CN113043968A - Self-adaptive adjusting method and device for reference value of vehicle pedal signal - Google Patents
Self-adaptive adjusting method and device for reference value of vehicle pedal signal Download PDFInfo
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- CN113043968A CN113043968A CN201911379020.3A CN201911379020A CN113043968A CN 113043968 A CN113043968 A CN 113043968A CN 201911379020 A CN201911379020 A CN 201911379020A CN 113043968 A CN113043968 A CN 113043968A
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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
- B60R16/023—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 for transmission of signals between vehicle parts or subsystems
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to a method and a device for adaptively adjusting a reference value of a vehicle pedal signal, belonging to the technical field of vehicle control of new energy vehicles, and the method comprises the steps of collecting pedal validity information, accelerator pedal opening information, brake pedal validity information and brake pedal opening information of an accelerator pedal of a vehicle; the pedal effectiveness information is information for determining that the pedal is pressed; judging the current running state of the vehicle according to the pedal effectiveness information of the accelerator pedal, wherein if the accelerator pedal is effective, the running state is a driving state, and if the brake pedal is effective, the braking state is a braking state; if the brake pedal is in a driving state, the collected brake pedal opening information is used as a brake signal reference value; if in the braking state, the collected accelerator pedal opening information is used as an accelerator signal reference value, so that the problems of inaccurate signals and low reliability of the vehicle control process caused by improper pedal signal threshold selection, mechanical pedal clamping stagnation, temperature drift of parts and the like are solved.
Description
Technical Field
The invention relates to a method and a device for adaptively adjusting a reference value of a pedal signal of a vehicle, and belongs to the technical field of vehicle control of new energy vehicles.
Background
At present, when an automobile collects signals of an accelerator pedal and a brake pedal, the two signals are independently sampled, the automobile is controlled to run according to respective characteristic curves, and other couplings are not provided except for preferential braking during signal collision. When the vehicle control unit collects a brake pedal voltage signal, although the analog quantity sampling precision is high, the error is large, in order to keep consistency, the sampling error is generally considered when the brake critical voltage is set, so that the threshold value is large, and the energy recovery efficiency is influenced; the same problem exists in the accelerator pedal, and the high threshold value of the acceleration signal can cause insensitive response and influence the driving feeling. The brake valve is a mechanical device, mechanical parts of the vehicle are abraded and electronic parts are subjected to temperature drift along with the increase of service time, certain mechanical clamping stagnation is gradually generated, the electric signal is slowly returned and incompletely returned to zero, and the problem that the vehicle cannot run when the accelerator pedal is stepped on after braking when the return signal exceeds a brake threshold value due to the fact that braking is prior to acceleration is solved, and the vehicle is anchored.
Therefore, how to solve the influence of improper pedal voltage signal threshold selection, vehicle mechanical structure clamping and the like on the control and manufacture of the whole vehicle in the prior art, a method capable of adaptively controlling the vehicle pedal signal is urgently needed.
Disclosure of Invention
The invention aims to provide a method and a device for adaptively adjusting a reference value of a vehicle pedal signal, which solve the problems of inaccurate signal and low reliability of a vehicle control process caused by improper selection of a pedal signal threshold, mechanical clamping of a pedal, temperature drift of parts and the like in the process of collecting the vehicle pedal signal in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows: the invention provides a self-adaptive adjusting method for a reference value of a vehicle pedal signal, which comprises the following steps:
1) collecting pedal effectiveness information, accelerator pedal opening information, brake pedal effectiveness information and brake pedal opening information of an accelerator pedal of a vehicle; the pedal effectiveness information is information for determining that a pedal is pressed down;
2) judging the current running state of the vehicle according to the pedal effectiveness information of the accelerator pedal, wherein if the accelerator pedal is effective, the running state is a driving state, and if the brake pedal is effective, the braking state is a braking state;
3) if the brake pedal is in a driving state, the collected brake pedal opening information is used as a brake signal reference value; and if the vehicle is in a braking state, the collected accelerator pedal opening information is used as an acceleration signal reference value.
