and evaluation values. Therefore, solving this problem is the premise of realizing objective evaluation.

发明内容Contents of the invention

基于此，有必要解决从大量汽车性能参数获取评价指标的问题和评价指标和评分关系问题，提供一种能够为后续客观评价提供客观评价指标的指标识别方法。Based on this, it is necessary to solve the problem of obtaining evaluation indicators from a large number of vehicle performance parameters and the relationship between evaluation indicators and scoring, and provide an indicator identification method that can provide objective evaluation indicators for subsequent objective evaluations.

上述目的通过下述技术方案实现：Above-mentioned purpose realizes through following technical scheme:

本发明提出的一种稳车速下的瞬态油门变工况驾驶性指标识别算法，具体步骤如下：The present invention proposes a drivability index recognition algorithm for transient throttle variable working conditions under steady vehicle speed, the specific steps are as follows:

(1)建立稳态车速下的瞬态油门变工况测试规范，通过信号采集设备采集油门开度、加速度、车度、时间、发动机转速和档位信息等汽车性能参数，具体为通过传感器信号采集设备对稳态车速下的低速小油门、低速中油门和低速高油门三种状况进行测试，所述测试为汽车以某一稳定车速行驶一段时间后，瞬间踩下油门踏板，获取汽车在瞬变过程中能够表征动态变化的汽车性能参数；所述传感器信号采集设备包括CRIO-9012控制器、NI-9215数据采集仪、NI- 9862数据采集仪，CRIO-9012控制器通过NI-9215模拟信号采集模块和NI-9862数字信号采集模块获取传感器信号；通过NI-9215数据采集仪得到油门开度的汽车性能参数，通过NI-9862数据采集仪得到加速度、发动机转速、车速、时间和档位的汽车性能参数；(1) Establish a test specification for transient throttle variable working conditions under steady-state vehicle speed, and collect vehicle performance parameters such as throttle opening, acceleration, vehicle speed, time, engine speed and gear information through signal acquisition equipment, specifically through sensor signals The acquisition equipment tests the three conditions of low-speed small accelerator, low-speed medium accelerator and low-speed high-accelerator under steady-state vehicle speed. The vehicle performance parameters that can represent dynamic changes during the change process; the sensor signal acquisition equipment includes CRIO-9012 controller, NI-9215 data acquisition instrument, NI-9862 data acquisition instrument, CRIO-9012 controller through NI-9215 analog signal Acquisition module and NI-9862 digital signal acquisition module to obtain sensor signals; through NI-9215 data acquisition instrument to obtain vehicle performance parameters of throttle opening, through NI-9862 data acquisition instrument to obtain acceleration, engine speed, vehicle speed, time and gear position Vehicle performance parameters;

(2)离散化判断，获取最小工况单元的片段；(2) Discretization judgment, to obtain the fragment of the smallest working condition unit;

将步骤(1)NI-9215数据采集仪得到油门开度的数据，以及NI- 9862数据采集仪得到加速度、发动机转速、车速、时间和档位的数据融合在一起，根据先验知识，通过判断车速稳定状态的车速值和油门开度被触发并保持在某一定值为最小工况片段的开始位置，油门开度从某一定值变化到0开度为最小工况片段的结束位置，最终得到最小工况片段；Combine the data of accelerator opening obtained by the NI-9215 data acquisition instrument in step (1) and the data of acceleration, engine speed, vehicle speed, time and gear position obtained by the NI-9862 data acquisition instrument. According to prior knowledge, pass the judgment The vehicle speed value and accelerator opening in the steady state of vehicle speed are triggered and kept at a certain value as the start position of the minimum operating condition segment, and the accelerator opening changes from a certain value to 0 opening, which is the end position of the minimum operating condition segment, and finally Minimum working condition fragment;

(3)通过特征值的判别，获取稳态车速下瞬态油门的所有评价指标值；(3) Obtain all the evaluation index values of the transient throttle under the steady-state vehicle speed through the discrimination of the eigenvalues;

在步骤(2)获得的完成识别稳定车速和油门开度的获取最小工况片段的基础上，查找加速度达到0.05g时刻、加速度达到峰值的95％时刻、踏板执行到目标值时刻、加速度达到的最大值、踏板开始触发时刻、加速度达到峰值时刻、油门踏板开始触发时刻发动机转速值、加速度达到峰值时刻发动机转速值、踏板开始触发时刻的开度值、踏板达到目标时刻的油门开度值、加速度波峰值和加速度波谷值，将所有查找的数据作为特征值属性集，通过对特征值属性集中所有特征值进行计算，以此来获取稳态车速下瞬态油门的所有评价指标，所述评价指标包括加速度变化率、加速度峰值、响应时间、响应延迟、转速变化量、踏板变化率和反冲和高频振荡；On the basis of obtaining the minimum working condition segment obtained in step (2) to complete the identification of stable vehicle speed and accelerator opening, search for the moment when the acceleration reaches 0.05g, the moment when the acceleration reaches 95% of the peak value, the moment when the pedal reaches the target value, and the moment when the acceleration reaches Maximum value, the moment when the pedal starts to trigger, the moment when the acceleration reaches its peak value, the engine speed value when the accelerator pedal starts to be triggered, the engine speed value when the acceleration reaches its peak value, the opening value when the pedal starts to be triggered, the accelerator opening value when the pedal reaches the target, and the acceleration Peak value and acceleration trough value, all the searched data are used as eigenvalue attribute set, and all eigenvalues in the eigenvalue attribute set are calculated to obtain all evaluation indicators of the transient accelerator under steady-state vehicle speed, and the evaluation indicators Including acceleration change rate, acceleration peak value, response time, response delay, rotational speed change, pedal change rate, recoil and high-frequency oscillation;

(4)根据步骤(3)得到的所有评价指标值，建立评价指标值和评价指标评分的数学关系模型；其中：加速度变化率、加速度峰值、转速变化量和踏板变化率属于正向指标，评价指标评分随着评价指标值的增大而增大；响应时间、响应延迟、反冲、高频振荡属于负向指标，评价指标评分随着指标值的增大而减小。(4) According to all evaluation index values that step (3) obtains, establish the mathematical relationship model of evaluation index value and evaluation index score; Wherein: acceleration change rate, acceleration peak value, rotational speed change amount and pedal change rate belong to positive index, evaluate The index score increases with the increase of the evaluation index value; response time, response delay, recoil, and high-frequency oscillation are negative indicators, and the evaluation index score decreases with the increase of the index value.

