CN110103709B - A vehicle pedal opening control method, system, device and medium - Google Patents
A vehicle pedal opening control method, system, device and medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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Abstract
一种车辆踏板开度的控制方法、系统、设备和介质，用于控制踏板开度以使车辆按照预设加速度运行，方法包括：S1，将踏板开度分为M段，并计算当前车速下该M段踏板开度对应的M个加速度；S2，获取预设加速度，根据M段踏板开度、M个加速度和预设加速度计算该预设加速度对应的第一踏板开度；S3，采集实际加速度，根据实际加速度与预设加速度之间的差值对第一踏板开度进行补偿，得到第二踏板开度；S4，根据预设规则控制踏板开度，使得该踏板开度等于第二踏板开度。基于车速、加速度和踏板开度的关系计算，扩展了控制方法的适用性，并基于实际加速度进行PID调节，提升了控制性能，并对踏板开度进行滤波处理，提升了整车的驾驶性能。
A method, system, device and medium for controlling a pedal opening degree of a vehicle, which are used to control the pedal opening degree to make the vehicle run according to a preset acceleration, the method comprising: S1, dividing the pedal opening degree into M sections, and calculating the current vehicle speed M accelerations corresponding to the pedal openings of the M segments; S2, obtaining a preset acceleration, and calculating the first pedal opening corresponding to the preset acceleration according to the pedal openings of the M segments, the M accelerations and the preset acceleration; S3, collecting the actual pedal opening Acceleration: Compensate the first pedal opening degree according to the difference between the actual acceleration and the preset acceleration to obtain the second pedal opening degree; S4, control the pedal opening degree according to the preset rule, so that the pedal opening degree is equal to the second pedal opening opening. Based on the calculation of the relationship between vehicle speed, acceleration and pedal opening, the applicability of the control method is expanded, and PID adjustment is performed based on the actual acceleration to improve the control performance, and the pedal opening is filtered to improve the driving performance of the vehicle.
Description
Technical Field
The present disclosure relates to the field of intelligent driving control, and in particular, to a method, system, device, and medium for controlling a pedal opening of a vehicle.
Background
The key technology of intelligent driving relates to environment perception, high-precision positioning, decision planning, execution control and the like, wherein the execution control is used as the bottommost layer of an intelligent driving vehicle system and is directly related to the final realization of an intelligent driving function. The vehicle motion control is the most central part in the execution control and comprises longitudinal control and transverse control, wherein the longitudinal control mainly controls the speed of the vehicle according to the determined path track so as to ensure the stable, safe and comfortable running of the vehicle.
The longitudinal control is more widely performed by acceleration tracking control, such as calculation of a control amount by estimating a running resistance from a running target acceleration and an acceleration compensation amount, and determination of an average value of acceleration increments of the vehicle, such as from a difference between an actual acceleration of the vehicle and a desired acceleration of the vehicle, and remedy of the actual acceleration of the vehicle from the average value. The prior art approaches to the calculation of a theoretical model for the controlled variable more, but the uncertainty of parameter selection related to some vehicle characteristics and the strong nonlinearity of the vehicle can cause a certain deviation of a calculation result; and no related technical scheme considers the motion characteristics of the vehicle to increase the reliability of control input from the calculation of control primary input; and because the vehicle acceleration is controlled in a split mode, all driving conditions cannot be covered, so that the expansibility of the control method is limited.
Disclosure of Invention
Technical problem to be solved
The invention provides a control method, a system, equipment and a medium for the opening degree of a pedal of a vehicle, which are based on the relation calculation of the vehicle speed, the acceleration and the opening degree of the pedal, expand the applicability of the control method, carry out PID (proportion integration differentiation) regulation based on the actual acceleration, improve the control performance, carry out filtering processing on the opening degree of the pedal and improve the driving performance of the whole vehicle.
(II) technical scheme
The present disclosure provides a control method of a pedal opening degree of a vehicle for controlling the pedal opening degree to operate the vehicle at a preset acceleration, the method including: s1, dividing the pedal opening into M sections, and calculating M accelerations corresponding to the M sections of pedal opening at the current vehicle speed; s2, acquiring the preset acceleration, and calculating a first pedal opening corresponding to the preset acceleration according to the M pedal openings, the M accelerations and the preset acceleration; s3, acquiring actual acceleration, and compensating the first pedal opening according to the difference between the actual acceleration and a preset acceleration to obtain a second pedal opening; and S4, controlling the pedal opening according to a preset rule so that the pedal opening is equal to the second pedal opening.
