CN112757897A - Self-learning method and system for accelerator pedal of pure electric vehicle and vehicle - Google Patents
Self-learning method and system for accelerator pedal of pure electric vehicle and vehicle 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
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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Abstract
The invention provides a self-learning method and a self-learning system of an accelerator pedal and a vehicle. On one hand, when the current accelerator pedal opening is calculated, the accelerator pedal opening is ensured to be 0 under the condition that a driver does not step on the accelerator pedal in the initial electrifying stage; on the other hand, the whole opening range of the accelerator pedal is corrected by carrying out real-time dynamic self-learning in the driving process, so that the problem that the tail is not considered before is solved. Meanwhile, the opening degree of the accelerator pedal can be accurately corrected through a calculation formula, and the accelerator pedal is not influenced by environmental conditions.
Description
Technical Field
The invention belongs to the field of new energy automobile electric appliances, and particularly relates to a self-learning method of an accelerator pedal of a pure electric automobile.
Background
At present, the driving torque input of a pure electric vehicle is from an electronic accelerator pedal, and the driving feeling and the safety of a driver are directly influenced by the accelerator opening degree of the pure electric vehicle. The accelerator opening is obtained by sampling the voltage of an accelerator pedal, and the electronic accelerator pedal is usually initially calibrated once, but the signals of the accelerator pedal are easy to have errors, zero drift, faults and the like. How to solve the problem that the analyzed opening degree of the whole vehicle controller is not the opening degree actually expected by the driver due to the drift of the voltage signal of the accelerator pedal, and certain deviation exists and even errors can be caused. And is therefore the main direction of current patent research.
Patent document No. 201811076688.6 discloses a "method and apparatus for analyzing the opening degree of a vehicle and an accelerator pedal", the method including the steps of: acquiring a current accelerator pedal zero sampling value, and judging whether the current accelerator pedal zero sampling value is in a zero offset effective range; if not, eliminating the current zero sampling value of the accelerator pedal, and acquiring the zero sampling value of the accelerator pedal again; if so, acquiring the average value of the zero-point sampling values of the accelerator pedal within the preset times as the current zero-point sampling value of the accelerator pedal. However, since the correction is performed only based on the zero drift of the accelerator pedal, the correction is not performed on the intermediate opening degree and the full-scale opening degree, and the algorithm has inaccuracy.
Patent document No. 201911190372.4 discloses a "dynamic calibration method for the position of a potentiometer accelerator pedal", which performs calibration based on zero and full range, and solves the problem of calibration of the accelerator pedal from zero position accelerator to full range accelerator, but because the accelerator opening adopts empirical constant filtering, the calibration precision is not high when the environment and working conditions change.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a self-learning method of the accelerator pedal, which is used for completing the self-learning of the accelerator pedal under the condition that the accelerator pedal has no fault. On one hand, when the current accelerator pedal opening is calculated, the accelerator pedal opening is ensured to be 0 under the condition that a driver does not step on the accelerator pedal in the initial electrifying stage; on the other hand, the whole opening range of the accelerator pedal is corrected by carrying out real-time dynamic self-learning in the driving process, so that the problem that the tail is not considered before is solved. Meanwhile, the opening degree of the accelerator pedal can be accurately corrected through a calculation formula, and the accelerator pedal is not influenced by environmental conditions.
The technical scheme of the invention is as follows:
a self-learning method of an accelerator pedal is characterized in that when a pure electric vehicle is in an ON gear, whether the accelerator pedal is in a normal state is judged, and if the accelerator pedal is not in a normal state, the accelerator pedal is considered to have a fault; if the initial throttle zero position calibration value is normal, self-learning is carried out by combining the initial throttle zero position calibration value; and then, in the running process of the pure electric vehicle, correcting the result by combining the actual accelerator pedal sampling voltage and the vehicle speed, and meanwhile, judging whether the jump of the correction result is larger than a calibration threshold value, if not, finishing the dynamic calibration self-learning of the accelerator pedal, and if so, reporting the fault treatment.
