CN106364365B - Method and device for processing double-path accelerator pedal signals - Google Patents
Method and device for processing double-path accelerator pedal signals Download PDFInfo
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- CN106364365B CN106364365B CN201610816589.1A CN201610816589A CN106364365B CN 106364365 B CN106364365 B CN 106364365B CN 201610816589 A CN201610816589 A CN 201610816589A CN 106364365 B CN106364365 B CN 106364365B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
Abstract
The invention provides a method and a device for processing a double-path accelerator pedal signal, wherein the method for processing the double-path accelerator pedal signal comprises the steps of collecting a double-path signal output by a double-path accelerator pedal, wherein the double-path signal comprises a first signal and a second signal; acquiring a first opening degree according to the first signal, and acquiring a second opening degree according to the second signal; respectively judging whether the first opening degree and the second opening degree are within a preset threshold range to obtain a judgment result; reading a first weight of the first opening degree and a second weight of the second opening degree according to the judgment result; and carrying out weighted summation on the first opening degree and the second opening degree according to the first weight and the second weight, and calculating the effective opening degree of the two-way accelerator pedal. The invention can ensure the normal running of the vehicle under the condition that one path of signal has a fault, improve the running safety of the vehicle, reduce the manufacturing cost of the vehicle due to the integration of the controllers, and effectively improve the reliability and the stability of the system due to the reduction of the physical connection among the controllers.
Description
Technical Field
The invention relates to the technical field of pure electric vehicles, in particular to a method and a device for processing signals of a double-path accelerator pedal.
Background
In the face of increasingly severe energy and environmental problems, energy-saving and new energy automobiles are becoming hot spots for research in various countries. As one of energy-saving and new energy vehicles, the pure electric vehicle has the advantages of no exhaust emission, high energy efficiency, low noise, energy recycling and the like in the driving process, so that the great development of the pure electric vehicle has great significance for energy safety and environmental protection.
With the rapid development of pure electric vehicles, integrated control is becoming the current development trend of pure electric vehicles. Integrated control, as the name suggests, relies on the powerful computing power, abundant functions and external resources of the microprocessor at the present stage, effectively integrates the independent controllers responsible for different functions, and realizes all functions originally completed by a plurality of independent controllers by sharing hardware resources. The integrated control can save hardware resources and reduce the cost of the controller, and the system is integrated, so that the overall stability of the system can be improved. The accelerator pedal of the vehicle is one of three windows (the three windows are respectively steering, accelerator and braking) through which a driver interacts with the vehicle, and for a pure electric vehicle, the driver transmits driving information to the vehicle through the accelerator pedal, and then a controller analyzes and processes an accelerator pedal signal, and finally the accelerator pedal signal is converted into motor torque to drive the vehicle to run.
Therefore, the quality of the accelerator pedal signal processing has great influence on the performance of the whole vehicle and the driving feeling of a driver.
Disclosure of Invention
The invention provides a method and a device for processing signals of a dual-path accelerator pedal of a pure electric vehicle, which are suitable for being equipped with an integrated controller (the integrated controller, a motor controller and a battery management system) aiming at the development trend of the integration of the controller of the current pure electric vehicle.
Therefore, an object of the present invention is to provide a method for processing two paths of accelerator pedal signals, which can ensure that a vehicle normally runs when one path of signals fails, improve the safety of vehicle operation, and improve the driving feeling of a user, and the controller integration not only can reduce the manufacturing cost of the vehicle, but also can effectively improve the reliability and stability of the system due to the reduction of physical connections between the controllers.
Another object of the present invention is to provide a processing device for dual accelerator pedal signals.
In order to achieve the above object, an embodiment of the first aspect of the present invention provides a method for processing a two-way accelerator pedal signal, including: acquiring a two-way signal output by a two-way accelerator pedal, wherein the two-way signal comprises a first signal and a second signal; acquiring a first opening according to the first signal, and acquiring a second opening according to the second signal; respectively judging whether the first opening degree and the second opening degree are within a preset threshold range to obtain a judgment result; reading a first weight of the first opening degree and a second weight of the second opening degree according to the judgment result; and carrying out weighted summation on the first opening degree and the second opening degree according to the first weight and the second weight, and calculating the effective opening degree of the two-way accelerator pedal.