Optionally, the preset acceleration has a value between values of two adjacent accelerations among the M accelerations, and the step S2 includes: and acquiring the preset acceleration, and calculating the first pedal opening by using a linear interpolation method according to the preset acceleration, the two adjacent accelerations and the two pedal openings corresponding to the two adjacent accelerations.
Optionally, the first pedal opening is:
wherein i is 1, 2, … …, M-1, α is the first pedal opening, aiAnd ai+1Respectively the values of said two adjacent accelerations, adsr-outIs the value of said preset acceleration, alphaiIs a value ofiAcceleration of (d) is calculated.
Optionally, the step S3 includes: acquiring the actual acceleration in real time according to a preset sampling period; calculating a difference value between each actual acceleration and a preset acceleration; and calculating a pedal opening degree compensation amount according to the difference by using a PID control method, wherein the second pedal opening degree is equal to the sum of the first pedal opening degree and the pedal opening degree compensation amount.
Optionally, the pedal opening compensation amount is:
wherein j is 0, 1, … …, k, alphactrl-cmpThe pedal opening compensation amount is T is the preset sampling period, e (j) is the difference value between the actual acceleration acquired in the j +1 th sampling period and the preset acceleration, Kp、KiAnd KdP control parameter, I control parameter and D control parameter in PID control method.
Optionally, the step S1 includes: dividing the pedal opening into M sections, and collecting the speed and the acceleration of the vehicle under each section of pedal opening; obtaining relation curves between the speeds and the accelerations of the M vehicles through data fitting; and inquiring the M relation curves according to the current vehicle speed to obtain M accelerated speeds corresponding to the pedal opening of the M section under the current vehicle speed.
Optionally, the step S4 includes: calculating a preset change gradient according to the current vehicle speed and the current acceleration; and controlling the pedal opening according to a preset rule, so that the pedal opening is increased to the second pedal opening according to the preset change gradient.
The present disclosure also provides a control system of a pedal opening degree of a vehicle for controlling the pedal opening degree to make the vehicle operate according to a preset acceleration, the control system including: the first calculation module is used for dividing the pedal opening into M sections and calculating M acceleration corresponding to the M sections of pedal opening at the current vehicle speed; the second calculation module is used for acquiring the preset acceleration and calculating a first pedal opening corresponding to the preset acceleration according to the M sections of pedal openings, the M accelerations and the preset acceleration; the compensation module is used for acquiring actual acceleration and compensating the first pedal opening according to the difference value between the actual acceleration and preset acceleration to obtain a second pedal opening; and the control module is used for controlling the pedal opening according to a preset rule so that the pedal opening is equal to the second pedal opening.
The present disclosure also provides a control electronic device of a vehicle pedal opening degree, including: a processor; a memory storing a computer-executable program that, when executed by the processor, causes the processor to execute the above-described method of controlling the opening degree of the vehicle pedal.
The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described control method of the opening degree of a pedal of a vehicle.
(III) advantageous effects
The control method, the system, the equipment and the medium for the opening degree of the pedal of the vehicle have the following beneficial effects:
(1) the relation curve among the opening degree of an accelerator pedal, the vehicle speed and the acceleration is obtained through data of real vehicle testing, the actual motion characteristic of the vehicle is fully considered, and the reliability of the control method is improved;
(2) based on the relation calculation of the vehicle speed, the acceleration and the opening degree of an accelerator pedal, a fixed driving mode and a driving scene do not need to be distinguished, and the applicability of the control method is expanded;
(3) on the basis of theoretical calculation, PID adjustment is carried out based on actual acceleration feedback, theoretical errors are compensated, and control performance is improved;
(4) before the opening degree of the accelerator pedal is output, the opening degree of the accelerator pedal is subjected to filtering processing, and the influence of step change of the opening degree of the accelerator pedal on the driving performance of the whole vehicle is avoided.
