CN114993706A - Method and system for evaluating objective indexes of vehicle drivability - Google Patents
Method and system for evaluating objective indexes of vehicle drivability Download PDFInfo
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Abstract
The invention discloses a vehicle drivability objective index evaluation method and system, wherein the evaluation method comprises the steps of calculating objective index parameters of a vehicle to be counted according to the acceleration condition statistical data, and establishing an objective index evaluation model according to the objective index parameters; when the vehicle speed is the initial vehicle speed value, opening an accelerator according to a preset accelerator opening degree, when the vehicle speed is the final vehicle speed value, closing the accelerator, collecting vehicle speed test data from the initial vehicle speed value to the final vehicle speed value according to the preset accelerator opening degree, calculating acceleration data of the vehicle to be tested based on the vehicle speed test data, and importing the data into the objective index testing model so as to obtain test evaluation of the vehicle to be tested; objective index parameters are generated by setting objective indexes of vehicle drivability under common acceleration conditions of a user, the problems that subjective evaluation results are large in difference and poor in repeatability and key requirements of the user are difficult to reflect are solved, and the objective index parameters are used for guiding vehicle drivability development work.
Description
Technical Field
The invention relates to the technical field of vehicle objective index evaluation, in particular to a method and a system for evaluating vehicle drivability objective indexes.
Background
The driving performance can reflect the subjective comprehensive feeling of a driver under the human-vehicle interaction in the longitudinal driving process of the automobile, and the evaluation method comprises subjective and objective evaluation methods. The subjective evaluation results are influenced by factors such as personnel, environment and working conditions of the evaluation test, so that the evaluation results are large in difference and poor in repeatability, and the key requirements of users are difficult to reflect. In addition, the subjective evaluation method fails to establish a quantitative relationship between drivability and vehicle parameters due to lack of corresponding objective data, and cannot guide objective target setting in the early stage of vehicle development.
The current research aiming at the objective evaluation of the drivability mainly develops the evaluation of working condition indexes from the perspective of developers to give comprehensive scores, and the fresh learners research the drivability evaluation indexes from the perspective of user requirements to further put forward quantitative requirements for the development of vehicles.
Disclosure of Invention
The invention aims to provide a method and a system for evaluating objective indexes of vehicle drivability, which are used for solving the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a vehicle drivability objective index evaluation method includes:
acquiring statistical data of the acceleration condition of a statistical vehicle, and calculating objective index parameters of the statistical vehicle according to the statistical data of the acceleration condition, wherein the objective index parameters comprise the acceleration delay time of the statistical vehicle, the maximum acceleration of the statistical vehicle and the acceleration kurtosis of the statistical vehicle;
establishing an objective index evaluation model according to the objective index parameters;
presetting an initial speed value, a final speed value and an accelerator opening degree of a vehicle to be detected;
when the vehicle speed is the initial vehicle speed value, opening an accelerator according to the preset accelerator opening degree, when the vehicle speed is the final vehicle speed value, closing the accelerator, and collecting vehicle speed test data from the initial vehicle speed value to the final vehicle speed value of the vehicle to be tested;
sending the vehicle speed test data to an upper computer;
calculating vehicle speed power spectral density through application software based on the vehicle speed test data;
establishing a vehicle speed low-pass filter model, and filtering the vehicle speed to obtain vehicle speed data;
calculating acceleration data of the vehicle to be tested based on the vehicle speed data, wherein the acceleration data of the vehicle to be tested comprises acceleration delay time of the vehicle to be tested, maximum acceleration of the vehicle to be tested and acceleration kurtosis of the vehicle to be tested;
and importing the acceleration data of the vehicle to be tested into the objective index evaluation model so as to obtain the test evaluation of the vehicle to be tested.
Further, when the vehicle speed is the initial vehicle speed value, the accelerator is opened according to the preset accelerator opening, and when the vehicle speed is the final vehicle speed value, the accelerator is closed, and vehicle speed test data from the initial vehicle speed value to the final vehicle speed value of the vehicle to be tested are collected, the method further includes:
presetting a vehicle speed redundant value, wherein the vehicle speed redundant value is greater than the vehicle speed initial value;
when the vehicle speed is the vehicle speed redundant value, closing the accelerator and starting to acquire vehicle speed test data;
and when the vehicle speed is reduced to the initial vehicle speed value, opening the accelerator according to the preset accelerator opening degree, and when the vehicle speed is the final vehicle speed value, closing the accelerator.