According to the processing method of the two-way accelerator pedal signal provided by the embodiment of the first aspect of the invention, the two-way signal output by the two-way accelerator pedal is collected, wherein the two-way signal comprises a first signal and a second signal, the first opening degree is obtained according to the first signal, the second opening degree is obtained according to the second signal, and whether the first opening degree and the second opening degree are within the range of the preset threshold value is respectively judged to obtain the judgment result; reading a first weight of the first opening degree and a second weight of the second opening degree according to the judgment result; the first opening degree and the second opening degree are weighted and summed according to the first weight and the second weight, the effective opening degree of the double-path accelerator pedal is calculated, normal running of a vehicle under the condition that one-path signals are in failure can be guaranteed, the running safety of the vehicle is improved, the driving feeling of a user is improved, the controller is integrated, the manufacturing cost of the vehicle can be reduced, and in addition, the reliability and the stability of a system are effectively improved due to the fact that physical connection among the controllers is reduced.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a dual accelerator pedal signal processing apparatus, including: the acquisition module is used for acquiring a two-way signal output by a two-way accelerator pedal, wherein the two-way signal comprises a first signal and a second signal; the acquisition module is used for acquiring a first opening according to the first signal and acquiring a second opening according to the second signal; the first judging module is used for respectively judging whether the first opening degree and the second opening degree are within a preset threshold range so as to obtain a judging result; the reading module is used for reading a first weight of the first opening degree and a second weight of the second opening degree according to the judgment result; and the weighted summation module is used for carrying out weighted summation on the first opening degree and the second opening degree according to the first weight and the second weight so as to calculate the effective opening degree of the two-way accelerator pedal.
According to the processing device for the two-way accelerator pedal signal provided by the embodiment of the second aspect of the invention, the two-way signal output by the two-way accelerator pedal is acquired, wherein the two-way signal comprises a first signal and a second signal, the first opening degree is acquired according to the first signal, the second opening degree is acquired according to the second signal, and whether the first opening degree and the second opening degree are within the range of the preset threshold value is respectively judged to obtain the judgment result; reading a first weight of the first opening degree and a second weight of the second opening degree according to the judgment result; the first opening degree and the second opening degree are weighted and summed according to the first weight and the second weight, the effective opening degree of the double-path accelerator pedal is calculated, normal running of a vehicle under the condition that one-path signals are in failure can be guaranteed, the running safety of the vehicle is improved, the driving feeling of a user is improved, the controller is integrated, the manufacturing cost of the vehicle can be reduced, and in addition, the reliability and the stability of a system are effectively improved due to the fact that physical connection among the controllers is reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a method for processing a dual accelerator pedal signal according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for processing a dual accelerator pedal signal according to another embodiment of the present invention;
FIG. 3 is a schematic flow chart diagram illustrating a method for processing a dual accelerator pedal signal according to another embodiment of the present invention;
FIG. 4 is a schematic flow chart diagram illustrating a method for processing a dual accelerator pedal signal according to another embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating zero correction of a dual accelerator pedal signal in accordance with an embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating dead band hysteresis processing of an accelerator pedal signal in an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a dual accelerator pedal signal processing apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a dual accelerator pedal signal processing device according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Fig. 1 is a schematic flow chart of a method for processing a dual accelerator pedal signal according to an embodiment of the present invention.
Referring to fig. 1, the method for processing the two-way accelerator pedal signal comprises the following steps:
s11: and acquiring a two-way signal output by a two-way accelerator pedal, wherein the two-way signal comprises a first signal and a second signal.
In the embodiment of the invention, the two-way signal output by the two-way accelerator pedal can be acquired by the integrated controller.
In this step, gather the double-circuit signal of double-circuit accelerator pedal output through integrated controller, the controller integrates not only can reduce vehicle manufacturing cost through hardware resource sharing, moreover, owing to reduced the physical connection between the controller, can improve the reliability and the stability of system.
S12: and acquiring a first opening degree according to the first signal and acquiring a second opening degree according to the second signal.