According to the invention, the current running state of a vehicle is distinguished according to the effectiveness information of an accelerator pedal and a brake pedal by acquiring the effectiveness information of the accelerator pedal, the opening information of the accelerator pedal, the effectiveness information of the brake pedal and the opening information of the brake pedal, and the acquired opening information of the brake pedal is used as a reference value of a brake signal in a driving state; and in the braking state, acquiring the opening information of the accelerator pedal as an acceleration signal reference value. Therefore, the reference signal is dynamically changed along with the running of the vehicle, and the updated reference value is used as a reference during acceleration or braking. According to the invention, based on mutual verification of signals of the accelerator pedal and the brake pedal, automatic matching of sampling signals of the accelerator pedal, the brake pedal and the whole vehicle controller is realized, influences on a control system caused by unreasonable threshold setting, temperature drift, component aging and the like are avoided, and the driving comfort and safety are effectively improved.
Further, in step 1), the pedal effectiveness information is obtained in the following manner:
the corresponding travel switch is arranged below the pedal, the travel switch is triggered when the treading depth of the pedal reaches a set value, and the pedal effectiveness information is that the pedal is effective.
Further, in step 1), the pedal effectiveness information is obtained in the following manner:
the method comprises the steps that corresponding acceleration sensors are arranged on pedals on a vehicle, acceleration information of the vehicle pedals is collected, and when the acceleration information reaches a set value, pedal effectiveness information is effective.
Further, in step 1), the pedal effectiveness information is obtained in the following manner:
detecting the stepping angle information of the pedal, wherein when the angle information reaches a set value, the pedal effectiveness information is effective.
Further, if the accelerator pedal and the brake pedal are detected to be simultaneously effective and lasting for a set time, an alarm is output.
Further, acceleration control is carried out according to the deviation of the collected opening information of the accelerator pedal and the reference value of the acceleration signal; and carrying out braking control according to the deviation of the collected opening information of the brake pedal and the reference value of the braking signal.
The invention also provides a device for adaptively adjusting the reference value of the pedal signal of the vehicle, which is characterized by comprising a processor, a memory and a detection module; the detection module is used for acquiring the validity information and the opening information of the vehicle pedal; the detection module is connected with the processor, the memory stores a computer program, and the processor executes the computer program to realize the following steps:
1) collecting pedal effectiveness information, accelerator pedal opening information, brake pedal effectiveness information and brake pedal opening information of an accelerator pedal of a vehicle; the pedal effectiveness information is information for determining that a pedal is pressed down;
2) judging the current running state of the vehicle according to the pedal effectiveness information of the accelerator pedal, wherein if the accelerator pedal is effective, the running state is a driving state, and if the brake pedal is effective, the braking state is a braking state;
3) if the brake pedal is in a driving state, the collected brake pedal opening information is used as a brake signal reference value; and if the vehicle is in a braking state, the collected accelerator pedal opening information is used as an acceleration signal reference value.
According to the invention, the current running state of a vehicle is distinguished according to the effectiveness information of an accelerator pedal and a brake pedal by acquiring the effectiveness information of the accelerator pedal, the opening information of the accelerator pedal, the effectiveness information of the brake pedal and the opening information of the brake pedal, and the acquired opening information of the brake pedal is used as a reference value of a brake signal in a driving state; and in the braking state, acquiring the opening information of the accelerator pedal as an acceleration signal reference value. Therefore, the reference signal is dynamically changed along with the running of the vehicle, and the updated reference value is used as a reference during acceleration or braking. According to the invention, based on mutual verification of signals of the accelerator pedal and the brake pedal, automatic matching of sampling signals of the accelerator pedal, the brake pedal and the whole vehicle controller is realized, influences on a control system caused by unreasonable threshold setting, temperature drift, component aging and the like are avoided, and the driving comfort and safety are effectively improved.
Further, in step 1), the pedal effectiveness information is obtained in the following manner:
the corresponding travel switch is arranged below the pedal, the travel switch is triggered when the treading depth of the pedal reaches a set value, and the pedal effectiveness information is that the pedal is effective.
Further, in step 1), the pedal effectiveness information is obtained in the following manner:
the method comprises the steps that corresponding acceleration sensors are arranged on pedals on a vehicle, acceleration information of the vehicle pedals is collected, and when the acceleration information reaches a set value, pedal effectiveness information is effective.
