WO2022179044A1

WO2022179044A1 - Pedal failure processing method and apparatus, vehicle, and readable storage medium

Info

Publication number: WO2022179044A1
Application number: PCT/CN2021/107655
Authority: WO
Inventors: 文明; 容航; 龙成冰
Original assignee: 三一汽车制造有限公司
Priority date: 2021-02-26
Filing date: 2021-07-21
Publication date: 2022-09-01
Also published as: CN112977059B; CN112977059A

Abstract

A pedal failure processing method, comprising: acquiring a degree of opening of a pedal; and on the basis that the degree of opening of the pedal satisfies a preset condition, adjusting a degree of opening of the pedal at the zero-position according to the degree of opening of the pedal, the preset condition comprising at least one of the following conditions: the degree of opening of the pedal is firstly increased to a first threshold of the degree of opening, and then decreased to a second threshold of the degree of opening; the degree of opening of the pedal is firstly decreased to the first threshold of the degree of opening, and then increased to the second threshold of the degree of opening; the pedal is stuck; and the pedal cannot return to the zero-position. According to the method, the degree of opening at the zero-position is reset according to different degrees of opening of a pedal, so that the set degree of opening at the zero-position can be close to an actual zero-position of the pedal to the maximum extent, thereby avoiding the problem of drifting of the degree of angle at the zero-position or sticking after repeated usage of the pedal, then ensuring that the degree of opening and power output of the pedal satisfy the expectation of a driver, and ensuring the driving safety of vehicles. Further disclosed are a pedal failure processing apparatus, a vehicle, and a readable storage medium.

Description

Pedal failure processing method, device, vehicle, and readable storage medium

This application claims the priority of the Chinese patent application filed with the State Intellectual Property Office of China on February 26, 2021, the application number is "202110217761.2", and the invention name is "pedal failure processing method, device, vehicle, readable storage medium" , the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of vehicles, and in particular, to a pedal failure processing method, a pedal failure processing device, a vehicle, and a readable storage medium.

Background technique

The accelerator pedal is also called the accelerator pedal. The engine outputs power according to the opening of the accelerator pedal. The greater the opening of the accelerator pedal, the greater the power output of the engine. However, the stroke of the accelerator pedal is determined by the mechanical spring. If the accelerator pedal is used repeatedly at a high frequency for a period of time, the pedal opening cannot be reset to zero, that is, the accelerator pedal cannot be restored to the mechanical minimum position. At this time, the power output of the engine will still be output according to the current opening value of the accelerator pedal, resulting in the current vehicle speed exceeding the driver's required vehicle speed, which is not conducive to driving safety.

SUMMARY OF THE INVENTION

The present application aims to solve at least one of the technical problems existing in the prior art or related technologies.

To this end, a first aspect of the present application provides a method for handling failure of a pedal.

A second aspect of the present application also provides a pedal failure processing device.

A third aspect of the present application also provides a vehicle.

A fourth aspect of the present application also provides a readable storage medium.

In view of this, a first aspect of the present application proposes a pedal failure processing method, including: obtaining the pedal opening degree of the pedal; and adjusting the zero opening of the pedal zero position based on the pedal opening degree satisfying a preset condition, according to the pedal opening degree The preset condition includes at least one of the following: the pedal opening first increases to the first opening threshold, and then decreases to the second opening threshold; the pedal opening first decreases to the first opening threshold, and then increases to Second opening threshold; pedal stuck; pedal cannot be zeroed.

The pedal failure processing method provided by the present application acquires the pedal opening degree of the pedal in real time, and judges whether the pedal opening degree satisfies the preset condition. The zero-point opening is convenient for judging the zero-point position when the pedal is released next time. Therefore, the zero point opening is reset according to the different opening conditions of the pedal, so that the set zero point opening can be close to the actual zero point position of the pedal to the greatest extent, so as to avoid the problem of angle zero point drift or stuck after repeated use of the pedal, and thus effectively It avoids that the required torque cannot be responded to in a timely and accurate manner, ensures that the pedal opening and power output meet the driver's expectations, and ensures the safety of the vehicle.

The preset conditions include: the pedal opening first increases to the first opening threshold, and then drops to the second opening threshold, that is, the driver releases the pedal after depressing the pedal deeply beyond the first opening threshold; The opening first drops to the first opening threshold, and then rises to the second opening threshold, that is, the driver deeply releases the pedal to the first opening threshold, and then starts to step on the pedal; During the process of stepping on or releasing the pedal, the pedal opening is at a certain opening for more than a preset period of time; and the pedal cannot be returned to zero.

