CN114655172A - Brake pedal opening degree calculation method and device and electric automobile - Google Patents

Brake pedal opening degree calculation method and device and electric automobile Download PDF

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Publication number
CN114655172A
CN114655172A CN202110557524.0A CN202110557524A CN114655172A CN 114655172 A CN114655172 A CN 114655172A CN 202110557524 A CN202110557524 A CN 202110557524A CN 114655172 A CN114655172 A CN 114655172A
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CN
China
Prior art keywords
brake pedal
opening degree
signal
stroke signal
circuit
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Pending
Application number
CN202110557524.0A
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Chinese (zh)
Inventor
张德清
梁海强
张蓝文
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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Priority to CN202110557524.0A priority Critical patent/CN114655172A/en
Publication of CN114655172A publication Critical patent/CN114655172A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0076—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to braking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention provides a brake pedal opening degree calculation method and device and an electric automobile. The method comprises the steps of obtaining a first stroke signal of a first circuit and a second stroke signal of a second circuit of a brake pedal; generating an opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal; and sending the opening degree signal of the brake pedal to a motor controller. According to the method for calculating the opening degree of the brake pedal, the vehicle controller simulates and generates the electric signal of the stroke opening degree of the brake pedal through the collected electronic two paths of electric signals, and the opening degree of the brake pedal is effectively calculated. According to the method for calculating the opening degree of the brake pedal, the motor controller can perform energy recovery matched with the specified pedal opening degree according to the electric signal of the stroke opening degree of the brake pedal, and the accurate identification of the whole vehicle on the actual size of the stepping opening degree of the brake pedal by a driver is ensured.

Description

Brake pedal opening degree calculation method and device and electric automobile
Technical Field
The invention relates to the technical field of vehicles, in particular to a method and a device for calculating the opening degree of a brake pedal and an electric automobile.
Background
Electric vehicles have been widely used as travel tools for people due to environmental protection and low energy consumption. Unlike traditional vehicles, the braking of the electric vehicle in the process of deceleration comprises two parts of motor braking and mechanical braking. The motor braking force can help the whole vehicle to reduce the speed and play a role of resistance on one hand, and on the other hand, the alternating current motor can convert the mechanical energy of braking into electric energy, and the electric energy can be recycled into a power battery, so that the driving mileage of the vehicle is prolonged. The magnitude of the recovered braking force not only has great influence on the driving smoothness of the whole vehicle, but also needs to be braked according to the requirement of a driver on the braking force.
However, the conventional electric vehicles all adopt a switch type brake pedal, and the motor can generate a fixed braking force as long as the vehicle recognizes that a driver presses the brake pedal, so that the requirement of the driver on the braking force cannot be reflected on one hand, and the driving feeling can be influenced on the other hand.
Disclosure of Invention
The embodiment of the invention provides a method and a device for calculating the opening degree of a brake pedal and an electric automobile, which are used for solving the problems that in the prior art, the electric automobile adopts a switch type brake pedal, and a motor can send out a fixed braking force as long as a driver treads on the brake pedal, so that the requirement of the driver on the braking force cannot be reflected, and the driving feeling can be influenced.
In order to solve the technical problems, the invention adopts the following technical scheme:
the embodiment of the invention provides a method for calculating the opening of a brake pedal, which comprises the following steps:
acquiring a first stroke signal of a first circuit and a second stroke signal of a second circuit of a brake pedal;
generating an opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal;
and sending the opening degree signal of the brake pedal to a motor controller.
Further, the generating an opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal includes:
analyzing and processing the first travel signal and the second travel signal;
performing fault diagnosis on the brake pedal according to the processed first stroke signal and the processed second stroke signal;
if the brake pedal has a fault, fault error elimination is carried out on the processed first stroke signal and the processed second stroke signal;
and determining the opening degree of the brake pedal according to the first stroke signal and the second stroke signal after the error elimination, and generating an opening degree signal of the brake pedal.
Further, the analyzing the first travel signal and the second travel signal includes:
acquiring a first minimum effective voltage and a first maximum reference voltage of the first circuit and a second minimum effective voltage and a second maximum reference voltage of the second circuit;
acquiring a current first stroke signal and a current second stroke signal of a brake pedal;
determining a first percentage of a difference between a current first stroke signal of the brake pedal and the first minimum effective voltage to the first maximum reference voltage;
determining a second percentage of the difference between the current second stroke signal of the brake pedal and the second minimum available voltage to the second maximum reference voltage.