In an embodiment of the present invention, a first voltage of the first signal may be obtained, and a second voltage of the second signal may be obtained; a first opening degree of the first signal is calculated based on the first voltage, and a second opening degree of the second signal is calculated based on the second voltage.
In some embodiments, referring to fig. 2, step S12 specifically includes:
s21: a first voltage of the first signal is obtained, and a second voltage of the second signal is obtained.
In the embodiment of the invention, the integrated controller is used for collecting the two-way signals output by the two-way accelerator pedal, the two-way signals are sampled by the ADC, and the sampled two-way signals cannot be directly applied, so that a filtering algorithm can be adopted to respectively filter the sampled first signal and the sampled second signal, obtain the first voltage obtained by filtering the first signal, and obtain the second voltage obtained by filtering the second signal.
Wherein, the formula of the filtering algorithm is as follows:
wherein, APS1voltAPS2 as a filtered first voltagevoltIs the filtered first voltage, k is a weighting factor, APS1newFor the voltage value of the first signal sampled in this period, APS1oldIndicating the voltage value of the first signal sampled in the previous cycle, APS2newFor the voltage value of the second signal sampled in this period, APS2oldAnd k is a weighting factor, and the calculation formula is as follows:
k＝1-e-(Sample/TC)(2)
where Sample denotes the sampling interval and TC denotes the time constant.
S22: a first opening degree of the first signal is calculated based on the first voltage, and a second opening degree of the second signal is calculated based on the second voltage.
Optionally, after the collected two-way signal output by the two-way accelerator pedal is subjected to filtering processing, normalization processing needs to be performed on the two-way signal subjected to filtering processing, and in the normalization processing, the opening degrees corresponding to the two-way signal respectively need to be calculated according to the two-way signal.
Specifically, the two-way signal normalization calculation formula is as follows:
wherein, APS1intA first opening degree of the normalized first signal, wherein the opening degree range is 0-100, and APS2intA second opening degree of the normalized second signal, wherein the opening degree range is 0-100, and APS1voltAnd APS2voltThe first voltage and the second voltage after filtering are respectively represented, ReVolt represents a normalized voltage reference value, and since the first voltage of the first signal and the second voltage of the second signal are in a multiple relation under the same opening degree condition, NormSchale represents the multiple between the two signals.
In this embodiment, the first opening degree of the first signal is calculated according to the first voltage, and the second opening degree of the second signal is calculated according to the second voltage, so that the calculation of the effective opening degree of the two-way accelerator pedal can be facilitated, and the safety of vehicle operation is improved.
In some embodiments, referring to fig. 3, after step S12, the method further includes:
s31: and the first opening degree and the second opening degree are differed to obtain an opening degree difference value.
Alternatively, the first opening APS1 calculated in step S22 may be set to the first opening degreeintAnd second opening degree APS2intMaking difference to obtain opening difference value APS2int-APS1int|。
S32: and judging whether the opening difference value is greater than or equal to a preset threshold value.
In the embodiment of the present invention, the preset threshold may be preset by a built-in program of the pure electric vehicle, or the preset threshold may also be set by a driver, which is not limited to this.
Alternatively, assume that the preset threshold is APSmaxJudging whether the opening difference value is greater than or equal to a preset threshold value, | APS2 can be obtainedint-APS1int|≥APSmaxOr, | APS2int-APS1int|<APSmaxAnd (4) judging a result.
It can be understood that at | APS2int-APS1int|≥APSmaxWhen it is time, it indicates that there is fault information in the two-way signal, at | APS2int-APS1int|<APSmaxTime, it indicates that the system is working properly.
S33: and if the opening difference value is larger than or equal to a preset threshold value, generating information for identifying the double-path signal fault, and prompting a user according to the information.
Alternatively, when the opening degree difference is greater than or equal to a preset threshold, i.e., | APS2int-APS1int|≥APSmaxThe information used for identifying the double-path signal fault is generated, the user is prompted according to the information, the user can be prompted when the fault occurs, the driving experience of the user is effectively improved, and the safety of vehicle operation is improved.