Specifically, the greater the pedal opening, the greater the power output and the faster the vehicle speed. The first opening degree threshold is greater than the second opening degree threshold.

According to the above-mentioned pedal failure treatment method provided by the present application, it can also have the following additional technical features:

In the above technical solution, further, adjusting the zero opening of the pedal zero position according to the pedal opening includes: increasing the zero opening according to a preset offset.

In this embodiment, when the pedal opening degree satisfies the preset condition, the zero point opening degree is increased according to the preset offset to update the zero point opening degree of the pedal. Therefore, by increasing the zero-point opening, that is, the upward learning of the zero-point opening, the set zero-point opening can be close to the actual zero-point position of the pedal to the greatest extent, so as to avoid the problem of angle zero-point drift after repeated use of the pedal, thereby ensuring the pedal's zero-point drift. The opening and power output are in line with the driver's expectations, ensuring the safety of the vehicle.

In addition, the preset offset is the increase of the opening of the zero point of the pedal, and the value range of the preset offset can be 0.05% to 0.5% of the maximum opening of the pedal, which can be determined according to the performance of the mechanical spring and the historical driving data of the vehicle. Reasonable setting.

In any of the above technical solutions, further, after increasing the zero point opening degree according to the preset offset, the method further includes: based on the fact that the zero point opening degree exceeds the preset opening degree range, stopping increasing the zero point opening degree.

In this technical solution, considering that every time it is detected that the pedal opening meets the preset condition, the upward adjustment of the zero opening will be triggered. If the zero opening is increased to a larger opening value, it will be difficult for the vehicle to carry out The larger power output even affects the normal start of the vehicle. To this end, a preset opening range is pre-configured, and when the zero opening exceeds the preset opening range, stop and control the zero opening to continue to increase according to the preset offset. So as to ensure the driving demand of the driver for the vehicle.

Specifically, the preset opening range can be reasonably set according to the driving demand of the driver.

In any of the above technical solutions, further, based on the pedal opening degree satisfying a preset condition, and adjusting the zero point opening degree of the pedal zero point position according to the pedal opening degree, including: maintaining the first opening degree based on the pedal opening degree for a duration greater than or equal to The preset time period is set, and the opening state signal of the brake pedal is detected, it is determined that the pedal is stuck, and the zero-point opening is updated to the first opening.

In this technical solution, during the driving process of the vehicle, when the pedal opening is maintained at the first opening for a duration greater than or equal to the preset duration, and the opening state signal of the brake pedal is detected, it indicates that the vehicle is running at the first opening. The driver needs to apply the brakes by stepping on the brake pedal while driving at the corresponding speed for a preset period of time. Then it is determined that the pedal is stuck, and the zero-point opening is updated to the first opening at this time, that is, the pedal zero-point quickly transitions to the stuck position. Therefore, the minimum value of the pedal opening (zero-point opening) is adjusted according to the actual situation, which prevents the pedal from being stuck and lags, and the problem of power output after the driver releases the pedal and brakes, and ensures the driving safety of the vehicle. In addition, it can avoid repeatedly increasing the zero opening according to the preset offset in the process of adjusting the zero opening. While ensuring the adjustment accuracy of the zero opening, the calculation amount of the processor is reduced, which is beneficial to the adjustment efficiency of the zero opening. .

It can be understood that when it is determined that the pedal is stuck, a prompt message can be issued, which has reminded the driver to repair the stuck problem in time, which is conducive to ensuring the normal driving of the vehicle.

In any of the above technical solutions, further, updating the zero-point opening degree to the first opening degree includes: acquiring the driving speed of the vehicle; and updating the zero-point opening degree to the first opening degree based on the driving speed belonging to the preset vehicle speed range .

In this technical solution, when the driving speed is within the preset vehicle speed range, it means that the vehicle can perform braking operation through the brake pedal at this time, rather than the situation of using the brake pedal to drift when racing. If it is detected at the same time that the pedal has a certain opening degree and the brake pedal is in the open state, it is determined that a stuck fault occurs, and the zero opening degree can be updated according to the first opening degree at this time. Thereby, the phenomenon of power output after the pedal is released and the braking caused by the pedal jam failure is avoided, and the hidden danger of safety is reduced.

In any of the above technical solutions, further, adjusting the zero opening of the pedal zero position according to the pedal opening further includes: updating the zero opening to the pedal opening based on the pedal opening being less than the zero opening.

