WO2022193719A1 - Procédé d'étalonnage de sortie de course de position de pédale d'accélérateur de véhicule hybride et véhicule hybride - Google Patents

Procédé d'étalonnage de sortie de course de position de pédale d'accélérateur de véhicule hybride et véhicule hybride Download PDF

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Publication number
WO2022193719A1
WO2022193719A1 PCT/CN2021/133126 CN2021133126W WO2022193719A1 WO 2022193719 A1 WO2022193719 A1 WO 2022193719A1 CN 2021133126 W CN2021133126 W CN 2021133126W WO 2022193719 A1 WO2022193719 A1 WO 2022193719A1
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WIPO (PCT)
Prior art keywords
accelerator pedal
pedal position
output
hybrid vehicle
zero
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PCT/CN2021/133126
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English (en)
Chinese (zh)
Inventor
伍庆龙
杨钫
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中国第一汽车股份有限公司
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Publication of WO2022193719A1 publication Critical patent/WO2022193719A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness

Definitions

  • the present application relates to the field of vehicles, for example, to a method for calibrating the position and stroke output of an accelerator pedal of a hybrid vehicle and a hybrid vehicle.
  • Hybrid vehicles are referred to as hybrid vehicles, which are mainly vehicles that obtain power from motors and engines.
  • the control system recognizes and processes the position of the accelerator pedal to ensure accurate system torque output to meet driving needs. Since the hybrid vehicle has two power sources, the engine and the motor, if the torque output control of the engine and the motor cannot be effectively controlled, it will inevitably affect the driving experience of the whole vehicle, and then affect the user's deep grasp of the vehicle manipulation.
  • the torque output control requires the accelerator pedal position and stroke as an input condition. If the accelerator pedal position and stroke input is not accurate, it will cause poor torque control. Therefore, how to effectively and accurately obtain the position and travel of the accelerator pedal of a hybrid vehicle is one of the key problems to be solved.
  • the present application provides a method for calibrating the position and stroke output of the accelerator pedal of a hybrid vehicle and a hybrid vehicle, which can ensure the accuracy and validity of the output of the accelerator pedal position and stroke of the hybrid vehicle.
  • Hybrid vehicle accelerator pedal position stroke output calibration method including:
  • the two accelerator pedal position sensors are checked each other according to the pedal position voltage parameter and the zero point position of the accelerator pedal output by the two accelerator pedal position sensors;
  • V_AcPdVt1 and V_AcPdVt2 respectively represent the pedal position voltage parameters output by the two accelerator pedal position sensors;
  • V_AcPdS1 and V_AcPdS2 respectively represent the power supply input voltage parameters of the two accelerator pedal position sensors;
  • K_ChkFactor is a configuration coefficient, which is a known fixed value.
  • the pedal position voltage parameters output by the two accelerator pedal position sensors are valid and the corresponding accelerator pedal zero position is valid, and the mutual relationship between the two accelerator pedal position sensors is valid.
  • the position and travel parameters of the accelerator pedal P_AcPdCt min (P_AcPdCt1, P_AcPdCt2), wherein P_AcPdCt1 and P_AcPdCt2 represent the accelerator pedal position travel parameters corresponding to the two accelerator pedal position sensors;
  • the average value is an arithmetic average value or a geometric average value.
  • the present application also provides a hybrid vehicle, including a processor, a memory, and a program stored on the memory and executable by the processor, and when the program is executed, the hybrid vehicle described in any of the above solutions is implemented Accelerator pedal position stroke output calibration method.
  • the present application also provides a device for calibrating the position and stroke output of the accelerator pedal of a hybrid vehicle, including:
  • the self-learning module is configured to obtain the pedal position voltage parameters output by the two accelerator pedal position sensors, and control the two accelerator pedal position sensors when the pedal position voltage parameters output by the two accelerator pedal position sensors are both valid. Perform self-learning separately to obtain the zero position of the accelerator pedal;
  • the mutual inspection module is set to, under the condition that the zero position of the accelerator pedal obtained by the self-learning of the two accelerator pedal position sensors is valid, according to the pedal position voltage parameter and the zero point position of the accelerator pedal output by the two accelerator pedal position sensors.
  • the two accelerator pedal position sensors are checked against each other;
  • a stroke output module configured to calculate the accelerator pedal position stroke output corresponding to the two accelerator pedal position sensors and obtain an average value when the mutual inspection of the two accelerator pedal position sensors is passed, and calculate the average value As a hybrid vehicle accelerator pedal position travel output.
  • the present application also provides a computer storage medium storing a computer program, and when the computer program is executed by a processor, the method for calibrating the position and stroke output of the accelerator pedal of a hybrid vehicle described in any of the above solutions is implemented.