本发明中，步骤(2)稳态车速下瞬态油门的最小工况单元的片段满足的条件为：In the present invention, the condition that the segment of the minimum operating condition unit of the transient accelerator under step (2) steady-state vehicle speed satisfies is:

(1)稳定的目标车速的时间大于10s；(1) The time for a stable target vehicle speed is greater than 10s;

(2)瞬间踩下油门的时间小于0.1s；(2) The time for instantaneously stepping on the accelerator is less than 0.1s;

(3)油门踏板踩到目标后要持续5s以上或至峰值加速度；(3) After the accelerator pedal is stepped on the target, it should last for more than 5s or reach the peak acceleration;

(4)制动踏板和手刹在工况执行期间完全松开；(4) The brake pedal and hand brake are fully released during the execution of the working condition;

(5)车在试验阶段处于正向行驶状态；(5) The car is in the forward driving state during the test stage;

(6)档位模式自动档。(6) Gear mode automatic gear.

本发明路中，步骤(3)稳态车速下瞬态油门在判别最小工况单元的基础上特征值的判别条件为：In the road of the present invention, the discriminant condition of the transient accelerator under the step (3) steady-state vehicle speed on the basis of discriminating the minimum operating mode unit eigenvalue is:

(1)油门踏板被触发后第一次加速度达到0.05g时刻；(1) The first time the acceleration reaches 0.05g after the accelerator pedal is triggered;

(2)油门踏板被触发后第一次达到95％的最大加速度达到峰值时刻；(2) After the accelerator pedal is triggered, it reaches 95% of the maximum acceleration and reaches its peak value for the first time;

(3)油门踏板执行到目标油门值时刻和对应目标值；(3) The moment when the accelerator pedal reaches the target accelerator value and the corresponding target value;

(4)最小工况单元的片段内加速度达到的最大值时刻和对应最大值；(4) The moment when the acceleration in the segment of the minimum working condition unit reaches the maximum value and the corresponding maximum value;

(5)油门踏板开始触发时刻和对应初始值；(5) Accelerator pedal trigger moment and corresponding initial value;

(6)最小工况单元的片段内发动机转速值的最大值和最小值；(6) The maximum value and minimum value of the engine speed value in the segment of the minimum working condition unit;

(7)加速度达到最大值后的加速度波峰值和加速度波谷值。(7) Acceleration wave peak value and acceleration trough value after the acceleration reaches the maximum value.

本发明中，步骤(3)中评价指标包括加速度变化率、加速度峰值、响应时间、响应延迟、转速变化量、踏板变化率和反冲和高频振荡，其中：In the present invention, the evaluation index in step (3) includes acceleration rate of change, acceleration peak value, response time, response delay, rotational speed variation, pedal rate of change, recoil and high-frequency oscillation, wherein:

加速度变化率为在稳车速下的瞬态油门变工况过程中加速度达到 0.05g时刻到汽车加速度达到峰值的95％时刻的变化量；The rate of change of acceleration is the change from the time when the acceleration reaches 0.05g to the time when the vehicle acceleration reaches 95% of the peak value during the transient throttle change at a steady vehicle speed;

加速度峰值为踏板执行到目标值后加速度能达到的最大值；The acceleration peak value is the maximum value that the acceleration can reach after the pedal is executed to the target value;

响应时间为在执行工况内，踏板开始触发时刻到加速度达到峰值时刻所需的时间；Response time is the time required from the moment the pedal is triggered to the moment when the acceleration reaches the peak value in the execution condition;

响应延迟为踏板开始触发时刻到加速度达到0.05g时刻所需时间；转速变化量为油门踏板开始触发时刻到加速度达到峰值时刻发动机转速变化大小；Response delay is the time required from the moment when the pedal is triggered to the moment when the acceleration reaches 0.05g; the change in speed is the change in engine speed from the moment when the accelerator pedal is triggered to the moment when the acceleration reaches its peak value;

踏板变化率为在踏板开始触发到踏板达到目标时间内，踏板的变化；反冲为在稳车速下的瞬态油门变工况内达到加速度峰值到下一波谷的加速度变化大小；Pedal change rate is the change of the pedal within the time between when the pedal is triggered and when the pedal reaches the target; recoil is the change in acceleration from the peak value to the next trough in the transient throttle change condition at a steady vehicle speed;

高频振荡为在稳车速下的瞬态油门变工况内，在反冲现象后出现的加速度反复震荡。High-frequency oscillation is the repeated oscillation of acceleration after the recoil phenomenon in the transient throttle variable working condition at a steady vehicle speed.