In this technical solution, after increasing the zero-point opening according to the preset offset or updating the zero-point opening to the first opening, if it is detected that the actual pedal opening of the pedal is smaller than the set zero-point opening, it means that the pedal The zero-point drift or stuck problem has been fixed. In order to ensure normal driving, the pedal opening at this time is used as the new zero-point opening, that is, the stored zero-point opening of the previous pedal stroke and the current pedal stroke end. The smaller one of the pedal openings is used as the zero opening of this pedal stroke setting. Therefore, the adaptive adjustment of the zero point position of the pedal is realized, which is beneficial to protect the driving safety of the vehicle on the premise of satisfying the driving demand of the driver.

Of course, if the pedal opening is always in a state greater than or equal to the zero opening, it is not necessary to perform a reduction adjustment of the zero opening.

In any of the above technical solutions, further, acquiring the pedal opening degree of the pedal includes: collecting dual-channel voltage signals output by the pedal; and calculating the pedal opening degree according to the dual-channel voltage signals.

In this technical solution, the dual voltage signals output by the pedal are collected, and the effective pedal opening is calculated by the dual voltage signals. Therefore, the double-signal check is used to improve the accuracy of the calculated pedal opening, which is beneficial to the subsequent failure processing of the pedal through the pedal opening. Further, the normal driving of the vehicle in the event of a fault in the voltage signal improves the safety of the vehicle operation, as well as the driving experience of the driver, and effectively improves the reliability and stability of the system.

In addition, after the dual-channel voltage signal is collected, the voltage signal can also be filtered, so as to further improve the calculation accuracy of the pedal opening.

Wherein, the dual voltage signal includes a first voltage signal and a second voltage signal.

In any of the above technical solutions, further, calculating the pedal opening degree according to the dual voltage signal includes: based on that any one of the first voltage signal and the second voltage signal exceeds a preset voltage range, then according to the first voltage signal and the second voltage signal except any voltage signal, calculate the pedal opening degree.

In this technical scheme, if it is detected that one of the two-channel voltage signals exceeds the preset voltage range, it means that the voltage signal of this channel has become invalid, and the other channel of voltage signal is used as an effective output signal to calculate the pedal opening. This ensures the normal running of the vehicle in the event of failure of one signal, improves the safety of the vehicle operation, as well as the driving experience of the driver, and effectively improves the reliability and stability of the system.

Specifically, to collect the voltage signal output by the pedal, the following formula is used:

V=(adc/2^n)×Vbase;

Among them: V is the voltage signal, adc is the digital quantity read by the processor, Vbase is the reference voltage detected by the processor analog-to-digital converter (ADC), and η is the signal acquisition accuracy.

Calculate the pedal opening according to the voltage signal, using the following formula:

α=V/Vbase×100%;

Among them, α is the pedal opening degree.

In any of the above technical solutions, further, calculating the pedal opening degree according to the dual voltage signals includes: based on the fact that both the first voltage signal and the second voltage signal belong to a preset voltage range, then determining the first voltage signal of the pedal according to the first voltage signal. The second opening degree, and the third opening degree of the pedal is determined according to the second voltage signal; the pedal opening degree is calculated according to the second opening degree, the third opening degree and the preset weight.

In this technical solution, when both the first voltage signal and the second voltage signal belong to the preset voltage range, it means that the current two voltage signals are not abnormal. Then the second opening is calculated according to the first voltage signal, the third opening is calculated according to the second voltage signal, the second opening and the third opening are weighted and summed according to the preset weight, and the effective value of the two-way pedal is calculated. Pedal opening. This ensures the accuracy of the calculation of the opening of the class, which is beneficial to the aging treatment of the pedals. In addition, the normal driving of the vehicle in the case of a fault in the voltage signal improves the safety of the vehicle operation, as well as the driving experience of the driver, and effectively improves the reliability and stability of the system.

Specifically, the second opening degree is calculated according to the first voltage signal, and the following formula is used:

α2=V1/Vbase×100%;

Wherein, α2 is the second opening degree, and V1 is the first voltage signal.

Similarly, to calculate the third opening degree according to the second voltage signal, the following formula is used:

α3=V2/Vbase×100%;

Wherein, α3 is the third opening degree, and V2 is the second voltage signal.

Calculate the pedal opening according to the second opening, the third opening and the preset weight, using the following formula:

α=μ×α2+(1-μ)×α3;

Among them, α is the pedal opening degree, α2 is the second opening degree, α3 is the third opening degree, and μ is the preset weight.

According to a second aspect of the present application, a pedal failure processing device is also provided, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor. The program or instruction is implemented when the processor executes the program or instruction. The steps of the pedal failure processing method proposed in the first aspect. Therefore, the pedal failure treatment device has all the beneficial effects of the pedal failure treatment method of the first aspect.