  • FIG. 1 is a flowchart of a method for calibrating the position and stroke output of an accelerator pedal of a hybrid vehicle provided by an embodiment of the present application;
  • FIG. 2 is a relationship diagram between an HCU and an accelerator pedal provided by an embodiment of the present application
  • FIG. 3 is a flowchart of another method for calibrating the position and stroke output of the accelerator pedal of a hybrid vehicle provided by an embodiment of the present application;
  • FIG. 4 is a schematic diagram of a hybrid vehicle accelerator pedal position stroke output calibration device provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a hybrid vehicle provided by an embodiment of the present application.
  • FIG. 1 is a flowchart of a method for calibrating the position and stroke output of the accelerator pedal of a hybrid vehicle provided by an embodiment of the present application.
  • this embodiment provides a method for calibrating the position and stroke output of the accelerator pedal of a hybrid vehicle, wherein
  • the power system of a hybrid vehicle includes an engine, a drive motor, a power battery pack, a gearbox, a transmission component, an engine controller (Engine Management System, EMS), a hybrid vehicle controller (Hybrid Control Unit, HCU), and a motor controller.
  • Engine Management System, EMS Engine Management System
  • HCU Hybrid Control Unit
  • MCU Battery Management System
  • BMS Battery Management System
  • TCU Transmission Control Unit
  • two accelerator pedal position sensors are used to judge the validity of the pedal position voltage parameter output by each accelerator pedal position sensor and the corresponding accelerator pedal zero point position respectively, and the pedal position voltage output by the two accelerator pedal position sensors
  • the two accelerator pedal position sensors are checked each other.
  • the accelerator pedal position stroke output corresponding to the two accelerator pedal position sensors is calculated. And calculate the average value, and use the average value as the output of the position and stroke of the accelerator pedal of the hybrid vehicle.
  • the average value of the accelerator pedal position stroke outputs corresponding to the two accelerator pedal position sensors may also be an arithmetic average value.
  • Using the method for calibrating the position and stroke output of the accelerator pedal of the hybrid electric vehicle provided in this embodiment can ensure the validity and accuracy of the obtained accelerator pedal position and stroke output of the hybrid electric vehicle, and provide a more effective and accurate acceleration for the torque control of the hybrid electric vehicle.
  • FIG. 2 is a relationship diagram between an HCU and an accelerator pedal provided by an embodiment of the present application.
  • the HCU provides two independent power supplies to supply power to two accelerator pedal position sensors.
  • the power supply input voltage parameters are V_AcPdS1 and V_AcPdS2 respectively
  • the pedal position voltage parameters output by the two accelerator pedal position sensors are V_AcPdVt1 and V_AcPdVt2 respectively.
  • the analog to digital is performed.
  • the pedal position voltage parameter output by the accelerator pedal position sensor is the basis for obtaining the zero point position of the accelerator pedal and the output of the accelerator pedal position and stroke of the hybrid vehicle, and the zero point position of the accelerator pedal is the basis for calculating the output of the accelerator pedal position and stroke of the hybrid vehicle, therefore, in Before judging whether the zero point position of the accelerator pedal obtained by each accelerator pedal position sensor through self-learning is valid, it is judged whether the pedal position voltage parameter output by the accelerator pedal position sensor is valid.
  • the two accelerator pedal position sensors are respectively recorded as the first accelerator pedal position sensor and the second accelerator pedal position sensor, and the method for judging whether the pedal position voltage parameter output by the accelerator pedal position sensor is valid is as follows:
  • the HCU After the HCU receives the pedal position voltage parameter V_AcPdVt1 output by the first accelerator pedal position sensor, if the pedal position voltage parameter V_AcPdVt1 output by the first accelerator pedal position sensor is not within the first preset pedal position voltage parameter range (K_AcPdVL1, K_AcPdVH1), If the pedal position voltage parameter V_AcPdVt1 output by the first accelerator pedal position sensor is invalid, the HCU reports the diagnosis fault DTC_AcPdFlt1; if the pedal position voltage parameter V_AcPdVt1 output by the first accelerator pedal position sensor is in the first preset pedal position voltage parameter range (K_AcPdVL1, K_AcPdVH1 ), the pedal position voltage parameter V_AcPdVt1 output by the first accelerator pedal position sensor is valid.
  • the HCU After the HCU receives the pedal position voltage parameter V_AcPdVt2 output by the second accelerator pedal position sensor, if the pedal position voltage parameter V_AcPdVt2 output by the second accelerator pedal position sensor is not within the second preset pedal position voltage parameter range (K_AcPdVL2, K_AcPdVH2), The pedal position voltage parameter V_AcPdVt2 output by the second accelerator pedal position sensor is invalid, then the HCU reports the diagnosis fault DTC_AcPdFlt2; if the pedal position voltage parameter V_AcPdVt2 output by the second accelerator pedal position sensor is within the second preset pedal position voltage parameter range (K_AcPdVL2, K_AcPdVH2 ), the pedal position voltage parameter V_AcPdVt2 output by the second accelerator pedal position sensor is valid.