Further, the acceleration kurtosis of the vehicle to be measured is used for reflecting an index of a sharp or flat degree of the top end of an acceleration and time curve, and a calculation formula of the acceleration and time curve is as follows:
in the formula: k is kurtosis; m4 is the sample fourth order average moment; m2 is the sample second-order mean moment; n is the number of samples; xi is the sample; x is the sample mean.
Further, calculating a vehicle speed power spectral density by application software based on the vehicle speed test data, further comprising: the application software is SPSS data analysis software, the vehicle speed power spectrum density is estimated based on the SPSS data analysis software, and the result shows that the vehicle speed power spectrum energy is mainly distributed at 0-1 Hz.
Further, a vehicle speed low-pass filter model is established, vehicle speed is filtered, and vehicle speed data are obtained, and the method further comprises the following steps: an FDATOol tool box based on MATLAB software is used for designing a vehicle speed low-pass filter model, wherein the filter adopts an inverse factor filtering method, and an FIR window, an 81-order method, a Kaiser method, a sampling frequency of 1000Hz and a cut-off frequency of 1Hz are selected.
Further, calculating the acceleration data of the vehicle to be tested based on the vehicle speed data, further comprising: the vehicle acceleration is calculated by adopting a two-point difference method, and the calculation formula is as follows:
a n+1 ＝(v n+1 -v n ) /T-formula (2)
In the formula, a n 、v n Acceleration and speed of the vehicle at n moments respectively; t is the time interval between the (n +1) time and the n time.
Furthermore, statistical induction is carried out according to the statistical induction of the common acceleration events of the vehicles and the standard test cyclic acceleration conditions, and the acceleration condition statistical data comprise starting acceleration condition statistical data, overtaking acceleration condition statistical data and following acceleration condition statistical data.
Further, comprising:
in the counting of the common acceleration events of the vehicle, the starting acceleration working condition statistical data is in a vehicle speed range of 0-40 km/h, and the opening range of a common accelerator is 20-30%; the overtaking acceleration condition statistical data comprise a speed range of 50-80 km/h and a commonly-used accelerator opening range of 30-40%; the following acceleration condition statistical data comprise a vehicle speed range of 50-80 km/h and a commonly used accelerator opening range of 30-50%;
in a standard test cyclic acceleration working condition, the starting acceleration working condition statistical data vehicle speed range is 0-50 km/h, and the opening degree of a commonly-used accelerator is 30%; the overtaking acceleration condition statistical data comprise the speed range of 40-60 km/h, and the opening range of a commonly-used accelerator is 20-30%.
Further, according to the statistical common acceleration events of the vehicle and the standard test cyclic acceleration conditions, and considering the road speed limit regulation, fusion calculation is carried out to obtain objective index acceleration conditions, wherein the objective index acceleration conditions comprise objective index starting acceleration conditions, the vehicle speed range is 0-40 km/h, and the opening degree of a common accelerator of the objective index starting acceleration conditions is 30%; the speed range of the overtaking acceleration working condition of the objective index is 50-80 km/h, and the opening of a commonly used accelerator of the overtaking acceleration working condition of the objective index is 30%.
In another aspect, a vehicle drivability objective index evaluation system is provided, including any one of the above vehicle drivability objective index evaluation methods, including:
a vehicle control unit;
the accelerator drive-by-wire module is connected between an APS sensor and the whole vehicle controller in series and used for opening an accelerator according to the preset accelerator opening degree and closing the accelerator when the vehicle speed is the final vehicle speed value;
the speed acquisition module is connected with the accelerator line control module and is used for acquiring vehicle speed test data of a vehicle to be tested;
the upper computer receives and processes the vehicle speed test data transmitted by the speed acquisition module through the accelerator drive-by-wire module, and sends a control instruction to the accelerator drive-by-wire module, and the accelerator drive-by-wire module stores the speed data uploaded to the accelerator drive-by-wire module by the speed acquisition module according to the received control instruction, and uploads the stored data to the upper computer.