Further, the analyzing and processing the first travel signal and the second travel signal further includes:
and calculating the average value of the first percentage and the second percentage to obtain the original brake pedal opening.
Further, the first stroke signal is an output voltage of a first circuit of the brake pedal; the second stroke signal is the output voltage of a second circuit of the brake pedal, and the output voltage of the first circuit and the output voltage of the second circuit are in a preset multiple relation.
Further, the performing fault diagnosis on the brake pedal according to the processed first stroke signal and the processed second stroke signal includes:
if the voltage value of the first stroke signal is greater than a first high-voltage threshold or less than a first low-voltage threshold, a first fault exists in the first circuit;
if the voltage value of the second stroke signal is greater than a second high-voltage threshold or less than a second low-voltage threshold, a first fault exists in the second circuit; or
And calculating an absolute value of the difference between the first percentage and the second percentage, and if the absolute value is greater than a preset value, determining that a second fault exists in the brake pedal.
Further, the performing fault error elimination on the processed first stroke signal and the processed second stroke signal includes:
multiplying the first percentage by a first error cancellation ratio to obtain a third percentage based on a first fault condition of the first circuit;
multiplying the second percentage by a second error cancellation ratio to obtain a fourth percentage according to the first fault state of the second circuit;
and multiplying the sum of the third percentage and the fourth percentage by a third error elimination proportion according to a second fault state of the brake pedal to obtain a first brake pedal opening degree.
Further, the generating an opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal further includes:
multiplying the first brake pedal opening degree by a first coefficient to obtain the opening degree of the brake pedal and generating an opening degree signal of the brake pedal;
the first coefficient and the original brake pedal opening degree are reciprocal.
The embodiment of the present invention further provides a brake pedal opening degree calculation apparatus, including:
the acquisition module is used for acquiring a first stroke signal of a first circuit and a second stroke signal of a second circuit of the brake pedal;
the generating module is used for generating an opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal;
and the sending module is used for sending the opening degree signal of the brake pedal to the motor controller.
The embodiment of the invention also provides an electric automobile which comprises the brake pedal opening degree calculating device.
The invention has the beneficial effects that:
according to the method for calculating the opening degree of the brake pedal, the vehicle controller simulates and generates the electric signal of the stroke opening degree of the brake pedal through the collected electronic two paths of electric signals, and the opening degree of the brake pedal is effectively calculated. According to the method for calculating the opening degree of the brake pedal, the motor controller can perform energy recovery matched with the specified pedal opening degree according to the electric signal of the stroke opening degree of the brake pedal, and the accurate identification of the whole vehicle on the actual size of the stepping opening degree of the brake pedal by a driver is ensured.
Drawings
FIG. 1 is a schematic view showing steps of a brake pedal opening degree calculating method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a characteristic curve of an electric signal and an opening degree of a brake pedal according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a brake pedal opening calculation system according to an embodiment of the present invention;
fig. 4 is a schematic diagram showing a brake pedal opening degree calculation apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The invention provides a method and a device for calculating the opening degree of a brake pedal and an electric automobile, aiming at the problems that in the prior art, the electric automobile adopts the switch type brake pedal, and the motor can send out braking force with fixed magnitude as long as the vehicle recognizes that a driver steps on the brake pedal, the requirement of the driver on the magnitude of the braking force cannot be reflected, and the driving feeling can be influenced.
As shown in fig. 1, an embodiment of the present invention provides a brake pedal opening degree calculation method, including:
step 101, a first travel signal of a first circuit and a second travel signal of a second circuit of a brake pedal are obtained.
And 102, generating an opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal.
And 103, sending the opening degree signal of the brake pedal to a motor controller.
According to the method for calculating the opening degree of the brake pedal, the vehicle controller simulates and generates the electric signal of the stroke opening degree of the brake pedal through the collected electronic two paths of electric signals, and the opening degree of the brake pedal is effectively calculated. According to the method for calculating the opening degree of the brake pedal, the motor controller can perform energy recovery matched with the specified pedal opening degree according to the electric signal of the stroke opening degree of the brake pedal, and the accurate identification of the whole vehicle on the actual size of the stepping opening degree of the brake pedal by a driver is ensured.
Optionally, the generating an opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal includes:
analyzing and processing the first travel signal and the second travel signal;
performing fault diagnosis on the brake pedal according to the processed first stroke signal and the processed second stroke signal;
if the brake pedal has a fault, fault error elimination is carried out on the processed first stroke signal and the processed second stroke signal;
and determining the opening degree of the brake pedal according to the first stroke signal and the second stroke signal after the error elimination, and generating an opening degree signal of the brake pedal.