Further, the self-learning method of the accelerator pedal of the pure electric vehicle comprises the following specific implementation steps:
1. when the pure electric vehicle is powered ON for the first time in a certain environment, firstly judging whether an accelerator pedal is in a normal state, if not, reporting a fault to a vehicle control unit, not implementing self-learning of the accelerator pedal, and determining the opening degree of the pedal through a fault diagnosis processing measure;
if the sampling voltage of the accelerator pedal is normal, judging whether the sampling voltage of the accelerator pedal is in a set range, and combining the initial accelerator zero-position initial calibration value to perform zero drift self-learning of the accelerator pedal when the sampling voltage value of the accelerator pedal is less than a preset calibration threshold value; if the sampling voltage value is not less than the preset calibration threshold value, reporting a fault to the whole vehicle controller, not implementing self-learning of the accelerator pedal, and determining the pedal opening degree through fault diagnosis processing measures;
2. after the whole vehicle starts to run, detecting the sampling voltage of an accelerator pedal and the speed of the whole vehicle in real time, and when the maximum stable speed of the vehicle under a certain accelerator pedal opening degree is detected, considering that the sampling voltage of the accelerator is consistent with the initial preset calibrated opening degree of the whole vehicle, and judging and correcting the sampling voltage of the accelerator by the following formula:
wherein, X is a sampling voltage, and X is an initial sampling voltage corresponding to a certain opening; y1 is the initial opening, y2 is the drift opening; y is a certain initial opening, and y' is a certain opening after drift; a is initial zero-position sampling voltage, and b is initial full-opening sampling voltage; a 'is a drifting zero-position sampling voltage, and b' is a drifting full-opening-degree sampling voltage;
then, judging a corrected result and a calibration opening result initially preset by the whole vehicle, if the corrected result jumps within a calibration threshold range, considering that the correction is in a reasonable range, updating the sampling voltage and the opening of the accelerator pedal to complete dynamic self-learning, and filtering the opening of the accelerator pedal for final output; if the jump is larger than the calibration threshold value, the accelerator pedal is considered to be abnormal, fault processing is reported, self-learning of the accelerator pedal is not implemented, and the pedal opening is determined through fault diagnosis processing measures.
The invention also proposes a self-learning system of an accelerator pedal for implementing the above method, the system having:
the first judgment module is used for judging whether the accelerator pedal is in a normal state or not when the pure electric vehicle is in an ON gear;
the zero self-learning module is used for self-learning by combining an initial accelerator zero initial calibration value when the accelerator pedal is in a normal state;
the accelerator sampling voltage judging and correcting module is used for judging and correcting the accelerator sampling voltage by combining the actual accelerator pedal sampling voltage and the speed of the pure electric vehicle in the whole vehicle running process;
the second judgment module is used for judging whether the jump of the correction result is larger than a calibration threshold value;
the dynamic self-learning module is used for updating the sampling voltage and the opening of the accelerator pedal when the jump of the corrected result is within the calibration threshold range so as to finish the dynamic calibration self-learning;
and the fault processing module reports the fault to the vehicle control unit when the first judgment module judges that the accelerator pedal is abnormal or when the jump of the correction result of the second judgment module is larger than a calibration threshold, does not implement self-learning of the accelerator pedal, and determines the opening degree of the pedal through fault diagnosis processing measures.
And the filtering output module is used for filtering and finally outputting the opening degree of the accelerator pedal when the dynamic self-learning module performs dynamic calibration self-learning.
The invention has the advantages that:
the pure electric automobile detects the opening voltage value of the accelerator pedal in real time in the driving process, and performs dynamic self-adaptive calibration by combining the speed of the whole automobile, so that the correction is performed in the whole range of the accelerator pedal while the zero drift of the accelerator pedal is solved, and the accuracy is obviously improved compared with the existing scheme; meanwhile, the numerical value to be corrected can be accurately determined by combining with a calculation formula, the reliability is higher compared with an empirical formula, and the influence caused by environmental change is avoided.
The method is simple and reliable, and only the strategy and software of the whole vehicle controller need to be changed by utilizing the existing hardware platform under the condition of not increasing the hardware cost of the whole vehicle system. The problem of the opening degree calculation change that has accelerator pedal sampling voltage skew and leads to in the use of present pure electric automobile is effectively solved. Meanwhile, a dynamic correction formula is obtained by analyzing the accelerator pedal sampling voltage drift mechanism, so that the opening degree of the accelerator pedal is controlled more accurately, and the reliability of the whole vehicle in the using process is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a flow chart of accelerator pedal self-learning.
FIG. 2 is a schematic diagram and formula of accelerator pedal correction.
Detailed Description
The invention is further described with reference to the accompanying drawings in which:
example 1: referring to fig. 1, the accelerator pedal self-learning method of the pure electric vehicle, provided by the invention, comprises the following steps:
1. when the pure electric vehicle is powered ON for the first time under a certain environment, namely the key is powered ON, and the whole vehicle is powered ON at a low voltage.
2. And judging whether the accelerator pedal is in a normal state or not.
3. And if the vehicle is abnormal, reporting the fault to the vehicle control unit, not implementing self-learning of the accelerator pedal, and determining the opening degree of the pedal through fault diagnosis processing measures.
