CN114261280A - Accelerator pedal self-adaption method, vehicle-mounted controller, automobile and storage medium - Google Patents
Accelerator pedal self-adaption method, vehicle-mounted controller, automobile and storage medium Download PDFInfo
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- CN114261280A CN114261280A CN202010973767.8A CN202010973767A CN114261280A CN 114261280 A CN114261280 A CN 114261280A CN 202010973767 A CN202010973767 A CN 202010973767A CN 114261280 A CN114261280 A CN 114261280A
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Abstract
The invention discloses an accelerator pedal self-adaption method, a vehicle-mounted controller, an automobile and a storage medium, wherein the accelerator pedal self-adaption method comprises the following steps: acquiring vehicle state data, and judging whether the vehicle state data meets pedal self-adaptive conditions or not; if the vehicle state data meet the pedal self-adaptive condition, acquiring an actually measured voltage value at the current position of the accelerator pedal in real time; performing deviation calculation on the actually measured voltage value and the calibrated voltage value to obtain a voltage deviation value, and performing reasonable verification on the voltage deviation value to obtain a voltage deviation verification result; if the voltage deviation checking result is reasonable, reasonably checking the real-time offset to obtain an offset checking result; and if the offset checking result is reasonable, acquiring a target voltage value according to the actually measured voltage value and the target offset, and determining the travel opening of the accelerator pedal according to the target voltage value. The reliability and authenticity of the travel opening of the accelerator pedal in the technical scheme improve the driving safety of a driver.
Description
Technical Field
The invention relates to the technical field of vehicle safety, in particular to an accelerator pedal self-adaption method, a vehicle-mounted controller, an automobile and a storage medium.
Background
In the control of the new energy power automobile, the travel opening of the accelerator pedal is used as an important input of the torque of the whole automobile, the acceleration requirement of a driver on the whole automobile is directly reflected, namely whether the travel opening of the accelerator pedal accurately reflects the acceleration requirement of the whole automobile of the driver or not is judged, and the safety operation of the automobile is greatly influenced. At present, the voltage of a sensor of an accelerator pedal of a new energy power automobile is mostly directly acquired by an on-board controller. When the initial zero position of the accelerator pedal is deviated, or as the accelerator pedal electronic device is aged, the sensor voltage corresponding to the initial zero position of the accelerator pedal is deviated, so that the sensor voltage corresponding to the initial zero position of the accelerator pedal generates a voltage difference relative to the sensor voltage corresponding to the initial calibration zero position, and therefore the travel opening of the accelerator pedal calculated by the vehicle-mounted controller is inaccurate, and the driving safety and the operation feeling of a driver are affected.
Disclosure of Invention
The embodiment of the invention provides an accelerator pedal self-adaption method, a vehicle-mounted controller, a vehicle and a storage medium, and aims to solve the problems that the travel opening of an accelerator pedal is not accurately calculated and the driving safety of a driver is influenced.
An accelerator pedal adaptation method comprising:
acquiring vehicle state data, and judging whether the vehicle state data meets a pedal self-adaptive condition or not;
if the vehicle state data meet the pedal self-adaptive condition, acquiring an actually measured voltage value at the current position of an accelerator pedal in real time;
performing deviation calculation on the actually measured voltage value and the calibrated voltage value to obtain a voltage deviation value, and performing reasonable verification on the voltage deviation value to obtain a voltage deviation verification result;
if the voltage deviation checking result is reasonable, acquiring a real-time offset according to the voltage deviation value, and reasonably checking the real-time offset to acquire an offset checking result;
and if the offset verification result is reasonable, determining the real-time offset as a target offset, acquiring a target voltage value according to the actual measurement voltage value and the target offset, and determining the travel opening of the accelerator pedal according to the target voltage value.
Further, the accelerator pedal adaptation method further includes:
if the vehicle state data do not meet the pedal self-adaption condition, the voltage deviation checking result is unreasonable or the offset checking result is unreasonable, determining the historical offset as a target offset, acquiring a target voltage value according to the actually measured voltage value and the target offset, and determining the travel opening of the accelerator pedal according to the target voltage value.
Further, the vehicle state data comprises the current gear of an ignition key, the current voltage of an accelerator pedal, the power supply voltage of a voltage sensor and the current position of the accelerator pedal;
the acquiring of the vehicle state data and the judging of whether the vehicle state data meets the pedal self-adaptive condition comprise:
if the current gear of the ignition key is an ON gear, the current voltage of an accelerator pedal is normal, the power supply voltage of a voltage sensor is normal and the current position of the accelerator pedal is at an initial zero position, the vehicle state data meet the pedal self-adaptive condition;
and if at least one of the current gear of the ignition key is not the ON gear, the current voltage of the accelerator pedal is abnormal, the power supply voltage of the voltage sensor is abnormal and the current position of the accelerator pedal is not in the initial zero position occurs, the vehicle state data does not meet the pedal self-adaptive condition.
