CN112622614A - Single-pedal control system and control method thereof - Google Patents
Single-pedal control system and control method thereof Download PDFInfo
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- CN112622614A CN112622614A CN202011509472.1A CN202011509472A CN112622614A CN 112622614 A CN112622614 A CN 112622614A CN 202011509472 A CN202011509472 A CN 202011509472A CN 112622614 A CN112622614 A CN 112622614A
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- pedal
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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
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a single-pedal control system and a control method thereof, wherein the system comprises an environment acquisition unit, a pedal control unit, a calculation unit and an execution unit; the environment acquisition unit is used for acquiring vehicle running parameters, the surrounding environment and physical information of a driver; the pedal control unit is used for acquiring a pedal working state, wherein the pedal working state comprises a pedal working condition and a pedal opening degree under the current pedal working condition; the calculation unit is used for analyzing the vehicle running parameters, the physical information and the pedal working state and sending out a driving action instruction; the execution unit is used for receiving the driving action command and controlling the vehicle to run, and comprises a steering system, a power system and a braking system. The invention simplifies the operation of the driver, does not need to switch between an accelerator pedal and a brake pedal frequently, only needs one pedal, and is a single pedal in the true sense. The invention can prevent misoperation, save more energy and reduce friction braking.
Description
Technical Field
The invention relates to an automatic control technology of passenger vehicle components, in particular to a single-pedal control system and a control method thereof.
Background
The conventional ePidal/one pedal can finish the operations of starting, accelerating, decelerating, braking and the like of the vehicle by analyzing the force of stepping on an accelerator pedal by a driver. Once the accelerator is completely released, the functions of regenerative braking and friction braking are automatically started, and the vehicle can realize smooth braking.
However, in the current ePadal/one pedal, the acceleration, deceleration, braking and other operations are simultaneously carried out by using one pedal, the foot is always held, different forces are required to be mastered to control the vehicle, the ergonomics is not met, the learning cost of a user is high, and accidents are easily caused. Meanwhile, a brake pedal still needs to be added, and when emergency braking is needed, emergency braking is performed by stepping down. And is not a true single pedal.
Disclosure of Invention
In order to solve the problems, the invention provides a single-pedal control system and a control method thereof.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a single pedal control system comprising:
the environment acquisition unit is used for acquiring vehicle running parameters, the surrounding environment and physical information of a driver;
the pedal control unit is used for acquiring a pedal working state, wherein the pedal working state comprises a pedal working condition and a pedal opening degree under the current pedal working condition;
the calculation unit is used for analyzing the vehicle running parameters, the physical information and the pedal working state and sending out a driving action instruction;
and the execution unit is used for receiving the driving action command and controlling the vehicle to run and comprises a steering system, a power system and a braking system.
Further, the environment acquisition unit comprises a sensor, a camera, a radar and a GPS.
Further, the sensor includes:
an angle sensor for sensing a rotation angle of a vehicle steering wheel;
the speed sensor is used for acquiring the real-time running speed of the vehicle;
and the temperature sensor is used for measuring the real-time temperature of each part of the vehicle.
Further, the vehicle running parameters comprise energy information, vehicle speed, steering, real-time position and distance to a target place of the vehicle; the physical information of the surrounding environment includes roads, traffic signs, pedestrians, animals, motor vehicles, non-motor vehicles, trees, and buildings; the physical information of the driver includes a posture, a state, and an action of the driver.
Further, the pedal working conditions include a pedal stepping working condition, a pedal releasing working condition and a pedal maintaining working condition, the pedal stepping working condition indicates that the pedal opening at the current moment is smaller than the pedal opening at the previous moment, the pedal releasing working condition indicates that the pedal opening at the current moment is larger than the pedal opening at the previous moment, and the pedal maintaining working condition indicates that the pedal opening at the current moment is equal to the pedal opening at the previous moment.
Further, the driving action command comprises a steering operation command, a power operation command, a braking operation command and an energy recovery operation command.
Further, the steering system includes a steering wheel and a steering controller; the power system comprises an accelerator and an accelerator controller; the brake system includes a brake plate and a brake plate controller.