  • Both the first preset pedal position voltage parameter range and the second preset pedal position voltage parameter range are determined values developed in software in advance based on the parameter characteristics of the pedal.
  • the first preset pedal position voltage parameter range and the second preset pedal position voltage parameter range are the same.
  • the HCU obtains the accelerator pedal zero position corresponding to each accelerator pedal sensor through self-learning.
  • the accelerator pedal zero position corresponding to the first accelerator pedal position sensor is V_AcPdHm1
  • the accelerator pedal zero position corresponding to the second accelerator pedal position sensor is V_AcPdHm2
  • the accelerator pedal position The zero position of the accelerator pedal can be regarded as the idle travel position of the accelerator pedal.
  • the method for judging whether the zero position of the accelerator pedal obtained by each accelerator pedal position sensor through self-learning is valid is as follows:
  • the HCU After the self-learning of the first accelerator pedal position sensor is completed, the HCU needs to determine whether the self-learning of the first accelerator pedal position sensor is successful. If the zero position of the accelerator pedal obtained by the first accelerator pedal position sensor through self-learning is not within the first preset zero position range (K_AcPdLrnL1, K_AcPdLrnH1), the HCU determines that the self-learning of the first accelerator pedal position sensor fails, and the first accelerator pedal position sensor The zero-point position of the accelerator pedal obtained through self-learning is invalid, and the HCU reports the diagnosis fault DTC_AcPdLrFlt1; if the zero-point position of the accelerator pedal obtained by the first accelerator pedal position sensor through self-learning is within the first preset zero-point position It is determined that the self-learning of the first accelerator pedal position sensor is successful, and the zero-point position of the accelerator pedal obtained by the first accelerator pedal position sensor through self-learning is valid.
  • the HCU needs to determine whether the self-learning of the second accelerator pedal position sensor is successful. If the zero position of the accelerator pedal obtained by the second accelerator pedal position sensor through self-learning is not within the second preset zero position range (K_AcPdLrnL2, K_AcPdLrnH2), the HCU determines that the self-learning of the second accelerator pedal position sensor fails, and the second accelerator pedal position sensor The zero-point position of the accelerator pedal obtained through self-learning is invalid, and the HCU reports a diagnostic fault DTC_AcPdLrFlt2; if the zero-point position of the accelerator pedal obtained by the second accelerator pedal position sensor through self-learning is within the second preset zero-point position It is judged that the self-learning of the second accelerator pedal position sensor is successful, and the zero-point position of the accelerator pedal obtained by the second accelerator pedal position sensor through self-learning is valid.
  • the HCU also checks the two accelerator pedal position sensors with each other to ensure acceleration. The safety and reliability of the final output of the pedal. HCU performs mutual verification through the following formula algorithm:
  • K_ChkFactor is the configuration coefficient, which is a known fixed value, which can be repeated many times.
  • the method for calibrating the position and stroke output of the accelerator pedal of the hybrid vehicle is based on whether the pedal position voltage parameter output by the accelerator pedal position sensor is valid, whether the zero point position of the accelerator pedal obtained by the self-learning of the accelerator pedal position sensor is valid, Whether the mutual inspection of the two accelerator pedal position sensors is passed, and the output of the accelerator pedal position and stroke of the hybrid vehicle is determined, which can be roughly divided into the following four cases:
  • the HCU will accelerate the acceleration corresponding to the first accelerator pedal position sensor.
  • At least one of the pedal position voltage parameter and the accelerator pedal zero position output by the first accelerator pedal position sensor is invalid, and at least one of the pedal position voltage parameter and the accelerator pedal zero position output by the second accelerator pedal position sensor is invalid.
  • FIG. 3 is a flowchart of another method for calibrating the position and stroke output of the accelerator pedal of a hybrid vehicle provided by an embodiment of the present application. The following describes the flowchart of the above-mentioned method for calibrating the accelerator pedal position and stroke output of a hybrid vehicle with reference to FIG. 3 .
  • Step S1 judging whether the first condition is satisfied, the first condition is that in the two accelerator pedal position sensors, at least one of the pedal position voltage parameter and the zero point position of the accelerator pedal output by each accelerator pedal position sensor is invalid; if the first condition is satisfied , step S2 is performed, and if the first condition is not satisfied, step S3 is performed.
  • Step S2 the position and stroke output of the accelerator pedal of the hybrid vehicle is zero.
  • Step S3 judging whether the second condition is met, the second condition is that the pedal position voltage parameter and the zero point position of the accelerator pedal output by each accelerator pedal position sensor are valid; if the second condition is met, then step S4 is executed, if the second condition is not met. condition, step S7 is executed.