Further, the real-time collection of the measured voltage value at the current position of the accelerator pedal includes:
when an accelerator pedal is stepped to the current position, acquiring an initial voltage value acquired by a voltage sensor in real time within a preset calibration time;
and carrying out filtering and mean value processing on the initial voltage value to obtain an actually measured voltage value at the current position of the accelerator pedal.
Further, the performing deviation calculation on the measured voltage value and the calibrated voltage value to obtain a voltage deviation value, performing reasonable verification on the voltage deviation, and obtaining a voltage deviation verification result includes:
determining the absolute value of the voltage difference value of the actually measured voltage value and the calibrated voltage value as a voltage deviation value;
if the voltage deviation value is larger than a preset deviation value, acquiring an unreasonable voltage deviation checking result;
and if the voltage deviation value is not greater than the preset deviation value, acquiring a reasonable voltage deviation checking result.
Further, the obtaining of the real-time offset according to the voltage deviation value, reasonably verifying the real-time offset, and obtaining an offset verification result includes:
performing weighted calculation on the voltage deviation value and the historical offset based on a preset weight and a preset calculation period to obtain a real-time offset;
and reasonably checking the real-time offset based on a preset offset threshold value to obtain an offset checking result.
Further, the obtaining a target voltage value according to the measured voltage value and the target offset, and determining an accelerator pedal stroke opening according to the target voltage value includes:
determining the difference value between the actually measured voltage value and the target offset as the target voltage value;
and determining the travel opening of the accelerator pedal according to the target voltage value and a standard voltage mapping table.
An on-board controller comprises a memory, a processor and an adaptive program stored in the memory and capable of running on the processor, wherein the processor realizes the accelerator pedal adaptive method when executing the adaptive program.
An automobile comprises the vehicle-mounted controller, and the vehicle-mounted controller realizes the self-adaptive method of the accelerator pedal when the automobile runs.
A computer-readable storage medium storing an adaptation program which, when executed by a processor, implements the accelerator pedal adaptation method described above.
According to the accelerator pedal self-adaption method, the vehicle-mounted controller, the automobile and the storage medium, the vehicle-mounted controller judges whether the vehicle state data meet the pedal self-adaption condition, reasonably verifies the voltage deviation value and reasonably verifies the real-time offset, and in the process of adjusting the travel opening of the accelerator pedal, the reliability and authenticity of the adjusted travel opening of the accelerator pedal are improved and the driving safety of a driver is improved through multiple verification of the vehicle state data, the voltage deviation value and the real-time offset.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a flow chart of an accelerator pedal adaptation method according to an embodiment of the present invention;
FIG. 2 is another flow chart of an accelerator pedal adaptation method according to an embodiment of the present invention;
FIG. 3 is another flow chart of an accelerator pedal adaptation method according to an embodiment of the present invention;
FIG. 4 is another flow chart of an accelerator pedal adaptation method according to an embodiment of the present invention;
FIG. 5 is another flow chart of an accelerator pedal adaptation method according to an embodiment of the present invention;
FIG. 6 is another flow chart of an accelerator pedal adaptation method according to an embodiment of the present invention;
FIG. 7 is a diagram of an onboard controller according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides an accelerator pedal self-adaption method which can be applied to a vehicle-mounted controller, the vehicle-mounted controller judges whether vehicle state data meet pedal self-adaption conditions or not, reasonably verifies a voltage deviation value and reasonably verifies a real-time offset, and in the process of adjusting the travel opening of the accelerator pedal, the reliability and authenticity of the adjusted travel opening of the accelerator pedal are improved and the driving safety of a driver is improved through multiple verification of the vehicle state data, the voltage deviation value and the real-time offset.
In one embodiment, as shown in fig. 1, an accelerator pedal adaptation method is provided, which is described by taking the vehicle-mounted controller in fig. 7 as an example, and includes the following steps:
s10: and acquiring vehicle state data, and judging whether the vehicle state data meets pedal self-adaptive conditions.
The vehicle state data is data reflecting the current state of the vehicle. As an example, the vehicle state data includes an ignition key current gear, an accelerator pedal current voltage, a voltage sensor supply voltage, and an accelerator pedal current position.