本发明中，所述数学关系模型包括：In the present invention, the mathematical relationship model includes:

(1)加速度变化率值与对应评分的数学关系模型(1) The mathematical relationship model between the acceleration rate value and the corresponding score

其中，rating1为加速变化率指标值的评分；x1为加速变化率指标值； a1，b1，c1，d1为模型预先根据车辆客观加速变化率这一评价指标值和主观评分确定的系数；Among them, rating 1 is the rating of the acceleration change rate index; x 1 is the acceleration change rate index value; a 1 , b 1 , c 1 , d 1 are the evaluation index values and subjective scores based on the objective acceleration change rate of the vehicle in advance. determined coefficient;

(2)加速度峰值指标值与对应评分的数学关系模型(2) The mathematical relationship model between the acceleration peak index value and the corresponding score

其中，rating2为加速度峰值指标值的评分；x2为加速度峰值指标值； a2，b2，c2为模型预先根据车辆客观加速度峰值指标值和主观评分确定的系数；Among them, rating 2 is the rating of the peak acceleration index value; x 2 is the peak acceleration index value; a 2 , b 2 , c 2 are the coefficients determined by the model in advance according to the objective peak acceleration index value and subjective score of the vehicle;

(3)响应延迟指标值与对应评分的数学关系模型(3) The mathematical relationship model between the response delay index value and the corresponding score

rating3＝(a3-b3·log(x3))rating 3 ＝(a 3 -b 3 ·log(x 3 ))

其中，rating3为响应延迟指标值的评分；x3为响应延迟指标值；a3， b3为模型预先根据车辆客观响应延迟指标值和主观评分确定的系数；Among them, rating 3 is the rating of the response delay index value; x 3 is the response delay index value; a 3 and b 3 are the coefficients determined by the model in advance according to the vehicle's objective response delay index value and subjective rating;

(4)响应时间指标值与对应评分的数学关系模型(4) The mathematical relationship model between the response time index value and the corresponding score

rating4＝a4·sin(b4·x4+c4)+d4·sin(e4·x4+f4)rating 4 ＝a 4 ·sin(b 4 ·x 4 +c 4 )+d 4 ·sin(e 4 ·x 4 +f 4 )

其中，rating4为响应时间指标值的评分；x4为响应时间指标值；a4， b4，c4，d4，e4，f4为模型预先根据车辆客观响应时间指标值和主观评分确定的系数；Among them, rating 4 is the rating of the response time index value; x 4 is the response time index value; a 4 , b 4 , c 4 , d 4 , e 4 , f 4 are the model pre-according to the vehicle's objective response time index value and subjective rating determined coefficient;

(5)转速变化量指标值与对应评分的数学关系模型(5) Mathematical relationship model between index value of rotational speed variation and corresponding score

其中，rating5为转速变化量指标值与的评分；x5为转速变化量指标值； a5，b5，c5，d5为模型预先根据车辆客观转速变化量指标值和主观评分确定的系数；Among them, rating 5 is the index value of the speed change and the rating; x 5 is the index value of the speed change; a 5 , b 5 , c 5 , d 5 are the models determined in advance according to the objective value of the speed change index and the subjective score of the vehicle coefficient;

(6)踏板变化率指标值与对应评分的数学关系模型(6) The mathematical relationship model between the pedal change rate index value and the corresponding score

rating6＝a6·exp(b6·exp(c6·x6))rating 6 ＝a 6 ·exp(b 6 ·exp(c 6 ·x 6 ))

其中，rating6为踏板变化率指标值的评分；x6为转速变化量指标值； a6，b6，c6为模型预先根据车辆客观踏板变化率指标值和主观评分确定的系数；Among them, rating 6 is the rating of the index value of the pedal change rate; x 6 is the index value of the rotational speed change; a 6 , b 6 , c 6 are the coefficients determined by the model in advance according to the vehicle's objective pedal change rate index value and subjective score;

(7)反冲指标值与对应评分的数学关系模型(7) Mathematical relationship model between recoil index value and corresponding score

其中，rating7为反冲指标值的评分；x7为反冲指标值；a7，b7，c7， d7，e7，f7为模型预先根据车辆客观反冲指标值和主观评分确定的系数。Among them, rating 7 is the score of the recoil index value; x 7 is the recoil index value; a 7 , b 7 , c 7 , d 7 , e 7 , f 7 are the model pre-according to the objective recoil index value and subjective score of the vehicle determined coefficients.

(8)高频振荡指标值与对应评分的数学关系模型(8) The mathematical relationship model between the high-frequency oscillation index value and the corresponding score

其中，rating8为高频振荡指标值的评分；x8为高频振荡指标值；a8， b8，c8，d8，e8，f8为模型预先根据车辆客观高频振荡指标值和主观评分确定的系数。Among them, rating 8 is the rating of the high-frequency oscillation index value; x 8 is the high-frequency oscillation index value; a 8 , b 8 , c 8 , d 8 , e 8 , and f 8 are the objective high-frequency oscillation index values based on the model in advance and coefficients determined by subjective scoring.

本发明的有益效果在于：提出了一种同时考量发动机和传动系统性能的测试规范，同时为整车驾驶性评估提出了一种能够自动识别工况和指标的方法，并建立了评价指标与指标值评分的关系模型，实现了对指标值的预测评分，本发明主要服务于整车驾驶性开发过程的评估工作，能够缩短开发周期，提供客观量化的结果。The beneficial effect of the present invention is that: a test specification that considers the performance of the engine and the transmission system is proposed, and at the same time, a method that can automatically identify the working conditions and indicators is proposed for the vehicle drivability evaluation, and the evaluation indicators and indicators are established. The relationship model of value scoring realizes the prediction and scoring of index values. The present invention mainly serves the evaluation work of the vehicle drivability development process, can shorten the development cycle, and provide objective and quantitative results.

附图说明Description of drawings

图1为稳态车速下瞬态工况指标识别算法流程图；Figure 1 is a flow chart of the identification algorithm for transient operating conditions at steady-state vehicle speeds;

图2为稳车速瞬态给油工况。Figure 2 shows the transient oil supply condition at steady vehicle speed.