Further, in step 1), the pedal effectiveness information is obtained in the following manner:
detecting the stepping angle information of the pedal, wherein when the angle information reaches a set value, the pedal effectiveness information is effective.
Further, if the accelerator pedal and the brake pedal are detected to be simultaneously effective and lasting for a set time, an alarm is output.
Further, acceleration control is carried out according to the deviation of the collected opening information of the accelerator pedal and the reference value of the acceleration signal; and carrying out braking control according to the deviation of the collected opening information of the brake pedal and the reference value of the braking signal.
Drawings
FIG. 1 is a schematic diagram of a pedal signal processing flow in embodiment 1 of the method of the present invention;
fig. 2 is a schematic diagram of a vehicle control in an embodiment of the apparatus of the present invention.
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 the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The features and properties of the present invention are described in further detail below with reference to examples.
Method example 1:
the embodiment provides a method for adaptively adjusting a reference value of a vehicle pedal signal, which updates a reference value of a brake signal in a vehicle driving state and updates a reference value of an acceleration signal in a braking state, so that the reference signal dynamically changes along with the running of a vehicle when the vehicle accelerates and brakes, and the adaptive adjustment of the vehicle pedal signal is realized.
In this embodiment, the pedal effectiveness information is obtained by respectively setting corresponding travel switches under an accelerator pedal and a brake pedal, where the pedal effectiveness information is information for determining that the pedal is pressed, and is represented as a trigger value of the travel switch in this embodiment. For example, if a pedal signal of a vehicle due to aging of components is not completely zero, and thus the pedal may be at 2% or 3% or the like, but the value does not exceed 5%, the pedal is not considered to be valid, and the vehicle will not accelerate or brake according to the signal. Of course, the mounting position of the travel switch is generally mounted in conjunction with the pedal condition, so that an appropriate threshold value is set according to the vehicle state.
Specifically, as shown in fig. 1, the method includes the following steps:
1) in the running process of the vehicle, the pedal effectiveness information, the accelerator pedal opening degree information, the brake pedal effectiveness information and the brake pedal opening degree information of an accelerator pedal of the vehicle are collected.
In this embodiment, the pedal validity information is obtained in the following manner: the travel switch is triggered when the treading depth of the pedal reaches a set value, and the pedal effectiveness information is that the pedal is effective.
2) And judging the current running state of the vehicle according to the pedal effectiveness information of the accelerator pedal, wherein if the accelerator pedal is effective, the running state is a driving state, and if the brake pedal is effective, the braking state is a braking state.
In this embodiment, the normal driving behavior of the vehicle is usually that the accelerator pedal and the brake pedal are not simultaneously active, but a situation may occur in which the accelerator pedal and the brake pedal are simultaneously active, and if the state lasts for a certain time, it is determined that the driver behavior is abnormal, and the vehicle gives an alarm.
3) If the brake pedal is in a driving state, the collected brake pedal opening information is used as a brake signal reference value; and if the vehicle is in a braking state, the collected accelerator pedal opening information is used as an acceleration signal reference value.
The method comprises the steps of collecting opening information of a brake pedal and opening information of an accelerator pedal of a vehicle in real time in the running process of the vehicle, using the dynamically collected opening information of the brake pedal as a reference signal of the next brake control process in the driving state of the vehicle, and using the dynamically collected information of the accelerator pedal as a reference signal of the next accelerator control process when the vehicle is in the braking state. The method comprises the steps of dynamically updating reference information of a vehicle along with the running process of the vehicle, acquiring opening information of an accelerator pedal and opening information of a brake pedal of the vehicle, and comparing the opening information with the dynamically updated reference value for driving or braking control, so that the vehicle can be controlled according to the updated reference signal in the acceleration and braking control process, a self-adaptive control process is realized, the running safety of the vehicle is improved, and the running experience is improved.
In this embodiment, as shown in fig. 1, the opening degree information of the accelerator pedal and the brake pedal can be represented by voltage values, and therefore, the corresponding reference values should also be voltage signals, the acceleration signal reference voltage Uz _ drive, and the brake reference voltage Uz _ brake, because the voltage signals according to this embodiment have the advantages of being more sensitive and easier to analyze than other signals, as other embodiments, other types of signals may be adopted as long as the corresponding opening degree information can be obtained therefrom.