A single pedal control method comprising the steps of:
acquiring vehicle running parameters, the surrounding environment, physical information of a driver and a pedal working state;
generating a first vehicle control instruction according to vehicle driving parameters, wherein the vehicle driving parameters comprise one or more of energy information, vehicle speed, steering, real-time position and distance to a target place of a vehicle; generating a second vehicle control instruction according to a surrounding environment and physical information of the driver, the physical information of the surrounding environment including one or more of roads, traffic signs, pedestrians, animals, motor vehicles, non-motor vehicles, trees, and buildings, the physical information of the driver including one or more of a posture, a state, and an action of the driver; generating a third vehicle control instruction according to a pedal working state, wherein the pedal working state comprises a pedal working condition and a pedal opening under the current pedal working condition;
analyzing execution weights of the first vehicle control instruction, the second vehicle control instruction and the third vehicle control instruction;
sending out a driving action instruction according to the execution weight;
and controlling the vehicle to run according to the driving action command.
Furthermore, the execution weight is obtained according to the coincidence degree of the driving action commands sent when the first vehicle control command, the second vehicle control command and the third vehicle control command are respectively executed.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention simplifies the operation of the driver, does not need to switch between an accelerator pedal and a brake pedal frequently, only needs one pedal, and is a single pedal in the true sense.
2. The invention can prevent misoperation, for many drivers who practice, the frequently made mistake is to use the accelerator as the brake, finally the accident is caused, and the problem can be perfectly solved by a single pedal.
3. The invention is more energy-saving, and through energy recovery, the more the energy returned to the battery pack is, the less the friction braking loss is, and the lower the energy consumption of the automobile is.
Drawings
FIG. 1 is a schematic structural diagram of a single pedal control system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an environment acquisition unit according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating an exemplary embodiment of an execution unit;
FIG. 4 is a flowchart of a single pedal control method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments are further described in detail.
In one aspect, embodiments of the present invention provide a single pedal control system, as shown in fig. 1-3, including: the device comprises an environment acquisition unit, a pedal control unit, a calculation unit and an execution unit; the environment acquisition unit is used for acquiring vehicle running parameters, the surrounding environment and physical information of a driver; the pedal control unit is used for acquiring a pedal working state, wherein the pedal working state comprises a pedal working condition and a pedal opening degree under the current pedal working condition; the calculation unit is used for analyzing the vehicle running parameters, the physical information and the pedal working state and sending out a driving action instruction; the execution unit is used for receiving the driving action command and controlling the vehicle to run, and comprises a steering system, a power system and a braking system.
The environment acquisition unit comprises a sensor, a camera, a radar and a GPS.
The sensor includes: an angle sensor for sensing a rotation angle of a vehicle steering wheel; the speed sensor is used for acquiring the real-time running speed of the vehicle; and the temperature sensor is used for measuring the real-time temperature of each part of the vehicle.
The vehicle running parameters comprise energy information, vehicle speed, steering, real-time position and distance from a target place of the vehicle; the physical information of the surrounding environment includes roads, traffic signs, pedestrians, animals, motor vehicles, non-motor vehicles, trees, and buildings; the physical information of the driver includes a posture, a state, and an action of the driver.
The pedal working conditions comprise a pedal treading working condition, a pedal releasing working condition and a pedal maintaining working condition, wherein the pedal treading working condition represents that the pedal opening at the current moment is smaller than the pedal opening at the last moment, the pedal releasing working condition represents that the pedal opening at the current moment is larger than the pedal opening at the last moment, and the pedal maintaining working condition represents that the pedal opening at the current moment is equal to the pedal opening at the last moment.
The driving action command comprises a steering operation command, a power operation command, a braking operation command and an energy recovery operation command.
The steering system comprises a steering wheel and a steering controller; the power system comprises an accelerator and an accelerator controller; the brake system includes a brake plate and a brake plate controller.
In another aspect, a single pedal control method, as shown in fig. 4, includes the steps of:
acquiring vehicle running parameters, the surrounding environment, physical information of a driver and a pedal working state;
generating a first vehicle control instruction according to vehicle driving parameters, wherein the vehicle driving parameters comprise one or more of energy information, vehicle speed, steering, real-time position and distance to a target place of a vehicle; generating a second vehicle control instruction according to a surrounding environment and physical information of the driver, the physical information of the surrounding environment including one or more of roads, traffic signs, pedestrians, animals, motor vehicles, non-motor vehicles, trees, and buildings, the physical information of the driver including one or more of a posture, a state, and an action of the driver; generating a third vehicle control instruction according to a pedal working state, wherein the pedal working state comprises a pedal working condition and a pedal opening under the current pedal working condition;
analyzing execution weights of the first vehicle control instruction, the second vehicle control instruction and the third vehicle control instruction;
sending out a driving action instruction according to the execution weight;
and controlling the vehicle to run according to the driving action command.