According to a third aspect of the present application, a vehicle is also proposed, comprising: a pedal; and the pedal failure processing device proposed in the second aspect, the pedal failure processing device is connected to the pedal. The vehicle thus has all the benefits of the pedal failure handling device of the second aspect.

According to a fourth aspect of the present application, a readable storage medium is also provided, which stores programs or instructions. When the program or instructions are executed by a processor, a pedal failure processing method of any one of the technical solutions of the first aspect is performed. Therefore, there are all the beneficial effects of the failure treatment method of the pedal of the first aspect.

Additional aspects and advantages of the present application will become apparent in the description section below, or learned by practice of the present application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the following description of embodiments in conjunction with the accompanying drawings, wherein:

FIG. 1 shows a schematic flowchart of a method for processing a pedal failure according to an embodiment of the present application;

FIG. 2 shows a schematic flowchart of a method for processing a pedal failure according to another embodiment of the present application;

FIG. 3 shows a schematic flowchart of a method for processing a pedal failure according to another embodiment of the present application;

FIG. 4 shows a schematic flowchart of a method for processing a pedal failure according to another embodiment of the present application;

5 shows a schematic flowchart of a method for processing a pedal failure according to another embodiment of the present application;

FIG. 6 shows a schematic flowchart of a method for processing a pedal failure according to another embodiment of the present application;

FIG. 7 shows a schematic flowchart of a method for processing a pedal failure according to another embodiment of the present application;

FIG. 8 shows a schematic flowchart of a method for processing a pedal failure according to a specific embodiment of the present application;

FIG. 9 shows a schematic block diagram of a pedal failure processing apparatus according to an embodiment of the present application.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments may be combined with each other in the case of no conflict.

Many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific details disclosed below. Example limitations.

The following describes a pedal failure processing method, a pedal failure processing device, a vehicle, and a readable storage medium according to some embodiments of the present application with reference to FIGS. 1 to 9 .

Example 1:

As shown in FIG. 1 , according to an embodiment of the first aspect of the present application, the present application proposes a pedal failure processing method, including:

Step 102, obtaining the pedal opening of the pedal;

Step 104 , based on the pedal opening degree satisfying the preset condition, adjust the zero opening degree of the pedal zero point position according to the pedal opening degree.

Wherein, the preset conditions include at least one of the following: the pedal opening first increases to the first opening threshold, and then decreases to the second opening threshold; the pedal opening first decreases to the first opening threshold, and then increases to the second opening threshold. Open Threshold; Pedal Stuck; Pedal Unable to Zero.

In this embodiment, the pedal opening degree of the pedal is acquired in real time, and it is judged whether the pedal opening degree satisfies the preset condition, if so, the update of the zero opening degree of the pedal zero position is triggered, and the updated zero opening degree is stored. , so as to judge the zero position when the pedal is released next time. Therefore, the zero-point opening is reset according to the different opening conditions of the pedal, so that the set zero-point opening can be close to the actual zero-point position of the pedal to the greatest extent, so as to avoid the problem of angle zero-point drift or sticking of the pedal after repeated use, thereby ensuring the pedal The opening and power output meet the driver's expectations, ensuring the safety of the vehicle.

The preset conditions include: the pedal opening first increases to the first opening threshold, and then drops to the second opening threshold, that is, the driver releases the pedal after depressing the pedal deeply beyond the first opening threshold; The opening first drops to the first opening threshold, and then rises to the second opening threshold, that is, the driver deeply releases the pedal to the first opening threshold, and then starts to step on the pedal; During the process of stepping on or releasing the pedal, the pedal opening is at a certain opening for longer than the preset time; and the pedal cannot be reset to zero. It is understandable that the failure of the pedal to return to zero may be caused by the pedal jam, or the vehicle parts may be damaged. As a result, the embodiments of the present application do not limit the reasons why the pedal cannot be reset to zero.

Specifically, the greater the pedal opening, the greater the power output and the faster the vehicle speed. The value range of the first opening threshold is 30% to 100% of the maximum pedal opening, such as 50%, 65% and 80%, and the value range of the second opening threshold is 0 to 50% of the maximum pedal opening. , such as 10%, 20%, 45%. The first opening degree threshold and the second opening degree threshold may be reasonably set according to the driving habits of the driver, the vehicle and the opening degree during deceleration.

Example 2:

As shown in FIG. 2, according to an embodiment of the present application, the present application proposes a method for handling failure of a pedal, including:

Step 202, obtaining the pedal opening degree of the pedal;

Step 204, whether the pedal opening meets the preset condition, if yes, go to step 206, if not, go to step 202;

Step 206, increasing the zero opening according to the preset offset;

Step 208, check whether the zero point opening exceeds the preset opening range, if yes, go to step 210, if not, go to step 202;

Step 210, stop raising the zero point opening.