Compared with the prior art, the invention has the beneficial effects that: by setting the objective indexes of the drivability of the vehicle under the common acceleration condition of the user, the problems that the subjective evaluation result is large in difference and poor in repeatability and the key requirements of the user are difficult to reflect are successfully solved, and the objective indexes are used for guiding the drivability development work of the whole vehicle.
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FIG. 1 is a flow chart of a method for evaluating objective indicators of drivability of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a system for evaluating objective indicators of vehicle drivability according to an embodiment of the present invention;
FIG. 3 is a statistical chart of the ratio of the user vehicle speed range under the starting acceleration condition obtained based on the WLTC and CLTC real vehicle test results in the embodiment of the invention;
FIG. 4 is a statistical graph of the accelerator opening ratio of a user under a starting acceleration condition obtained based on the WLTC and CLTC real vehicle test results in the embodiment of the invention;
FIG. 5 is a statistical chart of the ratio of the speed ranges of the overtaking acceleration condition users obtained based on the results of the WLTC and CLTC tests in the embodiment of the present invention;
FIG. 6 is a statistical graph of accelerator opening ratio of a user under an overtaking acceleration condition obtained based on a WLTC and CLTC real vehicle test result in the embodiment of the invention;
FIG. 7 is a table of benchmarking vehicle type parameters according to an embodiment of the present invention;
FIGS. 8-13 are acceleration time history graphs of user common starting and overtaking conditions for target vehicle types A-F in the embodiment of the invention;
FIG. 14 is a table comparing the delay time of the acceleration of the target vehicle, the maximum acceleration, and the acceleration kurtosis according to an embodiment of the present invention;
in the figure: 10. an accelerator drive-by-wire module; 20. a speed acquisition module; 30. an upper computer; 40. an APS sensor; 50. vehicle control unit.
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to the attached drawings of the specification, the invention provides a technical scheme that: as shown in fig. 1, a method for evaluating objective indicators of vehicle drivability includes the following steps:
s100, obtaining statistical data of acceleration conditions of a statistical vehicle, and calculating objective index parameters of the statistical vehicle according to the statistical data of the acceleration conditions, wherein the objective index parameters comprise acceleration delay time of the statistical vehicle, maximum acceleration of the statistical vehicle and acceleration kurtosis of the statistical vehicle;
s200, establishing an objective index evaluation model according to objective index parameters;
s300, presetting an initial speed value, a final speed value and an opening degree of an accelerator of the vehicle to be tested;
s400, when the vehicle speed is the initial vehicle speed value, opening an accelerator according to the preset accelerator opening degree, when the vehicle speed is the final vehicle speed value, closing the accelerator, and collecting vehicle speed test data from the initial vehicle speed value to the final vehicle speed value of the vehicle to be tested;
s500, sending the vehicle speed test data to an upper computer;
s600, calculating the power spectrum density of the vehicle speed through application software based on the vehicle speed test data;
s700, establishing a vehicle speed low-pass filter model, and filtering the vehicle speed to obtain vehicle speed data;
s800, calculating acceleration data of the vehicle to be tested based on the vehicle speed data, wherein the acceleration data of the vehicle to be tested comprises acceleration delay time of the vehicle to be tested, maximum acceleration of the vehicle to be tested and acceleration kurtosis of the vehicle to be tested;
and S900, importing the acceleration data of the vehicle to be tested into the objective index evaluation model so as to obtain the test evaluation of the vehicle to be tested.
In the above embodiment, according to market feedback, the vehicle has problems of slow acceleration, weak acceleration and the like, which affect driving feeling, and based on the user experience result, it can be determined that slow acceleration and weak acceleration are important negative influence factors of vehicle drivability, so the important requirements of the user on acceleration experience are that the vehicle has fast acceleration response after stepping on the accelerator and has back pushing feeling during acceleration, and the factors are determined by a test index of vehicle acceleration, wherein the test index is acceleration delay time t0, maximum acceleration a and acceleration kurtosis K; the acceleration delay time of the vehicle to be tested is used for reflecting an index of acceleration response speed, and preferably, the set time is the time from the step-on of the accelerator pedal to the time when the acceleration of the vehicle reaches 0.05 g.