The pedal self-adaptive condition is a self-defined condition and is used for judging whether the vehicle state data meets the condition of self-adaptively adjusting the travel opening of the accelerator pedal. The accelerator pedal stroke opening is the distance between the current position of the accelerator pedal pressed by the driver when the vehicle is started and the initial zero position of the accelerator pedal. The initial null is the position of the accelerator pedal when the vehicle is not started. As an example, pedal adaptive conditions may be understood as being used to evaluate vehicle state data
In this example, vehicle state data such as the current gear of the ignition key, the current voltage of the accelerator pedal, the power supply voltage of the voltage sensor, and the current position of the accelerator pedal are all related to the stroke opening of the accelerator pedal, and if the vehicle state data such as the current gear of the ignition key, the current voltage of the accelerator pedal, the power supply voltage of the voltage sensor, and the current position of the accelerator pedal do not conform to the preset pedal adaptive condition, it indicates that the collected vehicle state data is very likely to cause inaccuracy of the stroke opening of the accelerator pedal finally calculated and obtained by the vehicle-mounted controller, and when the vehicle is controlled to run based on the inaccurate stroke opening of the accelerator pedal, a safety accident is likely to occur, therefore, the vehicle-mounted controller needs to judge whether the vehicle state data satisfies the pedal adaptive condition according to the vehicle state data collected in real time so as to perform adaptive adjustment, and improve the reliability and authenticity of the adjusted stroke opening of the accelerator pedal, the safety of the driver in the driving process is improved.
S20: and if the vehicle state data meet the pedal self-adaptive condition, acquiring the actually measured voltage value of the accelerator pedal at the current position in real time.
The actually measured voltage value is the voltage of the accelerator pedal at the current position, which is collected in real time in a voltage sensor arranged on the accelerator pedal.
Specifically, when the vehicle state data meet the pedal self-adaptive condition, the vehicle-mounted controller acquires the actual measurement voltage value of the voltage sensor at the current position of the accelerator pedal in real time, so that the accuracy of the accelerator pedal stroke opening determined by self-adaptive adjustment according to the actual measurement voltage value is high, and the driving safety of the vehicle can be guaranteed. The method can be understood that on the basis that the vehicle state data meet the pedal self-adaptive condition, the actual measurement voltage value of the accelerator pedal at the current position is collected, so that the self-adaptive adjustment of the stroke opening of the accelerator pedal is carried out according to the actual measurement voltage value of the accelerator pedal at the current position, and the reliability and the authenticity of the self-adaptive adjustment of the stroke opening of the accelerator pedal are improved.
S30: and carrying out deviation calculation on the actually measured voltage value and the calibrated voltage value to obtain a voltage deviation value Pg, and carrying out reasonable verification on the voltage deviation value to obtain a voltage deviation verification result.
The calibration voltage value is a voltage value set by a user in a self-defined manner, namely a theoretical voltage value corresponding to an initial zero position preset by the user, and is used for performing deviation calculation with an actually measured voltage value P1 to obtain a voltage deviation value Pg. The voltage deviation value Pg is a value obtained by the deviation calculation of the actual measurement voltage value P1 and the calibration voltage value P0 by the vehicle-mounted controller. In this example, the deviation calculation is performed on the measured voltage value P1 and the calibrated voltage value P0, specifically, the measured voltage value P1 and the calibrated voltage value P0 are subtracted, and an absolute value of a difference between the measured voltage value P1 and the calibrated voltage value P0 is taken to obtain a voltage deviation value Pg, that is, Pg ═ P1-P0 |. And the voltage deviation checking result is obtained after reasonably checking the voltage deviation value Pg.
Further, the vehicle-mounted controller can obtain a voltage deviation checking result by reasonably checking the voltage deviation value Pg so as to further adjust the travel opening of the accelerator pedal according to the voltage deviation checking result. As an example, the onboard controller may perform reasonable verification on the voltage deviation value Pg by using a preset verification rule. As an example, the preset verification rule may be that the voltage deviation value Pg is compared by using a first verification threshold, and whether the voltage deviation value Pg is reliable or reasonable is determined according to a comparison result of the first verification threshold on the voltage deviation value Pg; or other parameters are adopted to carry out standardization and weighting processing on the voltage deviation value Pg, and whether the voltage deviation value Pg is reliable or reasonable is judged according to the standardization and weighting processing result. Preferably, although the result of the normalization and weighting process for verifying the voltage deviation value Pg is more accurate, the process of the normalization and weighting process is too complicated, and therefore, the preset verification rule may be to compare the voltage deviation value Pg with the first verification threshold and determine whether the voltage deviation value Pg is reliable or reasonable according to the comparison result.
For example, the measured voltage value is P1, the calibration voltage value is P0, and the deviation between the measured voltage value P1 and the calibration voltage value P0 is calculated to obtain a voltage deviation value Pg ═ P1-P0 |. When the voltage deviation value Pg is greater than the first verification threshold value M, the voltage deviation verification result is unreasonable, and when the voltage deviation value Pg is not greater than the first verification threshold value M, the voltage deviation verification result is reasonable.
Understandably, in order to prevent the measured voltage value P1 from being unreliable or unreasonable, the vehicle-mounted controller firstly performs deviation calculation on the measured voltage value P1 and the calibrated voltage value P0 to obtain a voltage deviation value Pg; and reasonably verifying the voltage deviation value Pg so as to adjust the travel opening of the accelerator pedal according to the voltage deviation verification result, thereby improving the reliability and authenticity of adjusting the travel opening of the accelerator pedal.