4. If the sampling voltage is normal, judging whether the sampling voltage of the accelerator pedal is in a set range.
5. And when the sampling voltage value is less than the preset calibration threshold value, combining the initial accelerator zero initial calibration value to perform accelerator pedal zero drift self-learning.
6. If the sampling voltage value is not less than the preset calibration threshold value, reporting a fault to the vehicle control unit, not implementing self-learning of the accelerator pedal, and determining the pedal opening degree through fault diagnosis processing measures.
7. After the whole vehicle starts to run, the VCU detects the sampling voltage of an accelerator pedal and the speed of the whole vehicle in real time;
8. when the maximum stable vehicle speed under a certain accelerator pedal opening is detected, the maximum stable vehicle speed is considered to be consistent with the initial preset calibrated opening of the whole vehicle, referring to a correction schematic diagram of the accelerator pedal in fig. 2, and the accelerator sampling voltage is judged and corrected through the following formula:
wherein, X is a sampling voltage, and X is an initial sampling voltage corresponding to a certain opening; y1 is the initial opening, y2 is the drift opening; y is a certain initial opening, and y' is a certain opening after drift; a is initial zero-position sampling voltage, and b is initial full-opening sampling voltage; a 'is the shifted zero-sample voltage and b' is the shifted full-open-sample voltage.
9. And judging whether large jump exists or not by judging the corrected result and the initial preset calibration opening result of the whole vehicle.
And 10, if the jump of the corrected result is in the range of the calibrated threshold, and the calibrated threshold is generally selected to be 5%, considering that the correction is in a reasonable range, updating the sampling voltage and the opening of the accelerator pedal, and completing the dynamic self-learning.
11. If the jump is larger than the calibration threshold value, the accelerator pedal is considered to be abnormal, the fault is reported to the vehicle control unit, the self-learning of the accelerator pedal is not implemented, and the pedal opening is determined through fault diagnosis processing measures.
12. And filtering the opening degree of the accelerator pedal while dynamically self-learning and finally outputting.
Wherein, whether the accelerator pedal is in a normal state is judged by the following conditions:
1) the initial opening degree of an accelerator pedal is less than or equal to a certain value (the standard amount is generally selected to be 1%);
2) the opening difference value of the accelerator pedal in the adjacent period is lower than a certain value (the standard amount is generally selected to be 3^ percent);
3) the opening voltage of the accelerator pedal does not exceed the upper limit value of the technical requirement of the accelerator pedal provided by a supplier;
4) the opening voltage of the accelerator pedal is not lower than the lower limit value of the technical requirement of the accelerator pedal provided by a supplier;
when the 4 conditions are all met, the accelerator pedal can be learned by self.
In the self-learning process of the accelerator pedal, a driver does not need to operate the accelerator pedal, and the position of the accelerator pedal self-learning mark 1 is obtained after the self-learning is finished. The accelerator pedal zero-position self-learning is only carried out in the initial power-on stage, and the dynamic self-learning is carried out in the whole driving process. The whole vehicle is powered off and then powered on, and the accelerator pedal performs self-learning again.
Generally, the accelerator pedal has two paths of sampling voltages, 2-time relation exists between the two sampling voltages, if the two sampling voltages are not in relation or one path of voltage is abnormal, a slight fault or a serious fault exists, therefore, the method determines the opening degree of the pedal through fault diagnosis processing measures, namely, when the slight fault occurs, the opening degree of the accelerator can be output according to one path of the opening degree, but the user is reminded to go to a 4S shop for processing in time; when a serious failure occurs, the output opening is set to 0.
Example 2: the self-learning system of the accelerator pedal for implementing the method flow comprises the following components:
the first judgment module is used for judging whether the accelerator pedal is in a normal state or not when the pure electric vehicle is in an ON gear;
the zero self-learning module is used for self-learning by combining an initial accelerator zero initial calibration value when the accelerator pedal is in a normal state;
the accelerator sampling voltage judging and correcting module is used for judging and correcting the accelerator sampling voltage by combining the actual accelerator pedal sampling voltage and the speed of the pure electric vehicle in the whole vehicle running process;
the second judgment module is used for judging whether the jump of the correction result is larger than a calibration threshold value;
the dynamic self-learning module is used for updating the sampling voltage and the opening of the accelerator pedal when the jump of the corrected result is within the calibration threshold range so as to finish the dynamic calibration self-learning;
and the fault processing module reports the fault to the vehicle control unit when the first judgment module judges that the accelerator pedal is abnormal or when the jump of the correction result of the second judgment module is larger than a calibration threshold, does not implement self-learning of the accelerator pedal, and determines the opening degree of the pedal through fault diagnosis processing measures.