Setting an initial value, a final value and an accelerator opening degree as V1, V2 and alpha respectively, setting an output accelerator opening degree alpha in an accelerator drive-by-wire module, and controlling the accelerator drive-by-wire module to send an input signal with the accelerator opening degree of alpha to a whole vehicle controller to accelerate the vehicle to be tested when the vehicle speed of the vehicle to be tested is V1; when the vehicle to be tested accelerates to V2, the control accelerator drive-by-wire module sends an accelerator closing signal to the whole vehicle controller; the user frequent start acceleration condition is usually generated under the condition of an equal signal lamp, and preferably, V1 is 0km/h, V2 is 40km/h, and alpha is 30%; under the overtaking acceleration condition commonly used by users, V1 is 50km/h (the vehicle slides in a gear), V2 is 80km/h, and alpha is 30%; the control accelerator drive-by-wire module is preferably an accelerator drive-by-wire device VMS 3400.
Optionally, when the vehicle speed is the initial vehicle speed value, opening an accelerator by a preset accelerator opening, and when the vehicle speed is the final vehicle speed value, closing the accelerator, and acquiring vehicle speed test data from the initial vehicle speed value to the final vehicle speed value of the vehicle to be tested, further comprising:
presetting a vehicle speed redundant value, wherein the vehicle speed redundant value is greater than the vehicle speed initial value;
when the vehicle speed is the vehicle speed redundant value, closing the accelerator and starting to acquire vehicle speed test data;
and when the vehicle speed is reduced to the initial vehicle speed value, opening the accelerator according to the preset accelerator opening degree, and when the vehicle speed is the final vehicle speed value, closing the accelerator.
In the above embodiment, the preset vehicle speed redundancy value V3 is preferably obtained by adding a speed margin V0 to the initial value of the vehicle speed at the time of vehicle test, where V0 is 10km/h, that is, V3 is V1+ V0 is V1+10 km/h; when the vehicle speed is V1+10km/h, closing an accelerator, starting to acquire the vehicle speed through a vehicle speed acquisition module, and when the vehicle speed is reduced to V1, sending an accelerator opening signal to the whole vehicle controller through an accelerator drive-by-wire module at a preset accelerator opening degree alpha, wherein the vehicle speed acquisition module preferably selects a GPS; in the process, the vehicle speed acquisition module GPS can be controlled to start to record the vehicle speed acquired by the GPS before the control signal of the accelerator opening degree is sent for 1 s.
The upper computer monitors the vehicle speed change acquired by the vehicle speed acquisition module in real time, when the vehicle speed is increased to V3, the upper computer sends a throttle closing signal to the throttle drive-by-wire module, the throttle drive-by-wire module sends a command that the throttle opening is zero to the whole vehicle controller, when the vehicle speed of the vehicle to be detected acquired by the upper computer monitoring vehicle speed acquisition module is reduced to V1, the upper computer sends a signal that the throttle opening is a preset opening alpha to the throttle drive-by-wire module, the throttle drive-by-wire module sends a command that the throttle opening is alpha to the whole vehicle controller, the vehicle to be detected starts acceleration with the throttle opening alpha, the upper computer starts to record the vehicle speed data acquired by the vehicle speed acquisition module, when the vehicle speed acquired by the upper computer monitoring vehicle speed acquisition module reaches V2, the throttle drive-by-wire module sends a throttle closing signal to the throttle drive-by-wire module, and the throttle drive-by-wire module sends a command that the throttle opening is zero to the whole vehicle controller, and simultaneously finishing data acquisition.
Optionally, the acceleration kurtosis of the vehicle under test is used to reflect an index of a sharp or flat top of an acceleration-time curve, and a calculation formula thereof is as follows:
in the formula: k is the acceleration kurtosis; m4 is the sample fourth order average moment; m2 is the sample second order mean moment; n is the number of samples; xi is the sample; and x is the sample mean.
In the above-described embodiment, the acceleration kurtosis may reflect the speed of change of the vehicle acceleration, and the larger the index is, the faster the vehicle acceleration increases.