Further, considering that every time it is detected that the pedal opening meets the preset condition, the upward adjustment of the zero opening will be triggered. If the zero opening is increased to a larger opening value, it will be difficult for the vehicle to carry out greater power. output, and even affect the normal start of the vehicle. To this end, a preset opening range is pre-configured, and when the zero opening exceeds the preset opening range, stop and control the zero opening to continue to increase according to the preset offset. Thereby ensuring the driving demand of the driver for the vehicle.

Specifically, the preset offset is an increase in the opening of the zero point of the pedal, and the value range of the preset offset may be 0.05% to 0.5% of the maximum pedal opening, such as 0.1%, 0.2%, 0.35%, or Reasonable setting according to the performance of the mechanical spring of the pedal and the historical driving data of the vehicle. The preset opening range can be reasonably set according to the driving needs of the driver.

For example, if the initial zero opening is 0, and the preset opening range is 0-5%, it is detected for the first time that the pedal opening first increases to the second opening threshold, and then drops to the third opening threshold, according to The preset offset is 0.2% to increase the initial zero opening, that is, the first zero opening is set to 0.2%, and the second detected pedal opening first increases to the second opening threshold, and then drops to the third opening. In the case of three opening thresholds, and the pedal opening is still greater than or equal to 0.2%, the first zero opening is increased according to the preset offset 0.2%, that is, the first zero opening is set to 0.4%, By analogy, as long as it is not detected that the pedal opening is smaller than the current zero opening, the nth zero opening = the n-1th zero opening + 0.2%, until the nth zero opening is greater than 5 %, the stop zero opening continues to increase.

Example 3:

As shown in FIG. 3 , according to an embodiment of the present application, the present application proposes a method for handling failure of a pedal, including:

Step 302, obtaining the pedal opening degree of the pedal;

Step 304, whether the pedal opening is firstly increased to the first opening threshold, and then decreased to the second opening threshold, if yes, go to step 306, if not, go to step 302;

Step 306, increasing the zero opening according to the preset offset;

Step 308, whether the pedal opening is smaller than the zero opening, if yes, go to step 310, if not, go to step 302;

Step 310, update the zero point opening to the pedal opening.

In this embodiment, when the pedal opening degree first increases to the first opening degree threshold, and then decreases to the second opening degree threshold, that is, when the driver depresses the pedal deeply and exceeds the first opening degree threshold, and then releases the pedal, The zero-point opening is increased according to the preset offset. After the zero-point opening is increased, if the actual pedal opening of the pedal is detected to be less than the set zero-point opening, it means that the zero-point drift of the pedal has been repaired. In order to ensure normal driving, the The pedal opening at this time is regarded as the new zero-point opening, that is, the smaller one between the zero-point opening stored in the previous pedal stroke and the pedal opening at the end of the current pedal stroke is used as the zero-point set for this pedal stroke opening. Therefore, the adaptive adjustment of the zero point position of the pedal is realized, which is beneficial to protect the driving safety of the vehicle on the premise of satisfying the driving demand of the driver.

Of course, if the pedal opening is always greater than or equal to the zero opening, there is no need to perform downward adjustment of the zero opening.

Example 4:

As shown in FIG. 4 , according to an embodiment of the present application, the present application proposes a method for processing the failure of a pedal, including:

Step 402, obtaining the pedal opening of the pedal and the running speed of the vehicle;

Step 404, whether the driving speed is within the preset vehicle speed range, if yes, go to Step 406, if not, go to Step 402;

Step 406, whether the duration of the pedal opening degree is maintained at the first opening degree is greater than or equal to the preset duration, and the opening state signal of the brake pedal is detected, if yes, go to Step 408, if not, go to Step 402;

Step 408, it is determined that the pedal is stuck, and the zero opening is updated to the first opening.

In this embodiment, during the running of the vehicle, if the running speed of the vehicle falls within the preset vehicle speed range, it means that the vehicle can perform braking operation through the brake pedal at this time, instead of using the brake pedal to drift when racing and so on. Then, when the pedal opening is maintained at the first opening for a duration greater than or equal to the preset duration, and the open state signal of the brake pedal is detected, it means that the vehicle is driving at the vehicle speed corresponding to the first opening for the preset duration while driving. If the user needs to brake by stepping on the brake pedal, it is determined that the pedal is stuck. At this time, the opening of the zero point is updated to the first opening, that is, the zero point of the pedal is quickly transitioned to the stuck position. Therefore, the minimum value of the pedal opening (zero-point opening) is adjusted according to the actual situation, which prevents the pedal from being stuck and lags, and the problem of power output after the driver releases the pedal and brakes, and ensures the driving safety of the vehicle. In addition, it can avoid repeatedly increasing the zero opening according to the preset offset in the process of adjusting the zero opening. While ensuring the adjustment accuracy of the zero opening, the calculation amount of the processor is reduced, which is beneficial to the adjustment efficiency of the zero opening. .