In the embodiment, when the difference value between the first opening degree and the second opening degree is larger than or equal to the preset threshold value, the information used for identifying the double-path signal fault is generated, and the user can be prompted according to the information when the fault occurs, so that the driving experience of the user is effectively improved, and the safety of vehicle operation is improved.
S13: and respectively judging whether the first opening degree and the second opening degree are within a preset threshold range to obtain a judgment result.
In the embodiment of the present invention, the preset threshold range may be preset by a built-in program of the pure electric vehicle, or the preset threshold range may also be set by a driver, which is not limited to this.
Optionally, whether the first opening degree and the second opening degree are within a preset threshold range is respectively determined, a determination result that the first opening degree and the second opening degree are both within the preset threshold range may be obtained, or a determination result that the first opening degree and the second opening degree are not within the preset threshold range may be obtained, or a determination result that the first opening degree is within the preset threshold range and the second opening degree is not within the preset threshold range may be obtained, or a determination result that the first opening degree is not within the preset threshold range and the second opening degree is within the preset threshold range may be obtained.
S14: and reading a first weight of the first opening degree and a second weight of the second opening degree according to the judgment result.
In an embodiment of the present invention, a first weight of the first opening degree and a second weight of the second opening degree may be read from a preset weight table according to the determination result, wherein the preset weight table is shown in table 1.
TABLE 1
It is understood that when the first opening degree is not within the preset threshold range, indicating that the first signal has the overrun fault information, and when the second opening degree is not within the preset threshold range, indicating that the second signal has the overrun fault information, a first weight of the first opening degree and a second weight of the second opening degree may be assigned according to the fault information.
S15: and carrying out weighted summation on the first opening degree and the second opening degree according to the first weight and the second weight, and calculating the effective opening degree of the two-way accelerator pedal.
In the embodiment of the present invention, the effective opening degree of the two-way accelerator pedal may be calculated by weighted summation of the first opening degree and the second opening degree using the following formula:
APSpct＝(kAPS1·APS1int+kAPS2·APS2int)·kAPS(4)
wherein, APSpctRepresenting the effective opening of the two-way accelerator pedal, kAPS1A first weight, k, representing a first openingAPS2A second weight, k, representing a second openingAPSRepresents a compensation factor that will determine the effective opening APS of the two-way accelerator pedalpctThe range is limited to 0 to 100. From Table 1 and Table 78 in step S14As can be seen from the formula (4), when both the first opening degree and the second opening degree have no overrun fault, a weight coefficient of 0.5 is averagely distributed to each path of signal; when one path of signal has an overrun fault, calculating an effective opening by using the opening of the path of signal without the overrun fault; if the two paths of signals have overrun faults, the effective opening degree of the two paths of accelerator pedals obtained through final calculation is 0, and driving safety can be effectively guaranteed.
In some examples, referring to fig. 4, the method for processing the two-way accelerator pedal signal further includes:
s41: and correcting the zero point of the two-way accelerator pedal signal according to the effective opening degree.
It should be noted that, under the normal driving condition, when the driver starts the vehicle, the right foot should leave the accelerator pedal, and meanwhile, the effective opening degree of the two-way accelerator pedal should be 0; however, in some cases, the driver does not leave the accelerator pedal when starting the vehicle, for example, the effective opening degree of the two-way accelerator pedal is 30, and if the situation is not processed, when the vehicle is completely powered on, if the driver puts into a forward gear or a reverse gear, the vehicle can be unexpectedly forward or reverse, and therefore safety hazards are caused. On the other hand, as the driving time of the vehicle increases, the mechanical structure of the accelerator pedal may slightly change, for example, the driver does not step on the brake pedal, but the effective opening degree of the two-way accelerator pedal analyzed at this time is larger than 0, and therefore, the zero point of the two-way accelerator pedal signal is corrected after each time the vehicle is powered on.