Optionally, calculating a vehicle speed power spectral density by application software based on the vehicle speed test data, further comprises: the application software is SPSS data analysis software, the vehicle speed power spectrum density is estimated based on the SPSS data analysis software, and the result shows that the vehicle speed power spectrum energy is mainly distributed at 0-1 Hz.
Optionally, the establishing a vehicle speed low-pass filter model, and filtering the vehicle speed to obtain vehicle speed data, further includes: an FDATOol tool box based on MATLAB software is used for designing a vehicle speed low-pass filter model, wherein the filter adopts an inverse factor filtering method, and an FIR window, an 81-order method, a Kaiser method, a sampling frequency of 1000Hz and a cut-off frequency of 1Hz are selected.
Optionally, calculating vehicle acceleration data to be measured based on the vehicle speed data, further comprising: the vehicle acceleration is calculated by adopting a two-point difference method, and the calculation formula is as follows:
a n+1 ＝(v n+1 -v n ) /T-formula (2)
In the formula, a n 、v n Acceleration and speed of the vehicle at n moments respectively; t is the time interval between the (n +1) time and the n time.
Optionally, the statistical data of the acceleration conditions includes statistical data of starting acceleration conditions, statistical data of overtaking acceleration conditions and statistical data of following acceleration conditions.
Optionally, comprising:
in the counting of the common acceleration events of the vehicle, the starting acceleration working condition statistical data is in a vehicle speed range of 0-40 km/h, and the opening range of a common accelerator is 20-30%; the overtaking acceleration condition statistical data comprise a speed range of 50-80 km/h and a commonly-used accelerator opening range of 30-40%; the following acceleration condition statistical data comprise a vehicle speed range of 50-80 km/h and a commonly used accelerator opening range of 30-50%;
in a standard test cyclic acceleration working condition, the starting acceleration working condition statistical data vehicle speed range is 0-50 km/h, and the opening of a commonly used accelerator is 30%; the overtaking acceleration condition statistical data comprise the speed range of 40-60 km/h, and the opening range of a commonly-used accelerator is 20-30%.
In the above embodiment, preferably, by conducting user research on two hundred or more users of dozens of models, it is determined that the user commonly used acceleration events include three types, namely, starting at a traffic light, changing lanes and overtaking and following.
And (3) counting and analyzing the speed and the accelerator opening data of the test vehicle according to the acceleration working conditions of starting, lane changing and overtaking, following and the like of the traffic lights to obtain the common speed range and the common accelerator opening of the user. According to the statistical result of the accelerator opening ratio of the user under each working condition, the common vehicle speeds of the user are respectively 0-40 km/h, 50-80 km/h and 50-80 km/h under the starting acceleration working condition, the lane changing overtaking acceleration working condition and the following acceleration working condition of the traffic lights, and the common accelerator opening ranges of the user are respectively 20% -30%, 30% -40% and 30% -50%.
The standard Test Cycle acceleration condition statistics is carried out based on World Light Vehicle Test Procedure (WLTC) and China Light Vehicle driving condition (CLTC); WLTC and CLTC are test cycles developed based on a large amount of actual traffic data, have large speed fluctuation and no obvious regularity, and are closer to the actual vehicle using scene of a user. As shown in FIGS. 3 to 6, the invention statistically obtains the user common vehicle speed range and the common accelerator opening degree based on the actual vehicle test results of WLTC and CLTC. Obtaining a user common vehicle speed range of 0-50 km/h and a common accelerator opening of 30% under the starting acceleration working condition according to the user vehicle speed range and the accelerator opening ratio statistical result of the starting acceleration working condition and the overtaking acceleration working condition; under the overtaking acceleration working condition, the commonly used speed range of a user is 40-60 km/h, and the opening range of a commonly used accelerator is 20-30%; wherein, fig. 3 and 4 are statistical results of the ratio of the starting acceleration working condition vehicle speed range and the accelerator opening based on WLTC and CLTC circulation; and FIGS. 5 and 6 show the statistics of the speed range and the throttle opening ratio under the overtaking acceleration condition based on WLTC and CLTC cycles.