S40: and if the voltage deviation checking result is reasonable, acquiring a real-time offset according to the voltage deviation value, and reasonably checking the real-time offset to acquire an offset checking result.
And the real-time offset Py is a voltage offset obtained by the voltage deviation value Pg. The offset verification result is a result obtained by reasonably verifying the real-time offset Py.
Because the voltage deviation checking result is a result obtained by reasonably checking the voltage deviation value Pg, and the voltage deviation value Pg is a value obtained by performing deviation calculation on the actually measured voltage value P1 and the calibrated voltage value P0, when the voltage deviation checking result is reasonable, the actually measured voltage value P1 can truly reflect the voltage of the accelerator pedal at the current position.
As an example, when the voltage deviation verification result is reasonable, the vehicle-mounted controller obtains the real-time offset Py according to the voltage deviation value Pg, specifically, the real-time offset Py is obtained by performing weighting processing on the voltage deviation value Pg and the historical offset Ph. For example, the voltage deviation value is obtained in real time, and the current position offset of the accelerator pedal can be reflected in real time, but in order to consider the reliability of the obtained real-time offset, the historical offset needs to be considered, so that the voltage deviation value Pg calculated in the current period has a large weight, and the stored historical offset Ph has a small weight, for example, the real-time offset Py is obtained by multiplying the voltage deviation value Pg by 85% and multiplying the historical offset Ph by 15%. Further, the real-time offset Py may be weighted and accumulated by a set calculation period or a calculation frequency, for example, a 10ms period, and the real-time offset calculation times are updated in real time, and the real-time offset Py calculation times and the calculated real-time offset Py are stored in the memory. The historical offset Ph is an offset stored in the memory, and specifically may be a target offset Pt calculated last before the current time of the system.
Further, the specific mode that the vehicle-mounted controller reasonably checks the real-time offset Py may be that a preset checking rule is adopted to check the real-time offset Py. As an example, the preset check rule may be that the real-time offset Py is compared by using a second check threshold, and whether the real-time offset Py is reliable or reasonable is determined according to a comparison result of the second check threshold on the real-time offset Py; or other parameters are adopted to carry out standardization and weighting processing on the real-time offset Py, and whether the real-time offset Py is reliable or reasonable is judged according to the standardization and weighting processing result. Preferably, although the result of the normalization and weighting processing for verifying the real-time offset Py is more accurate, the processing procedure of the normalization and weighting processing is too complicated, and therefore, the preset verification rule may be to compare the real-time offset Py with a second verification threshold and determine whether the real-time offset Py is reliable or reasonable according to the comparison result. As another example, the specific way for the onboard controller to reasonably check the real-time offset may be to compare the real-time offset Py with a second check threshold to obtain an offset check result; when the real-time offset Py exceeds the second checking threshold, the offset checking result is unreasonable; and when the real-time offset Py does not exceed the second verification threshold, the offset verification result is reasonable.
It can be understood that the real-time offset Py can reflect a voltage offset between the current position of the accelerator pedal and an initial zero position corresponding to the calibration voltage value, that is, an opening offset between the current position of the accelerator pedal and the initial zero position corresponding to the theoretical voltage; the real-time offset Py is reasonably verified, an offset verification result is obtained, the vehicle-mounted controller reasonably verifies the real-time offset Py, and therefore the fact that the offset between the current position of the accelerator pedal and the initial zero position corresponding to the theoretical voltage is reasonable can be guaranteed, and reliability of the stroke opening of the adjusted accelerator pedal is improved.
S50: and if the offset checking result is reasonable, determining the real-time offset as a target offset, acquiring a target voltage value according to the actually measured voltage value and the target offset, and determining the travel opening of the accelerator pedal according to the target voltage value.
And when the target offset Pt is reasonable in offset checking result, determining a real-time offset Py or a historical offset Ph for calculating the target voltage value P2. The target voltage value P2 is an actual voltage value corresponding to the initial zero position of the accelerator pedal, and is a voltage value used for calculating the accelerator pedal stroke opening after adaptive adjustment.
Specifically, when the offset verification result is reasonable, the real-time offset Py is determined as the target offset Pt, and the actually measured voltage value and the target offset Pt are processed to obtain the target voltage value P2. As an example, the target offset Pt is subtracted from the measured voltage value P1 to obtain a target voltage value P2 equal to P1-Pt, and the accelerator pedal stroke opening is determined according to the target voltage value P2. It can be understood that when the offset verification result is reasonable, the target voltage value P2 obtained by actually measuring the voltage value P1 and the target offset Pt has high reliability and authenticity, and therefore, the accelerator pedal stroke opening is determined according to the target voltage value P2, and the reliability and authenticity of the accelerator pedal stroke opening are guaranteed.
In this embodiment, when the vehicle state data satisfies the pedal adaptive condition, that is, the adaptive condition needs to be performed, the vehicle-mounted controller calculates the voltage deviation value Pg and the real-time offset Py and performs reasonable verification, so as to ensure the accuracy of the target voltage value P2 obtained by adaptive adjustment, ensure the reliability and authenticity of determining the accelerator pedal stroke opening based on the target voltage value, and improve the driving safety.