Drawings
Fig. 1 schematically shows a flowchart of a control method of a vehicle pedal opening degree according to an embodiment of the present disclosure.
Fig. 2 schematically shows a block diagram of a control system of a vehicle pedal opening degree according to an embodiment of the present disclosure.
Fig. 3 schematically shows a block diagram of an electronic device of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
A first embodiment of the present disclosure shows a control method of a pedal opening degree of a vehicle for controlling a pedal opening degree of a smart driving vehicle such that the smart driving vehicle operates at a preset acceleration, as shown in fig. 1, the method including the operations of:
and S1, dividing the pedal opening into M sections, and calculating M accelerations corresponding to the M sections of pedal opening at the current vehicle speed.
Firstly, dividing the opening degree of an accelerator pedal of 0-100% into M sections, wherein M is larger than 0, every 100/M section is a section, and the corresponding opening degree of the accelerator pedal is respectively alpha1～αM. Taking M as an example of 10, the accelerator pedal opening of 0 to 100% is divided into 10 stages, and the 10 stages correspond to values of 10%, 20%, 30%, and … … 100% respectively.
Secondly, when the attribute parameters (such as vehicle type, vehicle weight, road gradient, etc.) of the vehicle are not changed, the speed and the acceleration of the vehicle have a one-to-one correspondence relationship under different accelerator pedal opening degrees, but there is no accurate theoretical formula among the accelerator pedal opening degree, the vehicle speed and the acceleration, and meanwhile, in order to consider the motion characteristics of the vehicle, the correspondence relationship can be obtained by performing curve fitting on the speed and the acceleration acquired by the real vehicle. Specifically, the actual data of the speed and the acceleration of the intelligent driving vehicle are collected under the opening degree of each section of the accelerator pedal, and M relation curves between the speed and the acceleration of the vehicle are obtained through data fitting. Taking M as an example, setting the accelerator pedal opening as 10%, collecting multiple sets of speed actual data and corresponding acceleration actual data of the vehicle, and obtaining a relational curve expression between the vehicle speed and the acceleration when the accelerator pedal opening is 10% by data fitting according to the multiple sets of speed and acceleration actual data:
y＝Knxn+Kn-1xn-1+…+Kx+E
wherein y denotes a speed of the vehicle, x denotes an acceleration of the vehicle, Kn、Kn-1… … K are the corresponding term coefficients, E is a constant. And similarly, obtaining the relation curve between the vehicle speed and the acceleration under other M-1 accelerator pedal opening degrees.
Then, under the state that the gear is determined, according to the current vehicle speed, inquiring the obtained M relation curves to obtain M accelerations a corresponding to the opening degrees of the M accelerator pedals under the current vehicle speed1～aM。
And S2, acquiring a preset acceleration, and calculating a first pedal opening corresponding to the preset acceleration according to the M pedal openings, the M accelerations and the preset acceleration.
The vehicle outputs a preset acceleration adsr-outWhen a isdsr-outWhen the vehicle enters a driving control state when the speed is more than or equal to 0, the opening degree of an accelerator pedal needs to be increased to control the vehicle to run in an accelerating way, adsr-outWhen the value is more than or equal to 0, the following operations are executed.
When the vehicle outputs a preset acceleration, the obtained M accelerations a may be obtained1～aMCan not be completely consistent with the preset acceleration, and the value of the preset acceleration is between the M accelerations a1～aMBetween two adjacent values of acceleration, i.e. ai＜adsr-out＜ai+1(i＝1，2，……，M-1)。
According to the preset acceleration, two adjacent accelerations and two accelerator pedal opening degrees corresponding to the two adjacent accelerations, a first pedal opening degree is calculated by using a linear interpolation method, wherein the first pedal opening degree is a theoretical accelerator pedal opening degree, and the first pedal opening degree is as follows:
where i is 1, 2, … …, M, α is the first pedal opening, aiAnd ai+1Respectively the values of the two adjacent accelerations, adsr-outFor presetting the value of acceleration, alphaiIs a value ofiAcceleration of (d) is calculated.
And S3, acquiring actual acceleration, and compensating the first pedal opening according to the difference between the actual acceleration and the preset acceleration to obtain a second pedal opening.