According to the method for calculating the opening degree of the brake pedal, the fault of the brake pedal can be diagnosed by analyzing and processing the two paths of electric signals, the fault error of the electric signals is eliminated when the brake pedal has the fault, the opening degree which meets the actual stepping degree of the brake pedal is finally obtained, and the driving requirement of a driver is met under the condition that the safety of the whole vehicle is guaranteed.
Optionally, the analyzing and processing the first travel signal and the second travel signal includes:
acquiring a first minimum effective voltage and a first maximum reference voltage of the first circuit and a second minimum effective voltage and a second maximum reference voltage of the second circuit;
acquiring a current first travel signal and a current second travel signal of a brake pedal;
determining a first percentage of a difference between a current first travel signal of the brake pedal and the first minimum effective voltage to the first maximum reference voltage;
determining a second percentage of the difference between the current second stroke signal of the brake pedal and the second minimum available voltage to the second maximum reference voltage.
It should be noted that the specific data of the first stroke signal and the second forming signal are both voltage values.
Due to the mechanical design problem of the brake pedal, the two-way voltage generally cannot reach the maximum and minimum values of the ideal voltage. For example, the maximum voltage of the first path of electrical signal is 5V, and the minimum voltage is 0V; the maximum voltage of the first path of electric signal is 2.5V, and the minimum voltage is 0V. The actual relationship between the opening degree of the brake pedal and the output voltage is shown in fig. 2, the actual value range of the first circuit voltage is [0.75 ± 0.125V 4.3 ± 0.125V ], and the actual value range of the second circuit voltage is [0.375 ± 0.1V 2.15 ± 0.1V ].
The first minimum effective voltage, the first maximum reference voltage, the second minimum effective voltage, and the second maximum reference voltage are determined according to a factory value of the brake pedal.
The method for calculating the opening degree of the brake pedal obtains the percentage by the ratio of the difference value of the minimum effective voltage and the maximum reference voltage, eliminates the error caused by the mechanical design problem of the brake pedal, converts the voltage value into the proportional value, eliminates the actual error, improves the accuracy of calculating the opening degree of the brake pedal,
optionally, the analyzing and processing the first travel signal and the second travel signal further includes:
and calculating the average value of the first percentage and the second percentage to obtain the original brake pedal opening.
The average value of the first percentage corresponding to the first path of travel signal and the second percentage corresponding to the second path of travel signal is obtained, so that the errors of the two paths of circuits can be eliminated, and the obtained opening degree of the brake pedal is more accurate.
Optionally, the first travel signal is an output voltage of a first circuit of the brake pedal; the second stroke signal is the output voltage of a second circuit of the brake pedal, and the output voltage of the first circuit and the output voltage of the second circuit are in a preset multiple relation.
For example, the first output voltage may be set to be 2 times of the second output voltage, and then the two output voltages are compared to determine whether the brake pedal has a fault.
According to the method for calculating the opening degree of the brake pedal, disclosed by the embodiment of the invention, the output voltage of the first circuit and the output voltage of the second circuit are set to be in a multiple relation, and whether the brake pedal has a fault or not can be judged by comparing the values of the first output voltage and the second output voltage.
Optionally, the performing fault diagnosis on the brake pedal according to the processed first stroke signal and the second stroke signal includes:
if the voltage value of the first travel signal is larger than a first high-voltage threshold or smaller than a first low-voltage threshold, a first fault exists in the first circuit;
if the voltage value of the second stroke signal is greater than a second high-voltage threshold or less than a second low-voltage threshold, a first fault exists in the second circuit; or
And calculating an absolute value of the difference between the first percentage and the second percentage, and if the absolute value is greater than a preset value, determining that a second fault exists in the brake pedal.
The general brake pedal is an electronic component and mainly comprises a Hall sensor and a sliding resistor, so that the failure rate can be caused in the production process, and meanwhile, the brake pedal is worn in the use process, so that the fault diagnosis treatment is required.
In one embodiment of the invention, the fault diagnosis of the brake pedal is divided into two types, one type is fault diagnosis of voltage overrun, and whether the fault of voltage overrun exists in the brake pedal is judged by comparing the output voltage with a high voltage threshold and a low voltage threshold; the other method is to carry out check fault diagnosis on the two circuits, wherein whether the brake pedal is in fault or not is judged by comparing two voltage values, namely the difference value of the first percentage and the second percentage, for example, the brake pedal is judged to be in fault when the absolute value of the difference value of the first percentage and the second percentage is greater than 10%.