具体实施方式detailed description

为了使本发明的目的、技术方案及优点更加清楚明白，以下通过实施例，并结合附图，对本发明的算法流程做进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。In order to make the object, technical solution and advantages of the present invention clearer, the algorithm flow of the present invention will be further described in detail through the following embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

实施例1：参见图1至图2，本发明一实施例的一种稳车速的瞬态油门变工况驾驶性指标识别算法，应用在驾驶性客观评价中如何在汽车性能中获得客观评价指标的方法。包括Embodiment 1: Referring to Fig. 1 to Fig. 2, a kind of drivability index recognition algorithm of transient accelerator and variable working condition with stable vehicle speed in an embodiment of the present invention, how to obtain objective evaluation index in automobile performance when applied in objective evaluation of drivability Methods. include

S1、稳态车速下瞬态给油测试工况规范，通过信号采集设备采集油门开度、加速度、车度、时间、发动机转速、档位信息等汽车性能参数；；S1. Specifications for transient oil supply test conditions at steady-state vehicle speeds, and vehicle performance parameters such as accelerator opening, acceleration, vehicle speed, time, engine speed, gear information, etc. are collected through signal acquisition equipment;

其中包括所述稳态车速下瞬态给油为汽车以某一稳定车速行驶一段时间后，瞬间踩下油门踏板后，汽车本身会出现一系列的动态响应。该工况测试的目的，是为了模仿车辆在正常道路行驶过程中，汽车在超车过程车的响应性能和驾驶品质的好坏；Among them, the transient refueling at the steady-state speed is that after the car runs at a certain steady speed for a period of time, the car itself will have a series of dynamic responses after the accelerator pedal is stepped on for a moment. The purpose of this working condition test is to imitate the response performance and driving quality of the car during the overtaking process of the vehicle during normal road driving;

所述测试工况为低速小油门、低速中油门、低速高油门；低速小油门定位为车速稳在20KM/H且大于10s后瞬间踩下油门踏板到40％；低速中油门为车速稳在20KM/H且大于10s后瞬间踩下油门踏板到 60％；低速高油门为车速稳在20KM/H且大于10s后瞬间踩下油门踏板到80％；The test conditions are low-speed small throttle, low-speed medium throttle, low-speed high-speed throttle; low-speed small throttle is positioned as the vehicle speed is stable at 20KM/H and is greater than 10s and then the accelerator pedal is stepped on to 40%; low-speed medium throttle is the vehicle speed is stable at 20KM/H Press the accelerator pedal to 60% immediately after /H and greater than 10s; low-speed high-accelerator means that the vehicle speed is stable at 20KM/H and greater than 10s, then step on the accelerator pedal to 80% instantly;

所述数据采集设备包括CRIO-9012控制器、NI-9215模拟信号采集模块以及NI-9862数据信号采集模块，NI-9215数据采集仪得到油门开度的数据，以及NI-9862数据采集仪得到加速度、发动机转速、车速、时间和档位；The data acquisition equipment includes CRIO-9012 controller, NI-9215 analog signal acquisition module and NI-9862 data signal acquisition module, NI-9215 data acquisition instrument obtains the data of throttle opening, and NI-9862 data acquisition instrument obtains acceleration , engine speed, vehicle speed, time and gear;

所述采集的汽车性能参数包括油门开度、加速度、车度、试验时间、发动机转速、档位信息；The vehicle performance parameters collected include accelerator opening, acceleration, vehicle speed, test time, engine speed, and gear information;

S2、离散化判断，获取最小单元的工况片段；S2. Discretization judgment, obtaining the working condition segment of the smallest unit;

所述将加速度、发动机转速、车速、时间、油门开度和档位等不同传感器采集的数据进行融合，根据稳态车速下瞬态工况的特点，在满足1)稳定的目标车速的时间大于10s；(2)瞬间踩下油门的时间小于0.1s；(3)油门踏板踩到目标后要持续5s以上或至峰值加速度； (4)制动踏板和手刹在工况执行期间完全松开；(5)车在试验阶段处于正向行驶状态；(6)档位模式自动档情况下以目标车速、油门踏板信号为工况开始执行点，根据先验知识通过判断车速稳定状态的车速值和油门开度被触发并保持在某一定值为最小工况片段的开始位置，油门开度从某一定值变化到0开度为最小工况片段的结束位置，最终得到最小工况片段；The data collected by different sensors such as acceleration, engine speed, vehicle speed, time, throttle opening and gear position are fused, and according to the characteristics of the transient working condition under the steady-state vehicle speed, the time to meet 1) the stable target vehicle speed is greater than 10s; (2) The time for instantaneously stepping on the accelerator is less than 0.1s; (3) After the accelerator pedal is stepped on the target, it must last for more than 5s or reach the peak acceleration; (4) The brake pedal and handbrake are completely released during the execution of the working condition; (5) The car is in the forward driving state during the test phase; (6) In the case of automatic transmission in the gear mode, the target vehicle speed and the accelerator pedal signal are used as the operating conditions to start the execution point. According to the prior knowledge, the vehicle speed value and The throttle opening is triggered and kept at a certain value as the start position of the minimum working condition segment, and the throttle opening changes from a certain value to 0 opening, which is the end position of the minimum working condition segment, and finally the minimum working condition segment is obtained;

S3设备采集的汽车性能参数特征值的判别计算，得到稳态车速下瞬态油门的所有评价指标；The discriminant calculation of the eigenvalues of the vehicle performance parameters collected by the S3 equipment obtains all the evaluation indicators of the transient accelerator under the steady-state vehicle speed;