Although the operation S1 fits the relationship between the speed and the acceleration at different accelerator pedal opening degrees according to the measured data, the motion characteristics of the vehicle are sufficiently considered, but there is an error in the process of obtaining the relationship by fitting the data and calculating the acceleration according to the current vehicle speed, and therefore, there is a certain error if the vehicle is directly controlled by the theoretical accelerator pedal opening degree calculated in the operation S2. In order to make the control closed loop and improve the accuracy of the actual control, operation S3 PID-adjusts the accelerator pedal opening degree based on the error between the actual acceleration and the preset acceleration.
Firstly, the actual acceleration a of the vehicle is collected in real time according to a preset sampling period TrealTotal k +1 actual accelerations, areal(j) Represents the actual acceleration of the vehicle at the j +1 th sampling period, where j is 0, 1, 2, … … k.
Secondly, the difference between each actual acceleration and the preset acceleration is calculated:
e(j)＝areal(j)-adsr-out(j)
where j is 0, 1, 2, … … k, e (j) represents the difference between the actual acceleration of the vehicle and the preset acceleration at the j +1 th sampling period.
Then, the PID control method is used for calculating the opening degree compensation quantity alpha of the accelerator pedal according to the difference valuectrl-cmp：
Wherein, Kp、KiAnd KdP control parameter, I control parameter and D control parameter, K in PID control methodp、KiAnd KdThe value of (d) is determined by actual debugging.
Finally, calculating a second pedal opening degree alpha according to the accelerator pedal opening degree compensation quantity and the first pedal opening degreectrl：
αctrl＝αctrl-cmp+α
And the second pedal opening is the actually output accelerator pedal opening which is equal to the sum of the pedal opening compensation amount and the first pedal opening.
And S4, controlling the pedal opening according to a preset rule so that the pedal opening is equal to the second pedal opening.
The change of the opening degree of the accelerator pedal directly influences the output of the driving torque of the vehicle, if the change rate of the opening degree of the accelerator pedal is too large, the vehicle can be caused to generate larger pause and shake, so that the driving comfort of the whole vehicle is influenced, and even the service life of key transmission parts of the whole vehicle is reduced. Therefore, in the actual control, the calculated actual output accelerator pedal opening is subjected to a certain filtering limitation and then output, so as to limit the gradient of change of the accelerator pedal opening in the unit period.
Firstly, a preset change gradient under the current accelerator pedal opening degree is calculated according to the current vehicle speed and the current acceleration.
In addition, a table look-up method can also be adopted, a two-dimensional MAP table for limiting the opening degree change gradient of the accelerator pedal is formulated according to the vehicle speed and the vehicle acceleration, and the change gradient of the accelerator pedal is directly obtained by inquiring the two-dimensional MAP table according to the current vehicle speed and the current acceleration in the actual control process. The two-dimensional MAP table is shown as follows:
| current vehicle speed (km/h) | Current acceleration (m/s)2) | Gradient of change (%) |
| 10 | 1 | 5 |
| 20 | 1 | 2.5 |
| 10 | 2 | 4 |
| 20 | 2 | 2 |
And then, controlling the opening degree of the accelerator pedal according to a preset rule, so that the opening degree of the accelerator pedal is increased to a second pedal opening degree according to the preset change gradient. For example, assume that the current accelerator pedal opening is 10%, the current vehicle speed is 10km/h, and the current acceleration is 1m/s2The second pedal opening is 20%, and the change gradient of the pedal opening is 5% as known from a table lookup, so that the accelerator pedal opening output in the current period can only be increased by 5% to 15%, and the accelerator pedal opening output in the second period is increased to 20% (namely, the second pedal opening).
The second embodiment of the present disclosure shows a control system of a pedal opening degree of a vehicle for controlling a pedal opening degree of a smart driving vehicle such that the smart driving vehicle operates at a preset acceleration, as shown in fig. 2, which includes a first calculation module 210, a second calculation module 220, a compensation module 230, and a control module 240.