  • Step S4 Determine whether the third condition is met.
  • the third condition is that the two accelerator pedal position sensors pass the mutual verification. If the third condition is met, step S5 is executed. If the third condition is not met, step S6 is executed.
  • Step S5 the output of the accelerator pedal position and stroke of the hybrid vehicle is the average value of the accelerator pedal position and stroke outputs corresponding to the two accelerator pedal position sensors.
  • Step S7 judging whether the fourth condition is met.
  • the fourth condition is that both the pedal position voltage parameter and the zero point position of the accelerator pedal output by the first accelerator pedal position sensor are valid; if the fourth condition is met, step S8 is executed, if the fourth condition is not met. condition, then execute step S9.
  • Step S8 the output of the accelerator pedal position and stroke of the hybrid vehicle is the output of the accelerator pedal position and stroke corresponding to the first accelerator pedal position sensor.
  • Step S9 the output of the accelerator pedal position and stroke of the hybrid vehicle is the output of the accelerator pedal position and stroke corresponding to the second accelerator pedal position sensor.
  • step S8 When the fourth condition is satisfied, it means that at least one of the pedal position voltage parameter output by the second accelerator pedal position sensor and the zero point position of the accelerator pedal is invalid, so step S8 is executed; when the fourth condition is not satisfied, it means that the first acceleration At least one of the pedal position voltage parameter output by the pedal position sensor and the zero point position of the accelerator pedal is invalid, so step S9 is executed.
  • step S7 can also be replaced with a fifth condition.
  • the fifth condition is that both the pedal position voltage parameter output by the second accelerator pedal position sensor and the zero point position of the accelerator pedal are valid. If the fifth condition is satisfied, it means that the output of the first accelerator pedal position sensor is valid. At least one of the pedal position voltage parameter and the accelerator pedal zero point position is invalid, so step S9 is executed; if the fifth condition is not satisfied, it means that at least one of the pedal position voltage parameter and the accelerator pedal zero point position output by the second accelerator pedal position sensor is One is invalid, so step S8 is executed.
  • this embodiment also provides a device for calibrating the position and stroke output of the accelerator pedal of a hybrid vehicle, which includes a self-learning module 11 , a mutual verification module 12 and a stroke output module 13 .
  • the self-learning module 11 is configured to acquire the pedal position voltage parameters output by the two accelerator pedal position sensors, and control the two accelerator pedal positions under the condition that the pedal position voltage parameters output by the two accelerator pedal position sensors are both valid
  • the sensors perform self-learning respectively to obtain the zero-point position of the accelerator pedal
  • the mutual inspection module 12 is set to, under the condition that the zero-point positions of the accelerator pedal obtained by the self-learning of the two accelerator pedal position sensors are valid, according to the two accelerator pedal positions
  • the pedal position voltage parameter output by the sensor and the zero point position of the accelerator pedal are used for mutual verification of the two accelerator pedal position sensors
  • the accelerator pedal position stroke output corresponding to the two accelerator pedal position sensors is calculated and the average value is obtained, and the average value is used as the accelerator pedal position stroke output of the hybrid vehicle.
  • the device for calibrating the position and stroke output of the accelerator pedal of the hybrid vehicle provided in this embodiment can be applied to the method for calibrating the position and stroke output of the accelerator pedal of the hybrid vehicle provided by any of the above embodiments, and has corresponding functions and effects.
  • the hybrid vehicle includes a processor 10, a memory 20, and a program stored on the memory 20 that can be executed by the processor 10.
  • the program When the program is executed, the above-mentioned method for calibrating the position and stroke output of the accelerator pedal of the hybrid vehicle is realized.
  • a storage medium containing computer-executable instructions provided by an embodiment of the present application the computer-executable instructions of which are not limited to the above-mentioned method operations, and can also execute the accelerator pedal position stroke of a hybrid vehicle provided by any embodiment of the present application Related operations in the output calibration method.
  • the computer-readable storage medium may be a non-transitory storage medium.
  • the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer” etc. refer to the orientation or position The relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore It should not be construed as a limitation on this application. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed to indicate or imply relative importance. Therein, the terms “first position” and “second position” are two different positions.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal connection between two components.
  • installed should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal connection between two components.