所述特征值判别在完成识别稳定车速和油门开度的获取最小工况片段的基础上，查找加速度达到0.05g时刻、加速度达到峰值的95％时刻、踏板执行到目标值时刻、加速度达到的最大值、踏板开始触发时刻、加速度达到峰值时刻、加速度达到0.05g时刻、油门踏板开始触发时刻发动机转速值、加速度达到峰值时刻发动机转速值、踏板开始触发时刻的开度值、踏板达到目标时刻的油门开度值、加速度波峰值、加速度波谷值等特征值属性集。所述评价指标包括加速度变化率、加速度峰值、响应时间、响应延迟、转速变化量、踏板变化率、反冲和高频振荡；The eigenvalue discrimination is based on the acquisition of the minimum operating condition segment of the identification of the stable vehicle speed and the throttle opening, and searches for the moment when the acceleration reaches 0.05g, the moment when the acceleration reaches 95% of the peak value, the moment when the pedal is executed to the target value, and the moment when the acceleration reaches the maximum value. value, the moment when the pedal starts to trigger, the moment when the acceleration reaches the peak value, the moment when the acceleration reaches 0.05g, the engine speed value when the accelerator pedal starts to trigger, the engine speed value when the acceleration reaches the peak value, the opening value when the pedal starts to trigger, and the accelerator when the pedal reaches the target A set of eigenvalue attributes such as opening value, acceleration peak value, and acceleration valley value. The evaluation index includes acceleration change rate, acceleration peak value, response time, response delay, rotational speed change amount, pedal change rate, recoil and high-frequency oscillation;

所述稳态车速下瞬态油门在判别最小工况单元的基础上特征值的判别条件为：The conditions for determining the eigenvalue of the transient accelerator under the steady-state vehicle speed on the basis of determining the minimum working condition unit are:

(1)油门踏板被触发后第一次加速度达到0.05g时刻；(1) The first time the acceleration reaches 0.05g after the accelerator pedal is triggered;

(2)油门踏板被触发后第一次达到95％的最大加速度达到峰值时刻；(2) After the accelerator pedal is triggered, it reaches 95% of the maximum acceleration and reaches its peak value for the first time;

(3)油门踏板执行到目标油门值时刻和对应目标值；(3) The moment when the accelerator pedal reaches the target accelerator value and the corresponding target value;

(4)最小工况单元的片段内加速度达到的最大值时刻和对应最大值；(4) The moment when the acceleration in the segment of the minimum working condition unit reaches the maximum value and the corresponding maximum value;

(5)油门踏板开始触发时刻和对应初始值；(5) Accelerator pedal trigger moment and corresponding initial value;

(6)最小工况单元的片段内发动机转速值的最大值和最小值；(6) The maximum value and minimum value of the engine speed value in the segment of the minimum working condition unit;

(7)加速度达到最大值后的加速度波峰值和加速度波谷值。(7) Acceleration wave peak value and acceleration trough value after the acceleration reaches the maximum value.

所述评价指标及评价指标计算公式包括：The evaluation index and evaluation index calculation formula include:

加速度变化率为在执行工况过程中加速度达到0.05g时刻到汽车加速度达到峰值的95％时刻的加速度变化；The rate of acceleration change is the acceleration change from the moment the acceleration reaches 0.05g to the moment when the vehicle acceleration reaches 95% of the peak value during the execution of the working condition;

agradient＝0.95·max(da/dt) (1)a gradient =0.95 max(da/dt) (1)

其中a为踏板开始触发到加速度峰值过程的纵向加速度，t为踏板开始触发到加速度峰值过程的对应时间。Where a is the longitudinal acceleration from the pedal triggering to the acceleration peak process, and t is the corresponding time from the pedal triggering to the acceleration peak process.

加速度峰值为踏板执行到目标值后加速度达到的最大值；Acceleration peak is the maximum value reached by the acceleration after the pedal is executed to the target value;

apeak＝amax-amin (2)a peak =a max -a min (2)

其中amax为踏板开始触发到加速度峰值过程的最大纵向加速度，amin为踏板开始触发到加速度峰值过程的最小纵向加速度。Where a max is the maximum longitudinal acceleration when the pedal starts to trigger to the acceleration peak, and a min is the minimum longitudinal acceleration when the pedal starts to trigger to the acceleration peak.

响应时间为在执行工况内，踏板开始触发时刻到加速度达到峰值时刻所需的时间；Response time is the time required from the moment the pedal is triggered to the moment when the acceleration reaches the peak value in the execution condition;

trt＝tp-ti (3)t rt =t p -t i (3)

其中，tp为踏板开始触发时刻，ti为纵向加速度达到峰值的时刻。Among them, t p is the moment when the pedal starts to be triggered, and t i is the moment when the longitudinal acceleration reaches its peak value.

响应延迟为踏板开始触发时刻到加速度达到0.05g时刻所需时间；The response delay is the time required from the moment the pedal starts to trigger to the moment when the acceleration reaches 0.05g;

△t＝tp-t0.05g (4)△t=t p -t 0.05g (4)

其中，tp为踏板开始触发时刻，t0.05g为纵向加速度从开始触发油门踏Among them, t p is the moment when the pedal starts to trigger, and t 0.05g is the time when the longitudinal acceleration starts to trigger the accelerator pedal.

板到纵向加速度达到0.05g时刻。The board reaches the moment when the longitudinal acceleration reaches 0.05g.

转速变化量为油门踏板开始触发时刻到加速度达到峰值时刻发动机转速变化大小；The amount of speed change is the change in engine speed from the moment when the accelerator pedal is triggered to the moment when the acceleration reaches its peak value;

△ω＝ωmax-ωmin (5)△ω＝ω max -ω min (5)

其中，ωmax为油门踏板开始触发到加速度达到峰值过程中转速达到的最大值；ωmin为油门踏板开始触发到加速度达到峰值过程中转速达到的最小值。Among them, ω max is the maximum value of the rotational speed during the period from the start of the accelerator pedal to the peak acceleration; ω min is the minimum value of the speed from the start of the accelerator pedal to the peak of the acceleration.

踏板变化率为在踏板开始触发到踏板达到目标时间内，踏板的变化；The pedal change rate is the change of the pedal during the time when the pedal is triggered and the pedal reaches the target;

其中，pf为目标油门踏板行程量；pi为稳定车速时所需要的油门踏板行程量。Among them, p f is the target accelerator pedal stroke; p i is the accelerator pedal stroke required to stabilize the vehicle speed.