The execution weight is obtained according to the contact ratio of the driving action commands sent when the first vehicle control command, the second vehicle control command and the third vehicle control command are respectively executed.
Claims (9)
1. A single pedal control system, comprising:
the environment acquisition unit is used for acquiring vehicle running parameters, the surrounding environment and physical information of a driver;
the pedal control unit is used for acquiring a pedal working state, wherein the pedal working state comprises a pedal working condition and a pedal opening degree under the current pedal working condition;
the calculation unit is used for analyzing the vehicle running parameters, the physical information and the pedal working state and sending out a driving action instruction;
and the execution unit is used for receiving the driving action command and controlling the vehicle to run and comprises a steering system, a power system and a braking system.
2. The single pedal control system of claim 1 wherein: the environment acquisition unit comprises a sensor, a camera, a radar and a GPS.
3. The single pedal control system of claim 2 wherein the sensor includes:
an angle sensor for sensing a rotation angle of a vehicle steering wheel;
the speed sensor is used for acquiring the real-time running speed of the vehicle;
and the temperature sensor is used for measuring the real-time temperature of each part of the vehicle.
4. The single pedal control system of claim 1 wherein: the vehicle running parameters comprise energy information, vehicle speed, steering, real-time position and distance from a target place of the vehicle; the physical information of the surrounding environment includes roads, traffic signs, pedestrians, animals, motor vehicles, non-motor vehicles, trees, and buildings; the physical information of the driver includes a posture, a state, and an action of the driver.
5. The single pedal control system of claim 1 wherein: the pedal working conditions comprise a pedal treading working condition, a pedal releasing working condition and a pedal maintaining working condition, wherein the pedal treading working condition represents that the pedal opening at the current moment is smaller than the pedal opening at the last moment, the pedal releasing working condition represents that the pedal opening at the current moment is larger than the pedal opening at the last moment, and the pedal maintaining working condition represents that the pedal opening at the current moment is equal to the pedal opening at the last moment.
6. The single pedal control system of claim 1 wherein: the driving action command comprises a steering operation command, a power operation command, a braking operation command and an energy recovery operation command.
7. The single pedal control system of claim 1 wherein: the steering system comprises a steering wheel and a steering controller; the power system comprises an accelerator and an accelerator controller; the brake system includes a brake plate and a brake plate controller.
8. A single-pedal control method, comprising the steps of:
acquiring vehicle running parameters, the surrounding environment, physical information of a driver and a pedal working state;
generating a first vehicle control instruction according to vehicle driving parameters, wherein the vehicle driving parameters comprise one or more of energy information, vehicle speed, steering, real-time position and distance to a target place of a vehicle; generating a second vehicle control instruction according to a surrounding environment and physical information of the driver, the physical information of the surrounding environment including one or more of roads, traffic signs, pedestrians, animals, motor vehicles, non-motor vehicles, trees, and buildings, the physical information of the driver including one or more of a posture, a state, and an action of the driver; generating a third vehicle control instruction according to a pedal working state, wherein the pedal working state comprises a pedal working condition and a pedal opening under the current pedal working condition;
analyzing execution weights of the first vehicle control instruction, the second vehicle control instruction and the third vehicle control instruction;
sending out a driving action instruction according to the execution weight;
and controlling the vehicle to run according to the driving action command.
9. The single-pedal control method according to claim 8, wherein: the execution weight is obtained according to the contact ratio of the driving action commands sent when the first vehicle control command, the second vehicle control command and the third vehicle control command are respectively executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011509472.1A CN112622614A (en) | 2020-12-18 | 2020-12-18 | Single-pedal control system and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011509472.1A CN112622614A (en) | 2020-12-18 | 2020-12-18 | Single-pedal control system and control method thereof |
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| CN112622614A true CN112622614A (en) | 2021-04-09 |
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| CN202011509472.1A Pending CN112622614A (en) | 2020-12-18 | 2020-12-18 | Single-pedal control system and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113400935A (en) * | 2021-07-01 | 2021-09-17 | 上汽大通房车科技有限公司 | Dual function pedal control system |
| CN114407847A (en) * | 2022-02-25 | 2022-04-29 | 吉林大学 | Single-pedal wire-controlled chassis automobile auxiliary braking method based on machine learning |
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Application publication date: 20210409 |