Referring to fig. 5, fig. 5 is a schematic flow chart illustrating zero point correction of two-way accelerator pedal signals according to an embodiment of the present invention, after a vehicle is powered on, it is first determined whether an effective opening degree of the two-way accelerator pedal is greater than 0, and if yes, the effective opening degree is set as a zero point k0If not, the effective opening degree of the two-way accelerator pedal is considered to be 0 at the moment, and the zero point k does not need to be reset0Directly ending, and obtaining forward torque only if the driver needs to continue to deeply step on the accelerator pedal to move forward or back at the moment; then judging whether the two-way accelerator pedal existsWhether the effective opening degree is less than k0If yes, the effective opening degree at the moment is set as a zero point, and k is updated0(ii) a Then, whether the effective opening degree of the two-way accelerator pedal is equal to 0 or not is judged again, if yes, the effective opening degree at the moment is set as a zero point, and the zero point k is updated again0And finishing, if not, judging whether the effective opening degree of the two-way accelerator pedal is smaller than k again0Until the effective opening of the two-way accelerator pedal is equal to 0.
Through correcting zero point of double-circuit accelerator pedal signal according to effective aperture, can guarantee that the driver steps on accelerator pedal after the car is gone up, the vehicle does not have unexpected moment of torsion output, and only the driver further steps on accelerator pedal deeply and just can make vehicle output torque, has guaranteed driving safety, and after driver release accelerator pedal, zero point can be proofreaied again, guarantees the power demand when the driver steps on accelerator pedal once more, promotes user's driving impression.
Since the accelerator pedal is a mechanical system, there is inevitably a dead zone, and therefore, when calculating the effective opening degree of the two-way accelerator pedal, the influence of the dead zone must be considered, on the other hand, there is inevitably a chattering phenomenon in the driver's stepping on the accelerator pedal, and if the chattering phenomenon of the accelerator pedal is not dealt with, the chattering phenomenon is transmitted to the drive system, and further, the chattering of the output torque of the motor is caused, and the driving feeling is influenced.
In view of the above problems of the dead zone and the jitter, the embodiment of the present invention adopts a manner as shown in fig. 6, and referring to fig. 6, fig. 6 is a schematic flow chart of dead zone hysteresis processing of an accelerator pedal signal in the embodiment of the present invention, where APS (n-1) represents an effective opening degree of a two-way accelerator pedal determined by passing through a zero point in a previous control cycle, APS (n) represents an effective opening degree of a two-way accelerator pedal in the present cycle, Kd represents a dead zone parameter, Kh represents a hysteresis parameter, and APS represents an effective opening degree of a two-way accelerator pedal output after passing through the dead zone hysteresis processing. Considering the dead zone problem of the accelerator pedal, and simultaneously, in order to weaken the influence of slight shake caused by the driver when the driver steps on the accelerator pedal on the driving, if the change of the opening value of the accelerator pedal signal caused by the shake is not higher than Kh, the shake can be filtered. And after dead zone and hysteresis processing, obtaining the final effective opening degree of the two-way accelerator pedal, and using the effective opening degree to calculate the motor torque of the vehicle and control the vehicle.
S42: and calculating the motor torque of the vehicle according to the effective opening, and controlling the vehicle according to the motor torque.
In the embodiment of the present invention, the motor torque may be calculated by using an algorithm in the related art, which is not described herein.
Optionally, the motor torque of the vehicle is calculated according to the effective opening degree, so that the running condition of the whole vehicle can be ensured to be in accordance with the driving intention of a driver.
In the embodiment, the zero point of the two-way accelerator pedal signal is corrected according to the effective opening degree, the motor torque of the vehicle is calculated according to the effective opening degree, the vehicle is controlled according to the motor torque, it can be ensured that the driver steps on the accelerator pedal after the vehicle is powered on, the vehicle has no unexpected torque output, the running safety of the vehicle is improved, the power requirement when the driver steps on the accelerator pedal again is ensured, the influence of shaking when the driver steps on the accelerator pedal on running is weakened, the running condition of the whole vehicle is ensured to accord with the driving intention of the driver, and the driving feeling of the user is improved.