Optionally, according to the statistical common acceleration events of the vehicle and the standard test cyclic acceleration working condition, and taking the road speed limit regulation into consideration to perform fusion calculation to obtain an objective index acceleration working condition, wherein the objective index acceleration working condition comprises an objective index starting acceleration working condition vehicle speed range of 0-40 km/h, and an objective index starting acceleration working condition common accelerator opening degree of 30%; the speed range of the overtaking acceleration working condition of the objective index is 50-80 km/h, and the opening of a commonly used accelerator of the overtaking acceleration working condition of the objective index is 30%.
In the above embodiment, the user common acceleration condition is set based on the statistical result of the user common acceleration condition and in consideration of the road speed limit regulation. The vehicle speed range of a user under the starting acceleration working condition of the traffic light is 0-40 km/h, and the opening degree of a commonly used accelerator of the user is 30%. The common speed range of the user under the overtaking acceleration working condition is 50-80 km/h, and the opening of the common accelerator of the user is 30%.
According to the stipulations of road speed limit stipulations and overspeed punishment standards, the urban road speed limit range is 40-60 km/h, and in order to meet the requirement of the lowest speed limit, the common speed of the vehicle under the starting acceleration working condition should not exceed 40 km/h. Therefore, the vehicle speed range of a user for setting the starting acceleration working condition of the traffic light is 0-40 km/h, and the opening of a commonly used accelerator of the user is 30%. According to the regulations of road speed limit regulations and overspeed punishment standards, the speed limit of the first-level highway, such as national road, provincial road and the like, is 80 km/h. In order to meet the speed limit requirement, the common speed of the overtaking acceleration working condition of the vehicle should not exceed 80 km/h. Therefore, the user common vehicle speed range of the overtaking acceleration working condition is set to be 50-80 km/h, and the user common accelerator opening is 30%.
Based on the user experience result, the key requirements of the user on acceleration experience are that the vehicle has quick acceleration response after stepping on the accelerator and has a back pushing feeling during acceleration.
Mapping the accelerated experience requirements of the user to: the delay time from the step-on of the accelerator pedal to the time when the vehicle acceleration reaches 0.05g is short, the maximum acceleration amplitude of the vehicle is large, and the vehicle acceleration kurtosis is large.
And according to the mapping result, setting an objective evaluation index of the drivability of the common acceleration condition of the user:
a. the starting acceleration working condition of the traffic light is as follows: the vehicle starts on site and accelerates to 40km/h, the accelerator opening is set to be 30%, and the drivability indexes are acceleration delay time t0, maximum acceleration a and acceleration kurtosis K.
b. Overtaking acceleration working condition: the vehicle slides to 50km/h in the gear, the accelerator opening is set to be 30%, the vehicle speed is accelerated to 80km/h from 50km/h, and the drivability indexes are acceleration delay time t0 ', maximum acceleration a ' and acceleration kurtosis K '.
Setting an objective evaluation index
By adopting the above-mentioned data acquisition method of vehicle speed and vehicle acceleration, for 6 benchmarking test vehicles (the numbers are A-F, the vehicle type parameters are shown in fig. 7), the acceleration time history curves of the starting acceleration working condition and the overtaking acceleration working condition of the traffic lights commonly used by the user are obtained through the test, as shown in fig. 8 to 13.
Based on the test results, acceleration delay time, maximum acceleration, and acceleration kurtosis values of each vehicle are obtained, as shown in fig. 14.
According to the test analysis result, objective evaluation indexes of the driving performance of the user under the common acceleration working condition are set as follows:
under the normal starting acceleration condition of a user:
the target car type average acceleration delay time is 0.54s, the target is set to not more than 0.5s,
the average maximum acceleration for the target car type is 0.34g, the target is set to not less than 0.34g,
the average acceleration kurtosis of the target vehicle type is-0.75, and the target is set to be not less than-0.8;
the user commonly uses the overtaking acceleration working condition:
the delay time of the average acceleration of the car for calibration is 0.76s, the target is set to not more than 0.7s,
the average maximum acceleration of the target vehicle type is 0.085g, the target setting is not less than 0.08g,
the average acceleration kurtosis of the target vehicle type is 0.398, and the target is set to be not less than 0.4.