For example, if the driver needs to brake to stop, after releasing the pedal, the pedal cannot continue to decrease due to the stuck phenomenon of the pedal, so that the pedal can not continue to descend at 20% opening. % is set as the new zero-point opening, that is, when the pedal opening is reduced to 20%, it is regarded as being in the zero-point position, and the power output is stopped. This prevents the pedal from being stuck and hysteretic, and the driver releases the pedal and brakes and the power output occurs until the pedal returns to normal use.

Similarly, when the pedal cannot be reset to zero, the zero opening can also be directly configured to detect the current pedal opening when the zero cannot be reset, so as to avoid repeatedly increasing the zero opening according to the preset offset.

It can be understood that, when it is determined that the pedal is stuck, a prompt message can be issued, and the driver has been reminded that even if the stuck problem is repaired, it is beneficial to ensure the normal driving of the vehicle.

Example 5:

As shown in FIG. 5 , according to an embodiment of the present application, the present application proposes a method for processing the failure of a pedal, including:

Step 502, obtaining the pedal opening degree of the pedal;

Step 504, whether the duration of the pedal opening degree is maintained at the first opening degree is greater than or equal to the preset duration, and the opening state signal of the brake pedal is detected, if yes, go to Step 506, if not, go to Step 502;

Step 506, determine that the pedal is stuck, and update the zero opening degree to the first opening degree;

Step 508, check whether the pedal opening is smaller than the zero opening, if yes, go to step 510, if not, go to step 502;

Step 510: Update the zero point opening to the pedal opening.

In this embodiment, after the zero-point opening is updated to the first opening, if it is detected that the actual pedal opening of the pedal is smaller than the set zero-point opening, it means that the pedal stuck problem has been repaired. In order to ensure normal driving, the The pedal opening at this time is regarded as the new zero-point opening, that is, the smaller one between the zero-point opening stored in the previous pedal stroke and the pedal opening at the end of the current pedal stroke is used as the zero-point set for this pedal stroke opening. Therefore, the adaptive adjustment of the zero point position of the pedal is realized, which is beneficial to protect the driving safety of the vehicle on the premise of satisfying the driving demand of the driver.

Example 6:

As shown in FIG. 6 , according to an embodiment of the present application, the present application proposes a pedal failure processing method, including:

Step 602, collecting the first voltage signal and the second voltage signal output by the pedal;

Step 604, based on the fact that any voltage signal in the first voltage signal and the second voltage signal exceeds the preset voltage range, then calculate the pedal of the pedal according to the voltage signal other than any voltage signal in the first voltage signal and the second voltage signal opening;

Step 606 , based on the pedal opening degree satisfying the preset condition, adjust the zero opening degree of the pedal zero position according to the pedal opening degree.

In this embodiment, the dual-channel voltage signal output by the pedal is collected, wherein the dual-channel voltage signal includes a first voltage signal and a second voltage signal. If it is detected that one of the two voltage signals exceeds the preset voltage range, it means that this voltage signal has failed, and the other voltage signal is used as an effective output signal to calculate the pedal opening. Therefore, the double-signal check is used to improve the accuracy of the calculated pedal opening, which is beneficial to the subsequent failure processing of the pedal through the pedal opening. Further, the normal driving of the vehicle in the event of a fault in the voltage signal improves the safety of the vehicle operation, as well as the driving experience of the driver, and effectively improves the reliability and stability of the system.

V=(adc/2^n)×Vbase;

Among them, V is the voltage signal, adc is the digital quantity read by the processor, Vbase is the reference voltage detected by the processor analog-to-digital converter (ADC), and η is the signal acquisition accuracy.

α=V/Vbase×100%;

Among them, α is the pedal opening degree.

In addition, after the first voltage signal and the second voltage signal are collected, the voltage signal can also be filtered to further improve the calculation accuracy of the pedal opening.