In one embodiment, the accelerator pedal adaptation method further comprises: if the vehicle state data do not meet the pedal self-adaption condition, the voltage deviation checking result is unreasonable or the offset checking result is unreasonable, the historical offset is determined as the target offset, the target voltage value is obtained according to the actually measured voltage value and the target offset, and the travel opening of the accelerator pedal is determined according to the target voltage value.
As an example, if the vehicle state data does not satisfy the pedal adaptive condition, the historical offset Ph is determined as a target offset Pt, a target voltage value P2 is obtained according to the measured voltage value P1 and the target offset Pt, and the accelerator pedal stroke opening is determined according to the target voltage value P2.
As another example, if the voltage deviation checking result is not reasonable, the historical offset Ph is determined as a target offset Pt, a target voltage value P2 is obtained according to the measured voltage value P1 and the target offset Pt, and the accelerator pedal stroke opening is determined according to the target voltage value P2.
As another example, if the offset verification result is not reasonable, the historical offset Ph is determined as the target offset Pt, the target voltage value P2 is obtained according to the measured voltage value P1 and the target offset Pt, and the accelerator pedal stroke opening is determined according to the target voltage value P2.
It can be understood that when the vehicle state data does not meet the pedal self-adaption condition, the voltage deviation checking result is unreasonable or the offset checking result is unreasonable, the target offset Pt is calculated through the historical offset Ph and the target offset Pt, the unreasonable actual measurement voltage value calculated at the current moment is avoided, the reliability of determining the target offset Pt can be improved, and the final obtained accelerator pedal stroke opening degree is more authentic and accurate.
In the embodiment, when the vehicle state data does not meet the pedal self-adaption condition, the voltage deviation check result is unreasonable or the offset check result is unreasonable, the vehicle-mounted controller can avoid using unreasonable actual measurement voltage value to calculate the target offset Pt through the actual target offset Ph, so that the reliability of determining the target offset Pt can be improved, the finally obtained accelerator pedal stroke opening degree is more authentic and accurate, and the driving safety is guaranteed.
In one embodiment, as shown in fig. 2, in step S10, the vehicle state data includes the current gear of the ignition key, the current voltage of the accelerator pedal, the voltage sensor supply voltage and the current position of the accelerator pedal; acquiring vehicle state data, and judging whether the vehicle state data meets pedal self-adaptive conditions or not, wherein the method comprises the following steps:
s11: and if the current gear of the ignition key is an ON gear, the current voltage of the accelerator pedal is normal, the power supply voltage of the voltage sensor is normal and the current position of the accelerator pedal is at an initial zero position, the vehicle state data meet the pedal self-adaptive condition.
Specifically, when the current gear of the ignition key is an ON gear, the vehicle is in a starting state; the current position of the accelerator pedal is at an initial zero position, which indicates that the driver does not step on the accelerator pedal; the current voltage of the accelerator pedal is normal or fault-free, the power supply voltage of the voltage sensor is normal, the vehicle state data meet the pedal self-adaption condition at the moment, when a driver steps on the accelerator pedal, the vehicle-mounted controller starts to acquire the actually measured voltage value in real time, and the reliability of the actually measured voltage value acquired by the vehicle-mounted controller can be improved.
S12: and if at least one of the current gear of the ignition key is not the ON gear, the current voltage of the accelerator pedal is abnormal, the power supply voltage of the voltage sensor is abnormal and the current position of the accelerator pedal is not in the initial zero position occurs, the vehicle state data does not meet the pedal self-adaptive condition.
Specifically, when the ignition key is not in the current gear ON, i.e., the vehicle is not started; or the current voltage of the accelerator pedal is abnormal, namely the accelerator pedal is in failure; or the voltage sensor supply voltage is abnormal; or the current position of the accelerator pedal is not at the initial zero position; that is, when at least one of the above conditions occurs, the vehicle state data does not satisfy the pedal adaptive condition, and at this time, if the inaccuracy of the accelerator pedal stroke opening adaptively determined according to the actually measured voltage value P1 acquired in real time is high, the driving safety is easily affected.
In the embodiment, the vehicle-mounted controller determines whether the vehicle state data meets the pedal self-adaptive condition by judging whether the ignition key gear is an ON gear, whether the current voltage of the accelerator pedal is normal, whether the power supply voltage of the voltage sensor is normal and whether the current position of the accelerator pedal is at an initial zero position. When the vehicle state data meet the pedal self-adaptive condition, the vehicle-mounted controller starts to acquire the actually measured voltage value in real time, and the reliability of the actually measured voltage value acquired by the vehicle-mounted controller can be improved.