In another aspect, there is provided a vehicle drivability objective index evaluation system including any one of the above vehicle drivability objective index evaluation methods, as shown in fig. 2, including:
a vehicle control unit 50;
the accelerator line control module 10 is connected in series between the APS sensor 40 and the vehicle controller 50, and is configured to open an accelerator at a preset accelerator opening degree when a vehicle speed is an initial value, and close the accelerator when the vehicle speed is a final value;
the speed acquisition module 20 is connected with the accelerator line control module 10 and is used for acquiring speed test data of a vehicle to be tested;
the upper computer 30 receives and processes the vehicle speed test data transmitted by the speed acquisition module 20 through the accelerator drive-by-wire module 10, and sends a control instruction to the accelerator drive-by-wire module 10, and the accelerator drive-by-wire module 10 stores the speed data uploaded to the accelerator drive-by-wire module 10 by the speed acquisition module 20 according to the received control instruction, and uploads the stored data to the upper computer 30.
In the above embodiment, the vehicle controller controls the vehicle according to the signal of the APS sensor, so that the vehicle is controlled by the vehicle controller through simulating the accelerator opening signal, the control accelerator drive-by-wire module in this embodiment is preferably an accelerator drive-by-wire device VMS3400(Infomagix VMS3400 APS), the accelerator drive-by-wire device is a test auxiliary device for controlling the opening, speed, acceleration, rotation speed, etc. of the accelerator pedal of the vehicle by the drive-by-wire, and the following of various operating condition curves can be realized on the basis of the control of the opening, speed and acceleration; the upper computer can select a desktop computer, a notebook computer, a mobile terminal, a terminal server and the like, and the connection mode can select data line connection or wireless connection.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A method for evaluating objective indexes of vehicle drivability is characterized by comprising the following steps:
acquiring statistical data of the acceleration condition of a statistical vehicle, and calculating objective index parameters of the statistical vehicle according to the statistical data of the acceleration condition, wherein the objective index parameters comprise the acceleration delay time of the statistical vehicle, the maximum acceleration of the statistical vehicle and the acceleration kurtosis of the statistical vehicle;
establishing an objective index evaluation model according to the objective index parameters;
presetting a vehicle speed initial value, a vehicle speed final value and an accelerator opening of a vehicle to be detected;
when the vehicle speed is the initial vehicle speed value, opening an accelerator according to the preset accelerator opening degree, when the vehicle speed is the final vehicle speed value, closing the accelerator, and collecting vehicle speed test data from the initial vehicle speed value to the final vehicle speed value of the vehicle to be tested;
sending the vehicle speed test data to an upper computer;
calculating vehicle speed power spectral density through application software based on the vehicle speed test data;
establishing a vehicle speed low-pass filter model, and filtering the vehicle speed to obtain vehicle speed data;
calculating acceleration data of the vehicle to be tested based on the vehicle speed data, wherein the acceleration data of the vehicle to be tested comprises acceleration delay time of the vehicle to be tested, maximum acceleration of the vehicle to be tested and acceleration kurtosis of the vehicle to be tested;
and importing the acceleration data of the vehicle to be tested into the objective index evaluation model, thereby obtaining the test evaluation of the vehicle to be tested.
2. The method according to claim 1, wherein when the vehicle speed is the initial value of the vehicle speed, the accelerator is opened at a preset opening degree of the accelerator, and when the vehicle speed is the final value of the vehicle speed, the accelerator is closed, and vehicle speed test data from the initial value of the vehicle speed to the final value of the vehicle speed of the vehicle to be tested is collected, further comprising:
presetting a vehicle speed redundant value, wherein the vehicle speed redundant value is greater than the vehicle speed initial value;
when the vehicle speed is the vehicle speed redundant value, closing the accelerator and starting to acquire vehicle speed test data;
and when the vehicle speed is reduced to the initial vehicle speed value, opening the accelerator according to the preset accelerator opening degree, and when the vehicle speed is the final vehicle speed value, closing the accelerator.