Specifically, the first calculation module 210 is configured to divide the accelerator pedal opening of 0-100% into M segments; acquiring actual data of the speed and the acceleration of the intelligent driving vehicle under the opening degree of each section of accelerator pedal, and obtaining relationship curves between the speed and the acceleration of the M vehicles through data fitting; then, according to the current vehicle speed, inquiring the obtained M relation curves to obtain M acceleration a corresponding to the opening degrees of the M accelerator pedals at the current vehicle speed1～aM。
A second calculation module 220 for calculating a preset acceleration a when the vehicle outputsdsr-outEntering a drive control state when the acceleration is more than or equal to 0, and judging that the value of the preset acceleration is between the M accelerations a1～aMBetween the values of two adjacent accelerations, calculating a first pedal opening by using a linear interpolation method according to the preset acceleration, the two adjacent accelerations and two accelerator pedal openings corresponding to the two adjacent accelerations, wherein the first pedal opening is a theoretical accelerator pedal opening and is:
where i is 1, 2, … …, M, α is the first pedal opening, aiAnd ai+1Respectively the values of the two adjacent accelerations, adsr-outFor presetting the value of acceleration, alphaiIs a value ofiAcceleration of (d) is calculated.
A compensation module 230 for acquiring the actual acceleration of the vehicle in real time according to the preset sampling period T, calculating the error between each actual acceleration and the preset acceleration, and then calculating the accelerator pedal opening compensation amount α according to the difference by using a PID control methodctrl-cmp：
Wherein j is 0, 2, … …, k, e (j) is j +1The difference, K, between the actual acceleration collected in each sampling period and the preset accelerationp、KiAnd KdP control parameter, I control parameter and D control parameter in PID control method. Kp、KiAnd KdThe value of (d) is determined by actual debugging. And compensating the first pedal opening according to the accelerator pedal opening compensation amount to obtain a second pedal opening.
And the control module 240 is configured to calculate a preset change gradient under the current accelerator pedal opening according to the current vehicle speed and the current acceleration, and control the accelerator pedal opening according to a preset rule, so that the accelerator pedal opening is increased to a second accelerator pedal opening according to the preset change gradient.
A third embodiment of the present disclosure shows an electronic device, as shown in fig. 3, the electronic device 300 includes a processor 310, a computer-readable storage medium 320. The electronic device 300 may perform the method described above with reference to fig. 1 for message processing.
In particular, processor 310 may include, for example, a general purpose microprocessor, an instruction set processor and/or related chip set and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), and/or the like. The processor 310 may also include on-board memory for caching purposes. The processor 310 may be a single processing unit or a plurality of processing units for performing the different actions of the method flows according to embodiments of the present disclosure described with reference to fig. 1.
Computer-readable storage medium 320 may be, for example, any medium that can contain, store, communicate, propagate, or transport the instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the readable storage medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
The computer-readable storage medium 320 may include a computer program 321, which computer program 321 may include code/computer-executable instructions that, when executed by the processor 310, cause the processor 310 to perform a method flow such as that described above in connection with fig. 1 and any variations thereof.
The computer program 321 may be configured with, for example, computer program code comprising computer program modules. For example, in an example embodiment, code in computer program 321 may include one or more program modules, including 321A, modules 321B, … …, for example. It should be noted that the division and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, which when executed by the processor 310, enable the processor 310 to perform the method flow described above in connection with fig. 1 and any variations thereof, for example.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A control method of a pedal opening degree of a vehicle for controlling the pedal opening degree to operate the vehicle at a preset acceleration, characterized by comprising:
s1, dividing the pedal opening into M sections, collecting the speed and the acceleration of the vehicle under each section of pedal opening, obtaining relationship curves between the speed and the acceleration of M vehicles through data fitting, inquiring the M relationship curves according to the current vehicle speed, and calculating M accelerations corresponding to the M sections of pedal opening under the current vehicle speed;
s2, acquiring the preset acceleration, and calculating a first pedal opening corresponding to the preset acceleration according to the M pedal openings, the M accelerations and the preset acceleration;
s3, collecting actual acceleration in real time according to a preset sampling period, calculating a difference value between each actual acceleration and the preset acceleration, and calculating a pedal opening compensation amount according to the difference value by using a PID control method to obtain a second pedal opening which is equal to the sum of the first pedal opening and the pedal opening compensation amount;
and S4, controlling the pedal opening according to a preset rule so that the pedal opening is equal to the second pedal opening.