And the filtering output module is used for filtering and finally outputting the opening degree of the accelerator pedal when the dynamic self-learning module performs dynamic calibration self-learning.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
Claims (10)
1. A self-learning method of an accelerator pedal is characterized in that when a pure electric vehicle is powered ON, whether the accelerator pedal is in a normal state is judged firstly, and if the accelerator pedal is not in a normal state, fault processing is reported; if the initial throttle zero position calibration value is normal, self-learning is carried out by combining the initial throttle zero position calibration value; and then, in the running process of the pure electric vehicle, correcting the result by combining the actual accelerator pedal sampling voltage and the vehicle speed, and meanwhile, judging whether the jump of the correction result is larger than a calibration threshold value, if not, finishing the dynamic calibration self-learning of the accelerator pedal, and if so, reporting the fault treatment.
2. The self-learning method of an accelerator pedal according to claim 1, characterized in that the method comprises:
(1) when a pure electric vehicle is powered ON in an ON gear, firstly judging whether an accelerator pedal is in a normal state, if not, reporting a fault to a vehicle control unit, not implementing self-learning of the accelerator pedal, and determining the opening degree of the pedal through a fault diagnosis processing measure;
if the sampling voltage of the accelerator pedal is normal, judging whether the sampling voltage of the accelerator pedal is in a set range, and combining the initial accelerator zero-position initial calibration value to perform zero drift self-learning of the accelerator pedal when the sampling voltage value of the accelerator pedal is less than a preset calibration threshold value; if the sampling voltage value is not less than the preset calibration threshold value, reporting a fault to the whole vehicle controller, not implementing self-learning of the accelerator pedal, and determining the pedal opening degree through fault diagnosis processing measures;
(2) after the whole vehicle starts to run, detecting the sampling voltage of an accelerator pedal and the speed of the whole vehicle in real time, and when the maximum stable speed of the vehicle under a certain accelerator pedal opening degree is detected, considering that the sampling voltage of the accelerator is consistent with the initial preset calibration opening degree of the whole vehicle, and judging and correcting the sampling voltage of the accelerator: then, judging a corrected result and a calibration opening result initially preset by the whole vehicle, if the corrected result jumps within a calibration threshold range, considering that the correction is in a reasonable range, updating the sampling voltage and the opening of the accelerator pedal to complete dynamic self-learning, and filtering the opening of the accelerator pedal for final output; if the jump is larger than the calibration threshold value, the accelerator pedal is considered to be abnormal, the fault is reported to the vehicle control unit, the self-learning of the accelerator pedal is not implemented, and the pedal opening is determined through fault diagnosis processing measures.
3. The self-learning method of the accelerator pedal as claimed in claim 2, wherein the sampled accelerator voltage is judged and corrected by the following formula:
wherein, X is a sampling voltage, and X is an initial sampling voltage corresponding to a certain opening; y1 is the initial opening, y2 is the drift opening; y is a certain initial opening, and y' is a certain opening after drift; a is initial zero-position sampling voltage, and b is initial full-opening sampling voltage; a 'is the shifted zero-sample voltage and b' is the shifted full-open-sample voltage.
4. The self-learning method of an accelerator pedal according to claim 2, wherein the jump calibration threshold is 5%.
5. The self-learning method of the accelerator pedal as claimed in claim 1, 2, 3 or 4, wherein in the step (1), it is determined whether the accelerator pedal is in a normal state by the following conditions:
1) the initial opening degree of an accelerator pedal is less than or equal to a first calibration quantity;
2) the opening difference value of the accelerator pedal in the adjacent period is lower than a second standard quantity;
3) the opening voltage of the accelerator pedal does not exceed the upper limit value of the technical requirement of the accelerator pedal provided by a supplier;
4) the opening voltage of the accelerator pedal is not lower than the lower limit value of the technical requirement of the accelerator pedal provided by a supplier;
when the 4 conditions are all met, the accelerator pedal is in a normal state, and self-learning can be performed.
6. The self-learning method of an accelerator pedal according to claim 6, wherein the first calibration amount is 1% and the second calibration amount is 3%.
7. The self-learning method of the accelerator pedal according to claim 1, 2, 3 or 4, wherein the step of determining the pedal opening through the fault diagnosis processing measure means that if 2 times of relation between two sampled voltages of the accelerator pedal is not correct or one of the two sampled voltages is abnormal, a slight fault or a serious fault is judged to exist, and when the judgment is the slight fault, the slight fault is output according to one of the two sampled voltages, and a user is reminded to process in time; when it is determined to be a serious failure, the output opening degree is set to 0.