3. The method according to claim 1, wherein the acceleration kurtosis of the vehicle under test is used as an index reflecting a sharp or flat top of an acceleration-time curve, and the formula is as follows:
in the formula: k is kurtosis; m4 is the sample fourth order average moment; m2 is the sample second-order mean moment; n is the number of samples; xi is the sample; x is the sample mean.
4. The method according to claim 1, wherein the calculating of the vehicle speed power spectral density by the application software based on the vehicle speed test data further comprises: the application software is SPSS data analysis software, the vehicle speed power spectrum density is estimated based on the SPSS data analysis software, and the result shows that the vehicle speed power spectrum energy is mainly distributed at 0-1 Hz.
5. The method according to claim 4, wherein a vehicle speed low-pass filter model is established, and vehicle speed is filtered to obtain vehicle speed data, and the method further comprises: an FDATOol tool box based on MATLAB software is used for designing a vehicle speed low-pass filter model, wherein the filter adopts an inverse factor filtering method, and an FIR window, an 81-order method, a Kaiser method, a sampling frequency of 1000Hz and a cut-off frequency of 1Hz are selected.
6. The method according to claim 5, wherein calculating the acceleration data of the vehicle to be tested based on the vehicle speed data further comprises: the vehicle acceleration is calculated by adopting a two-point difference method, and the calculation formula is as follows:
a n+1 ＝(v n+1 -v n ) /T-formula (2)
In the formula, a n 、v n Acceleration and speed of the vehicle at n moments respectively; t is the time interval between the (n +1) time and the n time.
7. The method according to claim 1, wherein the statistical data of the acceleration conditions comprise statistical data of starting acceleration conditions, statistical data of overtaking acceleration conditions and statistical data of following acceleration conditions according to statistical induction of common acceleration events and standard test cyclic acceleration conditions of the vehicles.
8. The method according to claim 7, comprising:
in the counting of the common acceleration events of the vehicle, the starting acceleration working condition statistical data is in a vehicle speed range of 0-40 km/h, and the opening range of a common accelerator is 20-30%; the overtaking acceleration condition statistical data comprise a speed range of 50-80 km/h and a commonly-used accelerator opening range of 30-40%; the following acceleration condition statistical data comprise a vehicle speed range of 50-80 km/h and a commonly used accelerator opening range of 30-50%;
in a standard test cyclic acceleration working condition, the starting acceleration working condition statistical data vehicle speed range is 0-50 km/h, and the opening degree of a commonly-used accelerator is 30%; the overtaking acceleration condition statistical data comprise the speed range of 40-60 km/h, and the opening range of a commonly-used accelerator is 20-30%.
9. The method according to claim 8, comprising:
according to the statistical common acceleration events of the vehicle and the standard test cyclic acceleration working condition, and taking the road speed limit regulation into consideration, carrying out fusion calculation to obtain an objective index acceleration working condition, wherein the objective index acceleration working condition comprises an objective index starting acceleration working condition vehicle speed range of 0-40 km/h, and an objective index starting acceleration working condition common accelerator opening degree of 30%; the speed range of the overtaking acceleration working condition of the objective index is 50-80 km/h, and the opening of a commonly used accelerator of the overtaking acceleration working condition of the objective index is 30%;
calculating to obtain objective index parameters according to the objective index acceleration working condition;
and establishing an objective index evaluation model according to the objective index parameters.
10. A vehicle drivability objective index evaluation system comprising the vehicle drivability objective index evaluation method according to any one of claims 1 to 9, comprising:
the accelerator line control module is connected between the APS sensor and the whole vehicle controller in series, is connected with the upper computer and is used for opening an accelerator according to the preset accelerator opening degree and closing the accelerator when the vehicle speed is the final vehicle speed value;
the speed acquisition module is connected with the accelerator line control module and is used for acquiring vehicle speed test data of a vehicle to be tested;
the upper computer receives and processes the vehicle speed test data transmitted by the speed acquisition module through the accelerator drive-by-wire module, and sends a control instruction to the accelerator drive-by-wire module, and the accelerator drive-by-wire module stores the speed data uploaded to the accelerator drive-by-wire module by the speed acquisition module according to the received control instruction, and uploads the stored data to the upper computer.
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