反冲为在执行工况内达到加速度峰值到下一波谷的加速度变化大小；Recoil is the magnitude of the acceleration change from the acceleration peak to the next trough in the execution condition;

akick＝ap max-ap min (7)a kick = a p max -a p min (7)

其中，ap max为加速度峰值后的第一个局部峰值；ap min为加速度峰值后的第一个局部峰值后的第一个波谷。Among them, a p max is the first local peak after the acceleration peak; a p min is the first valley after the first local peak after the acceleration peak.

高频振荡为在执行工况内，在反冲现象后出现的加速度反复震荡。The high-frequency oscillation is the repeated oscillation of the acceleration after the recoil phenomenon in the execution condition.

其中，ap max-i为反冲过后震荡的局部最大值；ap min-i为反冲过后震荡的局部最小值。Among them, a p max-i is the local maximum value of the shock after the recoil; a p min-i is the local minimum value of the shock after the recoil.

S4、所述评价指标值和评价指标评分的数学关系模型包括：S4. The mathematical relationship model of the evaluation index value and the evaluation index score includes:

加速度变化率值与对应评分的数学关系模型The Mathematical Relational Model of Acceleration Value and Corresponding Score

其中，rating1为加速变化率指标值的评分；x1为加速变化率指标值； a1，b1，c1，d1为模型预先根据车辆客观加速变化率这一评价指标值和主观评分确定的系数。Among them, rating 1 is the rating of the acceleration change rate index; x 1 is the acceleration change rate index value; a 1 , b 1 , c 1 , d 1 are the evaluation index values and subjective scores based on the objective acceleration change rate of the vehicle in advance. determined coefficients.

加速度峰值指标值与对应评分的数学关系模型Mathematical relationship model between acceleration peak index value and corresponding score

其中，rating2为加速度峰值指标值的评分；x2为加速度峰值指标值； a2，b2，c2为模型预先根据车辆客观加速度峰值指标值和主观评分确定的系数。Among them, rating 2 is the rating of the peak acceleration index value; x 2 is the peak acceleration index value; a 2 , b 2 , c 2 are coefficients determined by the model in advance according to the objective peak acceleration index value and subjective rating of the vehicle.

响应延迟指标值与对应评分的数学关系模型Mathematical relationship model between response delay index value and corresponding score

rating3＝(a3-b3·log(x3)) (11)rating 3 =(a 3 -b 3 ·log(x 3 )) (11)

其中，rating3为响应延迟指标值的评分；x3为响应延迟指标值；a3， b3为模型预先根据车辆客观响应延迟指标值和主观评分确定的系数。响应时间指标值与对应评分的数学关系模型Among them, rating 3 is the rating of the response delay index value; x 3 is the response delay index value; a 3 and b 3 are the coefficients determined by the model in advance according to the vehicle's objective response delay index value and subjective rating. The mathematical relationship model between the response time index value and the corresponding score

rating4＝a4·sin(b4·x4+c4)+d4·sin(e4·x4+f4) (12)rating 4 ＝a 4 ·sin(b 4 ·x 4 +c 4 )+d 4 ·sin(e 4 ·x 4 +f 4 ) (12)

其中，rating4为响应时间指标值的评分；x4为响应时间指标值；a4， b4，c4，d4，e4，f4为模型预先根据车辆客观响应时间指标值和主观评分确定的系数。转速变化量指标值与对应评分的数学关系模型Among them, rating 4 is the rating of the response time index value; x 4 is the response time index value; a 4 , b 4 , c 4 , d 4 , e 4 , f 4 are the model pre-according to the vehicle's objective response time index value and subjective rating determined coefficients. Mathematical relationship model between the index value of rotational speed variation and the corresponding score

其中，rating5为转速变化量指标值与的评分；x5为转速变化量指标值； a5，b5，c5，d5为模型预先根据车辆客观转速变化量指标值和主观评分确定的系数。Among them, rating 5 is the index value of the speed change and the rating; x 5 is the index value of the speed change; a 5 , b 5 , c 5 , d 5 are the models determined in advance according to the objective value of the speed change index and the subjective score of the vehicle coefficient.

踏板变化率指标值与对应评分的数学关系模型Mathematical relationship model between index value of pedal change rate and corresponding score

rating6＝a6·exp(b6·exp(c6·x6)) (14)rating 6 ＝a 6 ·exp(b 6 ·exp(c 6 ·x 6 )) (14)

其中，rating6为踏板变化率指标值的评分；x6为转速变化量指标值； a6，b6，c6为模型预先根据车辆客观踏板变化率指标值和主观评分确定的系数。Among them, rating 6 is the rating of the index value of the pedal change rate; x 6 is the index value of the rotational speed change; a 6 , b 6 , c 6 are the coefficients determined by the model in advance according to the vehicle's objective pedal change rate index value and subjective score.

反冲指标值与对应评分的数学关系模型Mathematical relationship model between recoil index value and corresponding score

其中，rating7为反冲指标值的评分；x7为反冲指标值；a7，b7，c7， d7，e7，f7为模型预先根据车辆客观反冲指标值和主观评分确定的系数。Among them, rating 7 is the score of the recoil index value; x 7 is the recoil index value; a 7 , b 7 , c 7 , d 7 , e 7 , f 7 are the model pre-according to the objective recoil index value and subjective score of the vehicle determined coefficients.