Example 7:

As shown in FIG. 7 , according to an embodiment of the present application, the present application proposes a method for handling failure of a pedal, including:

Step 702, collecting the first voltage signal and the second voltage signal output by the pedal;

Step 704, based on the fact that both the first voltage signal and the second voltage signal belong to the preset voltage range, determine the second opening degree of the pedal according to the first voltage signal, and determine the third opening degree of the pedal according to the second voltage signal;

Step 706: Calculate the pedal opening degree of the pedal according to the second opening degree, the third opening degree and the preset weight;

Step 708 , based on the pedal opening degree satisfying the preset condition, adjust the zero opening degree of the pedal zero position according to the pedal opening degree.

In this embodiment, the dual-channel voltage signal output by the pedal is collected, wherein the dual-channel voltage signal includes a first voltage signal and a second voltage signal. In the case that both the first voltage signal and the second voltage signal belong to the preset voltage range, it means that the current two voltage signals are not abnormal. Then the second opening is calculated according to the first voltage signal, the third opening is calculated according to the second voltage signal, the second opening and the third opening are weighted and summed according to the preset weight, and the effective value of the two-way pedal is calculated. Pedal opening. Thereby, the accuracy of the calculation of the opening of the visiting class is ensured, which is beneficial to the aging treatment of the pedal. In addition, the normal driving of the vehicle in the case of a fault in the voltage signal improves the safety of the vehicle operation, as well as the driving experience of the driver, and effectively improves the reliability and stability of the system.

α2=V1/Vbase×100%;

Wherein, α2 is the second opening degree, and V1 is the first voltage signal.

α3=V2/Vbase×100%;

Wherein, α3 is the third opening degree, and V2 is the second voltage signal.

α=μ×α2+(1-μ)×α3;

Example 8:

As shown in FIG. 8 , according to a specific embodiment of the present application, the present application proposes a method for handling failure of a pedal, including:

Step 802, obtaining the pedal output dual-channel voltage signal;

Step 804, converting the dual-channel voltage signal of the pedal into an opening signal;

Step 806, using the opening signals of the two-way pedals to calculate the final pedal opening according to a certain weight;

Step 808: After detecting that the pedal is deeply stepped on and exceeding the first opening threshold, the pedal is released again, and an upward calculation of the opening of the zero point of the pedal is triggered, and the process proceeds to step 812;

Step 810, detecting that the pedal is stuck, quickly transition the zero opening of the pedal to the stuck position;

Step 812, it is detected that the opening of the pedal this time is smaller than the previous zero opening, and the zero opening returns to the opening of the pedal this time;

In this embodiment, when the vehicle pedal is faulty, the process of this diagnosis is as follows: collect the dual voltage signals output by the pedal, specifically, include the first voltage signal V1 and the second voltage signal V2. Convert the dual-channel voltage signal of the pedal into the opening signal α2, α3. Using the opening signals of the two pedals, the final pedal opening is calculated according to a certain weight. If the signal of one channel is invalid, use the other channel as the output; if both channels are valid, press α=μ×α2+(1-μ)×α3. If each time the pedal is deeply stepped over a certain threshold, and then the pedal is released, the calculation of the upward increase of the pedal zero opening (opening reference) will be triggered, and the maximum zero opening is within the preset opening range, thus Solve the problem that the angle zero point drift of the pedal after repeated use. If the pedal is stuck, the zero-point opening of the pedal is quickly transitioned to the stuck position, so as to solve the problem of power output after the pedal is stuck and the accelerator and brake are released. If the opening of the current pedal is lower than the previous zero opening, the downward learning of the zero opening will be triggered, and the zero position will be returned to the opening of the current pedal, that is, the zero opening and the current pedal opening. Take a smaller value to re-determine the zero position of the pedal and recalculate the pedal opening.

Example 9:

As shown in FIG. 9 , according to an embodiment of the second aspect of the present application, the present application provides a pedal failure processing device 900 , comprising: a processor 904 , a memory 902 , and a device stored in the memory 902 and available in the processor 904 The program or instruction that runs on the processor 904, when the program or instruction is executed by the processor 904, implements the steps of the pedal failure processing method provided in any embodiment of the first aspect, therefore, the pedal failure processing device 900 All the beneficial effects of the pedal failure processing method provided in one embodiment will not be repeated here.

Example 10:

According to an embodiment of the third aspect of the present application, the present application provides a vehicle, including a pedal and the pedal failure processing device provided in the embodiment of the second aspect. The failure handling device of the pedal is connected with the pedal. The pedal failure processing device is used to obtain the pedal opening degree of the pedal; based on the pedal opening degree satisfying the encounter condition, the zero opening degree of the pedal zero position is adjusted according to the pedal opening degree. Therefore, the vehicle includes all the beneficial effects of the pedal failure processing device provided in the embodiment of the second aspect, which will not be repeated here.