According to the method for calculating the opening degree of the brake pedal, whether the brake pedal has a fault or not can be judged through the relation of the values of the two paths of voltages by a method for judging the voltage overrun and the design that the output voltages of the two paths of circuits are in preset multiples; therefore, the opening of the brake pedal is obtained according to the fault state of the brake pedal, and the driving requirement of a driver is met under the condition of ensuring the safety of the whole vehicle.
Optionally, the performing fault error elimination on the processed first stroke signal and the processed second stroke signal includes:
multiplying the first percentage by a first error cancellation ratio to obtain a third percentage based on a first fault condition of the first circuit;
multiplying the second percentage by a second error cancellation ratio to obtain a fourth percentage according to a first fault state of the second circuit;
and multiplying the sum of the third percentage and the fourth percentage by a third error elimination proportion according to a second fault state of the brake pedal to obtain a first brake pedal opening degree.
In an embodiment of the present invention, if the first failure state of the first circuit is failure, the first error cancellation ratio is 0; if the first fault state of the first circuit is no fault, the first error elimination ratio is 0.5. If the first fault state of the second circuit is a fault, the second error elimination proportion is 0; if the first fault state of the second circuit is no fault, the second error elimination ratio is 0.5.
If the measuring circuit has no fault, calculating half of each path when the total opening is calculated, and then adding to obtain the total opening; if the measuring circuits are all in fault, the opening degree of the brake pedal which is finally output is 0; if one of the two circuits fails, only the circuit which does not fail is adopted, so that the maximum opening degree of the brake pedal is only 50%, the purposes of reducing energy recovery and power are achieved by the mode, and the safety of the whole vehicle is ensured.
If the second fault state of the first circuit or the second circuit is fault, the third error elimination proportion is 0.5; if the second fault state of the first circuit or the second circuit is no fault, the first error elimination ratio is 1.
According to the method for calculating the opening degree of the brake pedal, provided by the embodiment of the invention, the two circuits are set to be in the relation of preset multiples, so that verification diagnosis can be carried out. And through the fault diagnosis of voltage overrun, cover multiple fault situations, and reduce the influence that the trouble brought through the error elimination proportion, guaranteed the accuracy of brake pedal aperture calculation.
Optionally, the generating an opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal further includes:
multiplying the first brake pedal opening degree by a first coefficient to obtain the opening degree of the brake pedal and generating an opening degree signal of the brake pedal;
and the first coefficient and the original brake pedal opening degree are reciprocal.
As can be seen from the characteristic curve of fig. 2, the actual first circuit maximum voltage and the actual second circuit maximum voltage cannot be set to the maximum reference voltages 5V and 2.5V, respectively, and therefore, the original maximum brake pedal opening degree cannot reach 100% even if the driver steps the brake pedal to the deepest opening degree. Therefore, it is necessary to proportionally amplify the first brake pedal opening degree obtained above so that the opening degree of the brake pedal when the driver presses the brake pedal to the bottom is 100%, where 1 parameter scaler is set so that the product of the first brake pedal opening degree and the parameter scaler is 100%.
The method for calculating the opening degree of the brake pedal solves the problems that the electrical characteristics of the brake pedal are as follows: the actual voltages of the first circuit and the second circuit are not up to the theoretical maximum and minimum values. According to the method for calculating the opening degree of the brake pedal, the opening degree of the brake pedal is finally obtained within the range of 0-100% in a proportional falling mode, and the requirement of a driver on the torque is reflected more reasonably.
As shown in fig. 3, according to the method for calculating the opening degree of the brake pedal of the embodiment of the present invention, the vehicle controller obtains the first stroke signal BPS _1 of the first circuit and the second stroke signal BPS _2 of the second circuit from the brake pedal, analyzes the first stroke signal BPS _1 and the second stroke signal BPS _2 by the vehicle controller, generates the opening degree signal BPS _ Pct of the brake pedal, and transmits the opening degree signal BPS _ Pct of the brake pedal to the motor controller, and the motor controller controls the energy recovery of the motor according to the opening degree signal BPS _ Pct of the brake pedal.
As shown in fig. 4, an embodiment of the present invention further provides a brake pedal opening degree calculation apparatus 400, including:
an obtaining module 401, configured to obtain a first stroke signal of a first circuit and a second stroke signal of a second circuit of a brake pedal;
a generating module 402, configured to generate an opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal;
and a sending module 403, configured to send the opening degree signal of the brake pedal to a motor controller.