Method example 2:
the present embodiment differs from the method embodiment 1 only in that, in the present embodiment, in order to improve the vehicle performance, the pedal validity information is obtained by:
the method comprises the steps that corresponding acceleration sensors are arranged on pedals on a vehicle, acceleration information of the vehicle pedals is collected, and when the acceleration information reaches a set value, pedal effectiveness information is effective. For example, when the acceleration sensor detects pedal operation information and senses that the pedal acceleration information is 0.2, the pedal is determined to be valid. In the case of the pedal looseness, the acceleration information detected by the acceleration sensor is less than 0.2, and the pedal looseness is not considered to be effective. Of course, the effective threshold value of the pedal should also take into account the disturbance situation such as vibration during the running of the vehicle.
Method example 3:
the present embodiment differs from the method embodiment 1 only in that, in the present embodiment, the pedal validity information is obtained in the following manner:
detecting the stepping angle information of the pedal, wherein when the angle information reaches a set value, the pedal effectiveness information is effective.
For example, if the vehicle detects an angle value of 4% of the pedal, as a threshold value for the pedal to be effective, if the pedal signal is not completely zero due to aging of components, etc., and the pedal may be at 1% or 2%, etc., but the value does not exceed 4%, the pedal is not considered to be effective, and the vehicle will not accelerate or brake according to the signal.
The embodiment of the device is as follows:
the embodiment provides a device, which comprises a processor, a memory and a detection module; the detection module is used for acquiring the validity information and the opening information of the vehicle pedal; in this embodiment, as shown in fig. 2, the processor may be implemented by a vehicle controller, or may be set as an independent controller, and the controller is connected to the vehicle controller, and sends a processed signal to the vehicle controller for controlling the vehicle. The memory may take the form of RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art that may be coupled to the processor such that the processor can read information from, or be an integral part of, the processor. The processor executes the computer program to implement the steps of:
1) collecting pedal effectiveness information, accelerator pedal opening information, brake pedal effectiveness information and brake pedal opening information of an accelerator pedal of a vehicle; the pedal effectiveness information is information for determining that a pedal is pressed down;
2) judging the current running state of the vehicle according to the pedal effectiveness information of the accelerator pedal, wherein if the accelerator pedal is effective, the running state is a driving state, and if the brake pedal is effective, the braking state is a braking state;
3) if the brake pedal is in a driving state, the collected brake pedal opening information is used as a brake signal reference value; and if the vehicle is in a braking state, the collected accelerator pedal opening information is used as an acceleration signal reference value.
The specific implementation process of each step in this embodiment has been described in detail in the above method embodiment, and is not described here again.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all structural changes that can be made by using the contents of the description and the drawings of the present invention are intended to be embraced therein.
Claims (7)
1. A self-adaptive adjusting method for a reference value of a vehicle pedal signal is characterized by comprising the following steps:
1) collecting pedal effectiveness information, accelerator pedal opening information, brake pedal effectiveness information and brake pedal opening information of an accelerator pedal of a vehicle; the pedal effectiveness information is information for determining that a pedal is pressed down;
2) judging the current running state of the vehicle according to the pedal effectiveness information of the accelerator pedal, wherein if the accelerator pedal is effective, the running state is a driving state, and if the brake pedal is effective, the braking state is a braking state;
3) if the brake pedal is in a driving state, the collected brake pedal opening information is used as a brake signal reference value; and if the vehicle is in a braking state, the collected accelerator pedal opening information is used as an acceleration signal reference value.
2. The adaptive adjustment method for the reference value of the pedal signal of the vehicle as claimed in claim 1, wherein in the step 1), the pedal validity information is obtained by:
the corresponding travel switch is arranged below the pedal, the travel switch is triggered when the treading depth of the pedal reaches a set value, and the pedal effectiveness information is that the pedal is effective.
3. The adaptive adjustment method for the reference value of the pedal signal of the vehicle as claimed in claim 1, wherein in the step 1), the pedal validity information is obtained by:
the method comprises the steps that corresponding acceleration sensors are arranged on pedals on a vehicle, acceleration information of the vehicle pedals is collected, and when the acceleration information reaches a set value, pedal effectiveness information is effective.