2. The control method according to claim 1, wherein the preset acceleration has a value between values of two adjacent accelerations among the M accelerations, and the step S2 includes:
and acquiring the preset acceleration, and calculating the first pedal opening by using a linear interpolation method according to the preset acceleration, the two adjacent accelerations and the two pedal openings corresponding to the two adjacent accelerations.
3. The control method according to claim 2, characterized in that the first pedal opening degree is:
wherein i is 1, 2, … …, M-1, α is the first pedal opening, aiAnd ai+1Respectively the values of said two adjacent accelerations, adsr-outIs the value of said preset acceleration, alphaiIs a value ofiAcceleration of (d) is calculated.
4. The control method according to claim 1, characterized in that the pedal opening degree compensation amount is:
wherein j is 0, 1, … …, k, alphactrl-cmpFor the pedal opening compensation quantity, T is the preset sampling period, e (j) is sampling in the j +1 th sampling periodDifference between actual acceleration of the set and preset acceleration, Kp、KiAnd KdP control parameter, I control parameter and D control parameter in PID control method.
5. The control method according to claim 1, wherein the step S4 includes:
calculating a preset change gradient according to the current vehicle speed and the current acceleration;
and controlling the pedal opening according to the preset rule, so that the pedal opening is increased to the second pedal opening according to the preset change gradient.
6. A control system of a pedal opening degree of a vehicle for controlling the pedal opening degree to operate the vehicle at a preset acceleration, comprising:
the first calculation module is used for dividing the pedal opening into M sections, collecting the speed and the acceleration of the vehicle under each section of pedal opening, obtaining relation curves between the speed and the acceleration of the M vehicles through data fitting, inquiring the M relation curves according to the current vehicle speed, and calculating M accelerations corresponding to the M sections of pedal opening under the current vehicle speed;
the second calculation module is used for acquiring the preset acceleration and calculating a first pedal opening corresponding to the preset acceleration according to the M sections of pedal openings, the M accelerations and the preset acceleration;
the compensation module is used for acquiring actual acceleration in real time according to a preset sampling period, calculating a difference value between each actual acceleration and the preset acceleration, and calculating a pedal opening compensation amount according to the difference value by using a PID control method to obtain a second pedal opening which is equal to the sum of the first pedal opening and the pedal opening compensation amount;
and the control module is used for controlling the pedal opening according to a preset rule so that the pedal opening is equal to the second pedal opening.
7. An electronic apparatus for controlling a pedal opening degree of a vehicle, comprising:
a processor;
a memory storing a computer-executable program that, when executed by the processor, causes the processor to execute the method of controlling a pedal opening degree of a vehicle according to any one of claims 1 to 5.
8. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements a control method of a vehicle pedal opening degree according to any one of claims 1 to 5.
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|---|---|---|---|
| CN201910421680.7A CN110103709B (en) | 2019-05-20 | 2019-05-20 | A vehicle pedal opening control method, system, device and medium |
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| CN201910421680.7A CN110103709B (en) | 2019-05-20 | 2019-05-20 | A vehicle pedal opening control method, system, device and medium |
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| CN110103709A CN110103709A (en) | 2019-08-09 |
| CN110103709B true CN110103709B (en) | 2021-04-23 |
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| CN112824125A (en) * | 2019-11-20 | 2021-05-21 | 长城汽车股份有限公司 | Method and device for guiding opening degree of accelerator pedal of vehicle and vehicle |
| CN113092132A (en) * | 2021-03-31 | 2021-07-09 | 奇瑞汽车股份有限公司 | Vehicle pedal control system |
| CN113147734B (en) * | 2021-05-21 | 2022-09-16 | 吉林大学 | Closed-loop control method based on longitudinal acceleration intention of driver |
| CN113500760B (en) * | 2021-07-23 | 2023-05-23 | 江苏亨通光电股份有限公司 | Extrusion molding speed compensation method, system, computer equipment and storage medium |
| CN114323684B (en) * | 2021-12-16 | 2023-07-14 | 东风汽车集团股份有限公司 | Objective evaluation method and system for vehicle dynamic performance |
| CN114323685B (en) * | 2021-12-16 | 2023-07-11 | 东风汽车集团股份有限公司 | Vehicle re-acceleration dynamic objective evaluation method, system and storage medium |
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