In one embodiment, as shown in fig. 3, in step S20, the real-time collecting the measured voltage value at the current position of the accelerator pedal includes:
s21: when the accelerator pedal is stepped to the current position, the initial voltage value acquired by the voltage sensor in real time within the preset calibration time is acquired.
The preset calibration time is self-defined time, and the historical times of adjusting the travel opening of the accelerator pedal by the vehicle-mounted controller are automatically set. The initial voltage value is unprocessed voltage at the current position of the accelerator pedal collected in real time in a voltage sensor arranged on the accelerator pedal.
Specifically, when the accelerator pedal is stepped on to the current position, the vehicle-mounted controller acquires an initial voltage value acquired by the voltage sensor in real time within a preset calibration time according to a preset voltage acquisition rule. The preset voltage obtaining rule may be real-time obtaining, or obtaining according to a preset obtaining frequency. For example, when the accelerator pedal is stepped to the current position, the vehicle-mounted controller acquires the initial voltage value acquired by the voltage sensor in real time within the preset calibration time T. For another example, when the accelerator pedal is stepped on to the current position, the vehicle-mounted controller acquires the initial voltage value acquired by the voltage sensor in real time according to a 10ms period within the preset calibration time T.
S22: and carrying out filtering and mean value processing on the initial voltage value to obtain an actually measured voltage value at the current position of the accelerator pedal.
Specifically, the initial voltage value is filtered and subjected to mean value processing, an actual measurement voltage value at the current position of the accelerator pedal is obtained, and the obtained actual measurement voltage value is ensured to have reliability and stability.
As an example, the vehicle-mounted controller obtains an initial voltage value V1, an initial voltage value V2, and an initial voltage value Vn within a preset calibration time T, performs low-pass filtering on the initial voltage value V1, the initial voltage value V2, and the initial voltage value Vn, and then performs an average processing to obtain an actual measurement voltage value P1 ═ V1+ V2+. + Vn)/n.
In this embodiment, when the accelerator pedal is stepped on to the current position, the initial voltage value acquired by the voltage sensor in real time within the preset calibration time is acquired, filtering and mean value processing are performed on the initial voltage value, the actual measurement voltage value at the current position of the accelerator pedal is acquired, and reliability and stability of the acquired actual measurement voltage value are ensured.
In an embodiment, as shown in fig. 4, in step S30, performing deviation calculation on the measured voltage value and the calibrated voltage value to obtain a voltage deviation value, and performing reasonable verification on the voltage deviation to obtain a voltage deviation verification result, including:
s31: and determining the absolute value of the voltage difference value between the actually measured voltage value and the calibrated voltage value as a voltage deviation value.
Specifically, since the voltage deviation value Pg can reflect the deviation between the current position of the accelerator pedal and the initial zero position of the accelerator pedal, when the voltage deviation value Pg is reasonably verified, only the value of the voltage deviation value Pg is compared, and the positive and negative meanings of the value are not compared. Therefore, the on-board controller determines the absolute value of the voltage difference between the measured voltage value P1 and the calibrated voltage value P0 as the voltage deviation value Pg.
S32: and if the voltage deviation value is larger than the preset deviation value, acquiring an unreasonable voltage deviation checking result.
S33: and if the voltage deviation value is not greater than the preset deviation value, acquiring a reasonable voltage deviation checking result.
The preset deviation value is a threshold value set by a user in a user-defined mode and used for verifying whether the voltage deviation value Pg is reasonable or not. As an example, the onboard controller may reasonably verify the voltage deviation value Pg ═ P1-P0| according to the preset deviation value, and obtain a voltage deviation verification result. For example, when the voltage deviation value Pg ═ P1-P0| exceeds the preset deviation value, the voltage deviation checking result is not reasonable, and when the voltage deviation value Pg ═ P1-P0| does not exceed the preset deviation value, the voltage deviation checking result is reasonable. Understandably, in order to prevent the measured voltage value from being unreliable or unreasonable, the vehicle-mounted controller reasonably verifies the voltage deviation value Pg so as to adjust the travel opening of the accelerator pedal according to the voltage deviation verification result, and the reliability and the authenticity of adjusting the travel opening of the accelerator pedal are improved.
In this embodiment, in order to prevent that the actually measured voltage value is unreliable or unreasonable, the on-board controller reasonably verifies the voltage deviation value Pg so as to adjust the travel opening of the accelerator pedal according to the voltage deviation verification result, and the reliability and the authenticity of adjusting the travel opening of the accelerator pedal are improved.
In an embodiment, as shown in fig. 5, in step S40, the obtaining a real-time offset according to the voltage deviation value, and performing reasonable verification on the real-time offset to obtain an offset verification result includes:
s41: and performing weighted calculation on the voltage deviation value and the historical offset based on the preset weight and the preset calculation period to obtain the real-time offset.