Example 11:

According to an embodiment of the fourth aspect of the present application, the present application provides a readable storage medium on which a program or instruction is stored, and when the program or instruction is executed by a processor, the pedal of any embodiment of the first aspect is executed. Failure handling method. Therefore, it has all the beneficial effects of the pedal failure processing method of the first aspect, and will not be repeated here.

In this application, the term "plurality" refers to two or more, unless expressly defined otherwise. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" may be a fixed connection, a detachable connection, or an integral connection; "connected" may be a Directly connected or indirectly connected through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiment", etc. means that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in this application at least one embodiment or example of . In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

A failure treatment method for a pedal, comprising:

Obtain the pedal opening of the pedal;

Based on the pedal opening degree satisfying a preset condition, adjust the zero opening degree of the pedal zero position according to the pedal opening degree,

Wherein, the preset conditions include at least one of the following: the pedal opening first increases to a first opening threshold, and then decreases to a second opening threshold; the pedal opening first decreases to a first opening threshold , and then rise to the second opening threshold; the pedal is stuck; the pedal cannot be reset to zero.
The pedal failure processing method according to claim 1, wherein the adjusting the zero opening of the pedal zero position according to the pedal opening comprises:

The zero opening is raised by a preset offset.
The method for processing pedal failure according to claim 2, wherein after the zero opening degree is increased according to a preset offset, the method further comprises:

Based on the fact that the zero-point opening degree exceeds the preset opening-degree range, the raising of the zero-point opening degree is stopped.
The pedal failure processing method according to claim 1, wherein the adjustment of the zero opening degree of the pedal zero point position according to the pedal opening degree based on the pedal opening degree satisfying a preset condition comprises:

Based on the duration that the pedal opening is maintained at the first opening is greater than or equal to a preset duration, and an opening state signal of the brake pedal is detected, it is determined that the pedal is stuck, and the zero opening is updated to the desired opening. Describe the first opening.
The pedal failure processing method according to claim 4, wherein the updating the zero opening degree to the first opening degree comprises:

Get the speed of the vehicle;

Based on the travel speed belonging to a preset vehicle speed range, the zero point opening is updated to the first opening.
The pedal failure processing method according to any one of claims 1 to 5, wherein the adjusting the zero opening of the pedal zero position according to the pedal opening further comprises:

Based on the pedal opening degree being smaller than the zero point opening degree, the zero point opening degree is updated to the pedal opening degree.
The failure processing method for a pedal according to any one of claims 1 to 5, wherein the acquiring the pedal opening of the pedal comprises:

collecting dual-channel voltage signals output by the pedal;

The pedal opening is calculated according to the dual voltage signal.
The pedal failure processing method according to claim 7, wherein the dual-circuit voltage signal comprises a first voltage signal and a second voltage signal, and the calculation of the pedal opening degree according to the dual-circuit voltage signal comprises:

Based on the fact that both the first voltage signal and the second voltage signal belong to a preset voltage range, the second opening degree of the pedal is determined according to the first voltage signal, and the second opening degree of the pedal is determined according to the second voltage signal. The third opening of the pedal;

Calculate the pedal opening degree of the pedal according to the second opening degree, the third opening degree and the preset weight;

The calculation of the pedal opening according to the dual voltage signals adopts the following formula:

α2=V1/Vbase×100%;

α3=V2/Vbase×100%;

α=μ×α2+(1-μ)×α3;

Wherein, α is the pedal opening degree, α2 is the second opening degree, α3 is the third opening degree, V1 is the first voltage signal, V2 is the second voltage signal, and μ is the The preset weight, Vbase is the reference voltage detected by the analog-to-digital converter.
The pedal failure processing method according to claim 7, wherein the dual-circuit voltage signal comprises a first voltage signal and a second voltage signal, and the calculation of the pedal opening degree according to the dual-circuit voltage signal comprises:

Based on that any one of the first voltage signal and the second voltage signal exceeds a preset voltage range, then according to the first voltage signal and the second voltage signal other than the one voltage signal voltage signal to calculate the pedal opening.
A pedal failure processing device, which includes a processor, a memory and a program or instruction stored on the memory and can be run on the processor, the program or instruction being executed by the processor. The steps of the pedal failure processing method according to any one of claims 1 to 9.
A vehicle comprising:

pedal;

The failure processing device of the pedal according to claim 10, connected with the pedal.
A readable storage medium on which a program or an instruction is stored, wherein the program or the instruction executes the pedal failure processing method according to any one of claims 1 to 9 when the program or the instruction is executed by a processor.