4. The adaptive adjustment method for the reference value of the pedal signal of the vehicle as claimed in claim 1, wherein in the step 1), the pedal validity information is obtained by:
detecting the stepping angle information of the pedal, wherein when the angle information reaches a set value, the pedal effectiveness information is effective.
5. The adaptive adjusting method for the reference value of the pedal signal of the vehicle as claimed in claim 1, wherein if it is detected that the accelerator pedal and the brake pedal are simultaneously activated for a set time, an alarm is outputted.
6. The adaptive adjusting method for the reference value of the vehicle pedal signal according to claim 1, characterized by further comprising performing acceleration control according to the deviation of the collected accelerator pedal opening information from the reference value of the acceleration signal; and carrying out braking control according to the deviation of the collected opening information of the brake pedal and the reference value of the braking signal.
7. A vehicle pedal signal reference value self-adaptive adjusting device is characterized by comprising a processor, a memory and a detection module; the detection module is used for acquiring the validity information and the opening information of the vehicle pedal; the detection module is connected with the processor, the memory stores a computer program, and the processor executes the computer program to realize the vehicle pedal signal reference value adaptive adjustment method in any one of claims 1 to 6.
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| CN201911379020.3A CN113043968A (en) | 2019-12-27 | 2019-12-27 | Self-adaptive adjusting method and device for reference value of vehicle pedal signal |
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| CN201911379020.3A CN113043968A (en) | 2019-12-27 | 2019-12-27 | Self-adaptive adjusting method and device for reference value of vehicle pedal signal |
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| JPH07149210A (en) * | 1993-11-29 | 1995-06-13 | Mitsubishi Motors Corp | Braking energy regenerating device |
| JPH10103090A (en) * | 1996-10-02 | 1998-04-21 | Hitachi Ltd | Accelerator pedal minimum position recognizing method |
| US20010039939A1 (en) * | 2000-05-12 | 2001-11-15 | Toyota Jidosha Kabushiki Kaisha | Apparatus for learning full-closed position of accelerator pedal and method of the same |
| JP2002160613A (en) * | 2000-11-24 | 2002-06-04 | Mitsubishi Motors Corp | Zero-point compensating device for brake operation relative value sensor |
| KR20030089898A (en) * | 2002-05-20 | 2003-11-28 | 현대자동차주식회사 | Deflection correction apparatus of brake pedal sensor in hybird electric vehicle and method thereof |
| CN105946572A (en) * | 2016-06-03 | 2016-09-21 | 北京车和家信息技术有限责任公司 | Method for calibrating pedal open degree value, calibrating device and vehicle |
| CN108162891A (en) * | 2016-12-07 | 2018-06-15 | 比亚迪股份有限公司 | The calibration system and method for vehicle complete vehicle controller |
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2019
- 2019-12-27 CN CN201911379020.3A patent/CN113043968A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07149210A (en) * | 1993-11-29 | 1995-06-13 | Mitsubishi Motors Corp | Braking energy regenerating device |
| JPH10103090A (en) * | 1996-10-02 | 1998-04-21 | Hitachi Ltd | Accelerator pedal minimum position recognizing method |
| US20010039939A1 (en) * | 2000-05-12 | 2001-11-15 | Toyota Jidosha Kabushiki Kaisha | Apparatus for learning full-closed position of accelerator pedal and method of the same |
| JP2002160613A (en) * | 2000-11-24 | 2002-06-04 | Mitsubishi Motors Corp | Zero-point compensating device for brake operation relative value sensor |
| KR20030089898A (en) * | 2002-05-20 | 2003-11-28 | 현대자동차주식회사 | Deflection correction apparatus of brake pedal sensor in hybird electric vehicle and method thereof |
| CN105946572A (en) * | 2016-06-03 | 2016-09-21 | 北京车和家信息技术有限责任公司 | Method for calibrating pedal open degree value, calibrating device and vehicle |
| CN108162891A (en) * | 2016-12-07 | 2018-06-15 | 比亚迪股份有限公司 | The calibration system and method for vehicle complete vehicle controller |
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