According to the device for calculating the opening degree of the brake pedal, the vehicle controller simulates and generates the electric signal of the stroke opening degree of the brake pedal through the collected electronic two paths of electric signals, and the opening degree of the brake pedal is effectively calculated. According to the method for calculating the opening degree of the brake pedal, the motor controller can perform energy recovery matched with the specified pedal opening degree according to the electric signal of the stroke opening degree of the brake pedal, and the accurate identification of the whole vehicle on the actual size of the stepping opening degree of the brake pedal by a driver is ensured.
The embodiment of the invention also provides an electric automobile which comprises the brake pedal opening degree calculating device.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.

Claims (10)

1. A brake pedal opening degree calculation method characterized by comprising:
acquiring a first travel signal of a first circuit and a second travel signal of a second circuit of a brake pedal;
generating an opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal;
and sending the opening degree signal of the brake pedal to a motor controller.
2. The brake pedal opening degree calculation method according to claim 1, wherein the generating the opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal includes:
analyzing and processing the first travel signal and the second travel signal;
performing fault diagnosis on the brake pedal according to the processed first stroke signal and the processed second stroke signal;
if the brake pedal has a fault, fault error elimination is carried out on the processed first stroke signal and the processed second stroke signal;
and determining the opening degree of the brake pedal according to the first stroke signal and the second stroke signal after the error is eliminated, and generating an opening degree signal of the brake pedal.
3. The brake pedal opening degree calculation method according to claim 2, wherein the analyzing the first stroke signal and the second stroke signal includes:
acquiring a first minimum effective voltage and a first maximum reference voltage of the first circuit and a second minimum effective voltage and a second maximum reference voltage of the second circuit;
acquiring a current first travel signal and a current second travel signal of a brake pedal;
determining a first percentage of a difference between a current first stroke signal of the brake pedal and the first minimum effective voltage to the first maximum reference voltage;
determining a second percentage of the difference between the current second stroke signal of the brake pedal and the second minimum available voltage to the second maximum reference voltage.
4. The brake pedal opening degree calculation method according to claim 3, wherein the analyzing the first stroke signal and the second stroke signal further includes:
and calculating the average value of the first percentage and the second percentage to obtain the original brake pedal opening.
5. The brake pedal opening degree calculation method according to claim 4, wherein the first stroke signal is an output voltage of a first circuit of the brake pedal; the second stroke signal is the output voltage of a second circuit of the brake pedal, and the output voltage of the first circuit and the output voltage of the second circuit are in a preset multiple relation.
6. The brake pedal opening degree calculation method according to claim 5, wherein the performing fault diagnosis on the brake pedal based on the processed first stroke signal and the second stroke signal includes:
if the voltage value of the first stroke signal is greater than a first high-voltage threshold or less than a first low-voltage threshold, a first fault exists in the first circuit;
if the voltage value of the second stroke signal is greater than a second high-voltage threshold or less than a second low-voltage threshold, a first fault exists in the second circuit; or
And calculating an absolute value of the difference between the first percentage and the second percentage, and if the absolute value is greater than a preset value, determining that a second fault exists in the brake pedal.
7. The brake pedal opening degree calculation method according to claim 6, wherein the performing fault error cancellation on the processed first stroke signal and the second stroke signal includes:
multiplying the first percentage by a first error cancellation ratio to obtain a third percentage based on a first fault condition of the first circuit;
multiplying the second percentage by a second error cancellation ratio to obtain a fourth percentage according to a first fault state of the second circuit;
and multiplying the sum of the third percentage and the fourth percentage by a third error elimination proportion according to a second fault state of the brake pedal to obtain a first brake pedal opening degree.
8. The brake pedal opening degree calculation method according to claim 7, wherein the generating the opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal further includes:
multiplying the first brake pedal opening degree by a first coefficient to obtain the opening degree of the brake pedal and generating an opening degree signal of the brake pedal;
and the first coefficient and the original brake pedal opening degree are reciprocal.
9. A brake pedal opening degree calculation device characterized by comprising:
the acquisition module is used for acquiring a first stroke signal of a first circuit and a second stroke signal of a second circuit of the brake pedal;
the generating module is used for generating an opening degree signal of the brake pedal according to the first stroke signal and the second stroke signal;
and the sending module is used for sending the opening degree signal of the brake pedal to the motor controller.
10. An electric vehicle characterized by comprising the brake pedal opening degree calculation apparatus according to claim 9.
CN202110557524.0A 2021-05-21 2021-05-21 Brake pedal opening degree calculation method and device and electric automobile Pending CN114655172A (en)

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