高频振荡指标值与对应评分的数学关系模型Mathematical relationship model between high-frequency oscillation index value and corresponding score

其中，rating8为高频振荡指标值的评分；x8为高频振荡指标值；a8， b8，c8，d8，e8，f8为模型预先根据车辆客观高频振荡指标值和主观评分确定的系数。Among them, rating 8 is the rating of the high-frequency oscillation index value; x 8 is the high-frequency oscillation index value; a 8 , b 8 , c 8 , d 8 , e 8 , and f 8 are the objective high-frequency oscillation index values based on the model in advance and coefficients determined by subjective scoring.

Claims (5)

1. the transient state throttle variable working condition drivability index recognizer under a kind of stable car speed, it is characterised in that comprise the following steps that：
(1) the transient state throttle variable working condition test specification set up under Steady state speed, gathers accelerator open degree by signal collecting device, adds The automotive performance parameter such as speed, Che Du, time, engine speed and gear information, sets specifically by collecting sensor signal Standby that throttle in the small throttle of low speed under Steady state speed, low speed and low speed three kinds of situations of high throttle are tested, the test is Automobile is travelled after a period of time with a certain stabilizing speed, and moment steps on the throttle pedal, and obtaining automobile being capable of table in transient process Levy the automotive performance parameter of dynamic change；The collecting sensor signal equipment includes CRIO-9012 controllers, NI-9215 numbers According to Acquisition Instrument, NI-9862 data collecting instruments, CRIO-9012 controllers pass through NI-9215 collection of simulant signal module and NI- 9862 digital signal acquiring modules obtain sensor signal；The automobile of accelerator open degree is obtained by NI-9215 data collecting instruments Energy parameter, the automotive performance for obtaining acceleration, engine speed, speed, time and gear by NI-9862 data collecting instruments is joined Number；
(2) discretization judges, obtains the fragment of minimum operating mode unit；
Step (1) NI-9215 data collecting instruments are obtained to the data of accelerator open degree, and NI-9862 data collecting instruments are added Speed, engine speed, speed, time together with the data fusion of gear, according to priori, by judging that speed is stable The vehicle speed value and accelerator open degree of state are triggered and are maintained at the starting position that certain certain value is minimum operating mode fragment, accelerator open degree The end position that 0 aperture is minimum operating mode fragment is changed to from certain certain value, minimum operating mode fragment is finally given；
(3) by the differentiation of characteristic value, all evaluation index values of transient state throttle under Steady state speed are obtained；
On the basis of the minimum operating mode fragment of the acquisition of completion identification stabilizing speed and accelerator open degree that step (2) is obtained, search Acceleration reaches that 0.05g moment, acceleration reach that 95% moment of peak value, pedal go to desired value moment, acceleration and reached Maximum, pedal starts triggering moment, acceleration and reaches that peak value moment, gas pedal start triggering moment engine speed Value, acceleration reach that peak value moment engine speed value, pedal start the opening value of triggering moment, pedal and reach object time Accelerator open degree value, acceleration wave peak value and acceleration wave valley, using the data of all lookups as characteristic value property set, by right All characteristic values are calculated in characteristic value property set, and all evaluation indexes of transient state throttle under Steady state speed are obtained with this, The evaluation index includes rate of acceleration change, acceleration peak value, response time, operating lag, rotation speed change amount, pedal change Rate and recoil and the higher-order of oscillation；
(4) all evaluation index values obtained according to step (3), set up the mathematical relationship of evaluation index value and evaluation index scoring Model；Wherein：Rate of acceleration change, acceleration peak value, rotation speed change amount and pedal rate of change belong to positive index, evaluation index Scoring increases with the increase of evaluation index value；Response time, operating lag, recoil, the higher-order of oscillation belong to negative sense index, comment The scoring of valency index reduces with the increase of desired value.
2. the transient state throttle variable working condition drivability index recognizer under stable car speed according to claim 1, its feature exists It is in the condition of the fragment satisfaction of the minimum operating mode unit of transient state throttle under step (2) Steady state speed：
(1) time of stable target vehicle speed is more than 10s；
(2) time that moment steps on the throttle is less than 0.1s；
(3) gas pedal, which is stepped on, will continue more than 5s after target or to peak accelerator；
(4) brake pedal and parking brake are totally released during operating mode is performed；
(5) car is in forward travel state in experimental stage；
(6) gearing regime automatic transmission.
3. the transient state throttle variable working condition drivability index recognizer under stable car speed according to claim 1, its feature exists In transient state throttle under step (3) Steady state speed, the criterion of characteristic value is on the basis of minimum operating mode unit is differentiated：
(1) first time acceleration reaches the 0.05g moment after gas pedal is triggered；
(2) reach that 95% peak acceleration reaches peak value moment after gas pedal is triggered for the first time；
(3) gas pedal goes to target throttle value moment and corresponding target value；
(4) acceleration reaches in the fragment of minimum operating mode unit maximum moment and correspondence maximum；
(5) gas pedal starts triggering moment and correspondence initial value；
(6) maximum and minimum value of the fragment intrinsic motivation tachometer value of minimum operating mode unit；
(7) acceleration reaches the acceleration wave peak value after maximum and acceleration wave valley.
4. the transient state throttle variable working condition drivability index recognizer under stable car speed according to claim 1, its feature exists In step (3) evaluation index include rate of acceleration change, acceleration peak value, the response time, operating lag, rotation speed change amount, Pedal rate of change and recoil and the higher-order of oscillation, wherein：
Rate of acceleration change is that acceleration reaches that the 0.05g moment adds to automobile in the transient state throttle varying load process under stable car is fast Speed reaches the variable quantity at 95% moment of peak value；
Acceleration peak value is that pedal goes to the maximum that desired value post-acceleration can reach；