The preset weight is a user-defined weight and comprises a voltage deviation weight Wg and a historical deviation weight Wh, and the voltage deviation weight Wg is greater than the historical deviation weight Wh. The preset calculation period is set by a user for calculating the real-time offset Py. It should be noted that the historical offset Ph may be an offset stored in the memory, and may be a real-time offset Py calculated for the last preset calculation cycle.
As an example, the preset calculation period is set to be calculated once every 10ms, the voltage deviation weight Wg is 75%, and the historical offset weight Wh is 25%. Acquiring a voltage deviation value Pg and a historical offset Ph in a certain preset calculation period, carrying out weighting calculation on the voltage deviation value Pg and the historical offset Ph, and acquiring a real-time offset Py which is 75% Pg + 25% Ph.
Further, weighting calculation is carried out on the voltage deviation values Pg and the historical offsets Ph corresponding to the multiple preset calculation periods, and the real-time offsets Py obtained in each preset calculation period are stored in a memory.
Understandably, the vehicle-mounted controller performs weighted calculation on the voltage deviation value Pg and the historical offset Ph based on preset weight and a preset calculation period to obtain the real-time offset Py, so that the stability of the real-time offset Py can be improved.
S42: and reasonably checking the real-time offset based on a preset offset threshold value to obtain an offset checking result.
The preset offset threshold is a threshold set by a user for reasonably checking the real-time offset Py.
As an example, the real-time offset Py is checked, and when the real-time offset Py exceeds a preset offset threshold, the offset checking result is unreasonable; and when the real-time offset Py does not exceed the preset offset threshold, the offset verification result is reasonable. Understandably, the vehicle-mounted controller carries out reasonable verification on the real-time offset Py, and the reliability of the real-time offset Py can be improved.
In this embodiment, the vehicle-mounted controller performs weighted calculation on the voltage deviation value Pg and the historical offset Ph based on a preset weight and a preset calculation period to obtain a real-time offset Py, so that the stability of the real-time offset Py can be improved; and the real-time offset Py is reasonably verified, so that the reliability of the real-time offset Py can be improved.
In one embodiment, as shown in fig. 6, in step S50, obtaining a target voltage value according to the measured voltage value and the target offset, and determining the accelerator pedal stroke opening according to the target voltage value includes:
s51: and determining the difference value between the actually measured voltage value and the target offset as a target voltage value.
Specifically, the vehicle-mounted controller determines the difference between the measured voltage value P1 and the target offset Pt as the target voltage value P2, where the target offset is the offset between the measured voltage value and the target voltage value. Therefore, the vehicle-mounted controller determines the difference value between the measured voltage value P1 and the target offset Pt as a target voltage value P2, and the target voltage value P2 can reflect the actual voltage value of the initial zero position of the accelerator pedal corresponding to the real stroke opening of the accelerator pedal.
S52: and determining the travel opening of the accelerator pedal according to the target voltage value and the standard voltage mapping table.
The standard voltage mapping table is a mapping table for mapping a voltage value corresponding to an initial zero position of the accelerator pedal and the stroke opening of the accelerator pedal when the stroke opening of the accelerator pedal has no deviation. In the present embodiment, the accelerator pedal stroke opening corresponding to the target voltage value P2 can be determined from the standard voltage map according to the target voltage value P2.
In this embodiment, the vehicle-mounted controller determines the difference between the actually measured voltage value and the target offset Pt as a target voltage value P2, which can reflect the accelerator pedal voltage value corresponding to the real travel opening of the accelerator pedal, and the target voltage value P2 is subjected to multiple reasonable checks, which is helpful for ensuring the accuracy and reliability of the target voltage value; and then, according to the target voltage value P2 and a standard voltage mapping table, the travel opening of the accelerator pedal is determined, and the authenticity of self-adaptive adjustment of the travel opening of the accelerator pedal is improved, so that the driving safety is guaranteed.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In one embodiment, an on-board controller is provided, which may be a server, and the internal structure thereof may be as shown in fig. 7. The onboard controller comprises a processor, a memory, a network interface and a database connected by a system bus. Wherein the processor of the onboard controller is configured to provide computing and control capabilities. The memory of the vehicle-mounted controller comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, an adaptive program, and a database. The internal memory provides an environment for the operating system and the running of the adaptive program in the non-volatile storage medium. The database of the vehicle-mounted controller is used for self-adaptive adjustment of the accelerator pedal. The network interface of the vehicle-mounted controller is used for connecting and communicating with an external terminal through a network. The adaptive program is executed by a processor to implement an accelerator pedal adaptation method.
In one embodiment, an on-board controller is provided, which includes a memory, a processor, and an adaptive program stored in the memory and executable on the processor, and when the processor executes the adaptive program, the adaptive method of the acceleration pedal in the foregoing embodiments is implemented, for example, steps S10 to S50, which are not repeated herein for avoiding repetition.
In one embodiment, an automobile is provided, which includes the onboard controller in the above embodiment, and the onboard controller implements the accelerator pedal adaptation method in the above embodiment when the automobile is running, for example, steps S10 to S50, which are not repeated herein to avoid repetition.