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
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  • Hybrid Electric Vehicles (AREA)

Abstract

L'invention concerne un procédé d'étalonnage de sortie de course de position de pédale d'accélérateur de véhicule hybride et un véhicule hybride. Le procédé consiste à obtenir des paramètres de tension de position de pédale émis par deux capteurs de position de pédale d'accélérateur, et lorsque les deux paramètres de tension de position de pédale émis par les deux capteurs de position de pédale d'accélérateur sont valides, commander les deux capteurs de position de pédale d'accélérateur pour effectuer un auto-apprentissage séparément et obtenir des positions de point nul de pédale d'accélérateur ; lorsque les deux positions de point nul de pédale d'accélérateur obtenues par auto-apprentissage par les deux capteurs de position de pédale d'accélérateur sont valides, vérifier mutuellement les deux capteurs de position de pédale d'accélérateur selon les paramètres de tension de position de pédale émis par les deux capteurs de position de pédale d'accélérateur et les positions de point nul de pédale d'accélérateur; et lorsque la vérification mutuelle des deux capteurs de position de pédale d'accélérateur est réussie, calculer des sorties de course de position de pédale d'accélérateur correspondant aux deux capteurs de position de pédale d'accélérateur, calculer une valeur moyenne, et utiliser la valeur moyenne comme sortie de course de position de pédale d'accélérateur du véhicule hybride.
PCT/CN2021/133126 2021-03-18 2021-11-25 Procédé d'étalonnage de sortie de course de position de pédale d'accélérateur de véhicule hybride et véhicule hybride WO2022193719A1 (fr)

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CN202110291595.0A CN113008574A (zh) 2021-03-18 2021-03-18 混动汽车加速踏板位置行程输出校准方法及混动汽车

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