Response time is to perform in operating mode, and pedal starts the time needed for triggering moment reaches peak value moment to acceleration；
Operating lag starts triggering moment for pedal and reaches 0.05g moment required time to acceleration；
Rotation speed change amount starts triggering moment for gas pedal and reaches that peak value moment engine speed changes size to acceleration；
Pedal rate of change is to start to be triggered to pedal in pedal to reach in the object time, the change of pedal；
Recoil to reach that the acceleration change of acceleration peak value to next trough is big in the transient state throttle variable working condition under stable car speed It is small；
The higher-order of oscillation is that the acceleration occurred after back attack phenomenon shakes repeatedly in the transient state throttle variable working condition under stable car speed.
5. the transient state throttle variable working condition drivability index recognizer under stable car speed according to claim 1, its feature exists Include in the numerical relationship model：
(1) numerical relationship model of rate of acceleration change value and corresponding scoring
<mrow> <msub> <mi>rating</mi> <mn>1</mn> </msub> <mo>=</mo> <msub> <mi>a</mi> <mn>1</mn> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>x</mi> <mn>1</mn> <mn>3</mn> </msubsup> <mo>+</mo> <msub> <mi>b</mi> <mn>1</mn> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>x</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msub> <mi>c</mi> <mn>1</mn> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>d</mi> <mn>1</mn> </msub> </mrow>
Wherein, rating1To accelerate the scoring of rate of change desired value；x1To accelerate rate of change desired value；a1, b1, c1, d1For model Previously according to the objective coefficient for accelerating this evaluation index value of rate of change and subjective scoring to determine of vehicle；
(2) numerical relationship model of acceleration peak value desired value and corresponding scoring
<mrow> <msub> <mi>rating</mi> <mn>2</mn> </msub> <mo>=</mo> <msub> <mi>a</mi> <mn>2</mn> </msub> <mo>&amp;CenterDot;</mo> <mi>exp</mi> <mrow> <mo>(</mo> <mo>-</mo> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>b</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <msub> <mi>c</mi> <mn>2</mn> </msub> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>)</mo> </mrow> </mrow>
Wherein, rating2For the scoring of acceleration peak value desired value；x2For acceleration peak value desired value；a2, b2, c2It is pre- for model The coefficient first determined according to the objective acceleration peak value desired value of vehicle and subjective scoring；
(3) numerical relationship model of operating lag desired value and corresponding scoring
rating3=(a3-b3·log(x3))
Wherein, rating3For the scoring of operating lag desired value；x3For operating lag desired value；a3, b3It is model previously according to car The coefficient that objective operating lag desired value and subjective scoring are determined；
(4) numerical relationship model of response time desired value and corresponding scoring
rating4=a4·sin(b4·x4+c4)+d4·sin(e4·x4+f4)
Wherein, rating4For the scoring of response time desired value；x4For response time desired value；a4, b4, c4, d4, e4, f4For mould The coefficient that type is determined previously according to the objective response time desired value of vehicle and subjective scoring；
(5) numerical relationship model of rotation speed change figureofmerit value and corresponding scoring
<mrow> <msub> <mi>rating</mi> <mn>5</mn> </msub> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>a</mi> <mn>5</mn> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>x</mi> <mn>5</mn> </msub> <mo>+</mo> <msub> <mi>b</mi> <mn>5</mn> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>c</mi> <mn>5</mn> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>x</mi> <mn>5</mn> </msub> <mo>+</mo> <msub> <mi>d</mi> <mn>5</mn> </msub> <mo>)</mo> </mrow> </mfrac> </mrow>
Wherein, rating5For rotation speed change figureofmerit value and scoring；x5For rotation speed change figureofmerit value；a5, b5, c5, d5For mould The coefficient that type is determined previously according to the objective rotation speed change figureofmerit value of vehicle and subjective scoring；
(6) numerical relationship model of pedal rate of change desired value and corresponding scoring
rating6=a6·exp(b6·exp(c6·x6))
Wherein, rating6For the scoring of pedal rate of change desired value；x6For rotation speed change figureofmerit value；a6, b6, c6It is pre- for model The coefficient first determined according to the objective pedal rate of change desired value of vehicle and subjective scoring；
(7) desired value that recoils and the numerical relationship model of corresponding scoring
<mrow> <msub> <mi>rating</mi> <mn>7</mn> </msub> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>a</mi> <mn>7</mn> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>x</mi> <mn>7</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msub> <mi>b</mi> <mn>7</mn> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>x</mi> <mn>7</mn> </msub> <mo>+</mo> <msub> <mi>c</mi> <mn>7</mn> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>d</mi> <mn>7</mn> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>x</mi> <mn>7</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msub> <mi>e</mi> <mn>7</mn> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>x</mi> <mn>7</mn> </msub> <mo>+</mo> <msub> <mi>f</mi> <mn>7</mn> </msub> <mo>)</mo> </mrow> </mfrac> </mrow>
Wherein, rating7For the scoring for the desired value that recoils；x7For recoil desired value；a7, b7, c7, d7, e7, f7For the advance root of model The coefficient determined according to the objective recoil desired value of vehicle and subjective scoring.
(8) numerical relationship model of higher-order of oscillation desired value and corresponding scoring
<mrow> <msub> <mi>rating</mi> <mn>8</mn> </msub> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>a</mi> <mn>8</mn> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>x</mi> <mn>8</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msub> <mi>b</mi> <mn>8</mn> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>x</mi> <mn>8</mn> </msub> <mo>+</mo> <msub> <mi>c</mi> <mn>8</mn> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>d</mi> <mn>8</mn> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>x</mi> <mn>8</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msub> <mi>e</mi> <mn>8</mn> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>x</mi> <mn>8</mn> </msub> <mo>+</mo> <msub> <mi>f</mi> <mn>8</mn> </msub> <mo>)</mo> </mrow> </mfrac> </mrow>
Wherein, rating8For the scoring of higher-order of oscillation desired value；x8For higher-order of oscillation desired value；a8, b8, c8, d8, e8, f8For mould The coefficient that type is determined previously according to the objective higher-order of oscillation desired value of vehicle and subjective scoring.
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