In an embodiment, a computer-readable storage medium is provided, and the computer-readable storage medium stores an adaptive program, and the adaptive program is executed by a processor to implement the accelerator pedal adaptation method in the foregoing embodiments, for example, steps S10 to S50, which are not repeated herein to avoid repetition.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by the adaptive program, which can be stored in a non-volatile computer-readable storage medium, and the adaptive program can include the processes of the embodiments of the methods described above when executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. An accelerator pedal adaptation method, comprising:
acquiring vehicle state data, and judging whether the vehicle state data meets a pedal self-adaptive condition or not;
if the vehicle state data meet the pedal self-adaptive condition, acquiring an actually measured voltage value at the current position of an accelerator pedal in real time;
performing deviation calculation on the actually measured voltage value and the calibrated voltage value to obtain a voltage deviation value, and performing reasonable verification on the voltage deviation value to obtain a voltage deviation verification result;
if the voltage deviation checking result is reasonable, acquiring a real-time offset according to the voltage deviation value, and reasonably checking the real-time offset to acquire an offset checking result;
and if the offset verification result is reasonable, determining the real-time offset as a target offset, acquiring a target voltage value according to the actual measurement voltage value and the target offset, and determining the travel opening of the accelerator pedal according to the target voltage value.
2. The accelerator pedal adaptation method according to claim 1, further comprising:
if the vehicle state data do not meet the pedal self-adaption condition, the voltage deviation checking result is unreasonable or the offset checking result is unreasonable, determining the historical offset as a target offset, acquiring a target voltage value according to the actually measured voltage value and the target offset, and determining the travel opening of the accelerator pedal according to the target voltage value.
3. The accelerator pedal adaptation method of claim 1, wherein the vehicle state data includes an ignition key current gear, an accelerator pedal current voltage, a voltage sensor supply voltage, and an accelerator pedal current position;
the acquiring of the vehicle state data and the judging of whether the vehicle state data meets the pedal self-adaptive condition comprise:
if the current gear of the ignition key is an ON gear, the current voltage of an accelerator pedal is normal, the power supply voltage of a voltage sensor is normal and the current position of the accelerator pedal is at an initial zero position, the vehicle state data meet the pedal self-adaptive condition;
and if at least one of the current gear of the ignition key is not the ON gear, the current voltage of the accelerator pedal is abnormal, the power supply voltage of the voltage sensor is abnormal and the current position of the accelerator pedal is not in the initial zero position occurs, the vehicle state data does not meet the pedal self-adaptive condition.
4. The accelerator pedal adaptation method according to claim 1, wherein the real-time acquisition of the measured voltage value at the current position of the accelerator pedal comprises:
when an accelerator pedal is stepped to the current position, acquiring an initial voltage value acquired by a voltage sensor in real time within a preset calibration time;
and carrying out filtering and mean value processing on the initial voltage value to obtain an actually measured voltage value at the current position of the accelerator pedal.
5. The adaptive method for an accelerator pedal according to claim 1, wherein the calculating a deviation between the measured voltage value and the calibrated voltage value to obtain a voltage deviation value, and performing a proper verification on the voltage deviation to obtain a voltage deviation verification result comprises:
determining the absolute value of the voltage difference value of the actually measured voltage value and the calibrated voltage value as a voltage deviation value;
if the voltage deviation value is larger than a preset deviation value, acquiring an unreasonable voltage deviation checking result;
and if the voltage deviation value is not greater than the preset deviation value, acquiring a reasonable voltage deviation checking result.
6. The adaptive method for an accelerator pedal according to claim 1, wherein the obtaining a real-time offset according to the voltage deviation value, performing a rational verification on the real-time offset, and obtaining an offset verification result comprises:
performing weighted calculation on the voltage deviation value and the historical offset based on a preset weight and a preset calculation period to obtain a real-time offset;
and reasonably checking the real-time offset based on a preset offset threshold value to obtain an offset checking result.
7. The accelerator pedal adaptation method according to claim 1, wherein the obtaining a target voltage value based on the measured voltage value and the target offset amount, and determining an accelerator pedal stroke opening based on the target voltage value, comprises:
determining the difference value between the actually measured voltage value and the target offset as the target voltage value;
and determining the travel opening of the accelerator pedal according to the target voltage value and a standard voltage mapping table.
8. An on-board controller comprising a memory, a processor, and an adaptive program stored in the memory and executable on the processor, wherein the processor, when executing the adaptive program, implements the accelerator pedal adaptation method of any one of claims 1 to 7.
9. An automobile comprising the on-board controller of claim 8, wherein the on-board controller implements the accelerator pedal adaptation method of any one of claims 1 to 7 when the automobile is in motion.
10. A computer-readable storage medium storing an adaptation program, wherein the adaptation program, when executed by a processor, implements the accelerator pedal adaptation method according to any one of claims 1 to 7.
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