8. The self-learning method of the accelerator pedal as claimed in claim 1, 2, 3 or 4, wherein the accelerator pedal is self-learned at the index position 1 after the self-learning is completed without any operation of the accelerator pedal by the driver during the self-learning.
9. A self-learning system for an accelerator pedal for carrying out the method of claims 1-8, the system having:
the first judgment module is used for judging whether the accelerator pedal is in a normal state or not when the pure electric vehicle is in an ON gear;
the zero self-learning module is used for self-learning by combining an initial accelerator zero initial calibration value when the accelerator pedal is in a normal state;
the accelerator sampling voltage judging and correcting module is used for judging and correcting the accelerator sampling voltage by combining the actual accelerator pedal sampling voltage and the speed of the pure electric vehicle in the whole vehicle running process;
the second judgment module is used for judging whether the jump of the correction result is larger than a calibration threshold value;
the dynamic self-learning module is used for updating the sampling voltage and the opening of the accelerator pedal when the jump of the corrected result is within the calibration threshold range so as to finish the dynamic calibration self-learning;
and the fault processing module reports the fault to the vehicle control unit when the first judgment module judges that the accelerator pedal is abnormal or when the jump of the correction result of the second judgment module is larger than a calibration threshold, does not implement self-learning of the accelerator pedal, and determines the opening degree of the pedal through fault diagnosis processing measures.
And the filtering output module is used for filtering and finally outputting the opening degree of the accelerator pedal when the dynamic self-learning module performs dynamic calibration self-learning.
10. A vehicle having a self-learning system of the accelerator pedal of claim 9.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113237671A (en) * | 2021-05-19 | 2021-08-10 | 东风柳州汽车有限公司 | Electric vehicle accelerator calibration method and device |
| CN113294248A (en) * | 2021-06-30 | 2021-08-24 | 一汽奔腾轿车有限公司 | Accelerator pedal capable of self-checking and defining opening degree and control method thereof |
| CN114263546A (en) * | 2021-12-30 | 2022-04-01 | 易通共享技术(广州)有限公司 | Self-learning correction method and system for automobile pedal travel signal |
| CN114506211A (en) * | 2022-01-28 | 2022-05-17 | 重庆长安新能源汽车科技有限公司 | Acceleration pedal zero-opening self-learning method and device and automobile |
| CN114704390A (en) * | 2022-03-31 | 2022-07-05 | 潍柴重机股份有限公司 | Method and system for remote control on-line automatic calibration of host |
| CN114802281A (en) * | 2022-05-30 | 2022-07-29 | 重庆长安新能源汽车科技有限公司 | Self-learning method for zero point of accelerator pedal, electronic equipment and storage medium |
| WO2023122959A1 (en) * | 2021-12-28 | 2023-07-06 | 宁德时代新能源科技股份有限公司 | Method and apparatus for calculating opening degree of accelerator pedal, whole vehicle controller and vehicle |
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2021
- 2021-01-04 CN CN202110004805.3A patent/CN112757897A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113237671A (en) * | 2021-05-19 | 2021-08-10 | 东风柳州汽车有限公司 | Electric vehicle accelerator calibration method and device |
| CN113294248A (en) * | 2021-06-30 | 2021-08-24 | 一汽奔腾轿车有限公司 | Accelerator pedal capable of self-checking and defining opening degree and control method thereof |
| WO2023122959A1 (en) * | 2021-12-28 | 2023-07-06 | 宁德时代新能源科技股份有限公司 | Method and apparatus for calculating opening degree of accelerator pedal, whole vehicle controller and vehicle |
| CN114263546A (en) * | 2021-12-30 | 2022-04-01 | 易通共享技术(广州)有限公司 | Self-learning correction method and system for automobile pedal travel signal |
| CN114506211A (en) * | 2022-01-28 | 2022-05-17 | 重庆长安新能源汽车科技有限公司 | Acceleration pedal zero-opening self-learning method and device and automobile |
| CN114506211B (en) * | 2022-01-28 | 2023-05-23 | 重庆长安新能源汽车科技有限公司 | Zero-opening self-learning method and device for accelerator pedal and automobile |
| CN114704390A (en) * | 2022-03-31 | 2022-07-05 | 潍柴重机股份有限公司 | Method and system for remote control on-line automatic calibration of host |
| CN114802281A (en) * | 2022-05-30 | 2022-07-29 | 重庆长安新能源汽车科技有限公司 | Self-learning method for zero point of accelerator pedal, electronic equipment and storage medium |
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