In the embodiment, a double-path signal output by a double-path accelerator pedal is acquired, wherein the double-path signal comprises a first signal and a second signal, a first opening degree is acquired according to the first signal, a second opening degree is acquired according to the second signal, and whether the first opening degree and the second opening degree are within a preset threshold range is respectively judged to obtain a judgment result; reading a first weight of the first opening degree and a second weight of the second opening degree according to the judgment result; the first opening degree and the second opening degree are weighted and summed according to the first weight and the second weight, the effective opening degree of the double-path accelerator pedal is calculated, normal running of a vehicle under the condition that one path of signals breaks down can be guaranteed, driving feeling of a user is improved, running safety of the vehicle is improved, the controller is integrated, vehicle manufacturing cost can be reduced, and reliability and stability of a system are effectively improved due to the fact that physical connection between the controllers is reduced.
Fig. 7 is a schematic structural diagram of a dual accelerator pedal signal processing device according to an embodiment of the present invention.
Referring to fig. 7, the dual accelerator pedal signal processing device 70 includes: the device comprises an acquisition module 701, an acquisition module 702, a first judgment module 703, a reading module 704, and a weighted summation module 705. Wherein,
the acquisition module 701 is used for acquiring a two-way signal output by a two-way accelerator pedal, wherein the two-way signal comprises a first signal and a second signal.
The obtaining module 702 is configured to obtain a first opening degree according to the first signal, and obtain a second opening degree according to the second signal.
The first determining module 703 is configured to determine whether the first opening degree and the second opening degree are within a preset threshold range, respectively, so as to obtain a determination result.
The reading module 704 is configured to read a first weight of the first opening degree and a second weight of the second opening degree according to the determination result.
And a weighted summation module 705, configured to perform weighted summation on the first opening degree and the second opening degree according to the first weight and the second weight, and calculate an effective opening degree of the two-way accelerator pedal.
In some embodiments, referring to fig. 8, the dual accelerator pedal signal processing device 70 further includes:
and the calculating module 706 is used for calculating the motor torque of the vehicle according to the effective opening degree and controlling the vehicle according to the motor torque.
Optionally, the obtaining module 702 includes:
the obtaining sub-module 7021 is configured to obtain a first voltage of the first signal and obtain a second voltage of the second signal.
Optionally, the obtaining sub-module 7021 is specifically configured to:
and respectively filtering the first signal and the second signal by adopting a filtering algorithm to obtain a first voltage obtained after filtering the first signal and a second voltage obtained after filtering the second signal.
The calculating submodule 7022 is configured to calculate a first opening degree of the first signal according to the first voltage, and calculate a second opening degree of the second signal according to the second voltage.
Optionally, the reading module 704 is specifically configured to:
and reading a first weight of the first opening degree and a second weight of the second opening degree from a preset weight table according to the judgment result.
And a difference module 707 configured to obtain a difference value by subtracting the first opening degree and the second opening degree after obtaining the first opening degree according to the first signal and obtaining the second opening degree according to the second signal.
A second determining module 708, configured to determine whether the opening difference is greater than or equal to a preset threshold.
The generating module 709 is configured to generate information for identifying the two-way signal fault when the opening difference is greater than or equal to a preset threshold, and prompt a user according to the information.
And the correcting module 710 is used for correcting the zero point of the two-way accelerator pedal signal according to the effective opening degree before the motor torque of the vehicle is calculated according to the effective opening degree.
It should be noted that the explanation of the embodiment of fig. 1 to fig. 6 for the processing method of two-way accelerator pedal signal also applies to the processing device of two-way accelerator pedal signal of this embodiment, and the implementation principle is similar, and will not be described again here.
In the embodiment, a double-path signal output by a double-path accelerator pedal is acquired, wherein the double-path signal comprises a first signal and a second signal, a first opening degree is acquired according to the first signal, a second opening degree is acquired according to the second signal, and whether the first opening degree and the second opening degree are within a preset threshold range is respectively judged to obtain a judgment result; reading a first weight of the first opening degree and a second weight of the second opening degree according to the judgment result; the first opening degree and the second opening degree are weighted and summed according to the first weight and the second weight, the effective opening degree of the double-path accelerator pedal is calculated, normal running of a vehicle under the condition that one path of signals breaks down can be guaranteed, driving feeling of a user is improved, running safety of the vehicle is improved, the controller is integrated, vehicle manufacturing cost can be reduced, and reliability and stability of a system are effectively improved due to the fact that physical connection between the controllers is reduced.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array, a field programmable gate array, or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method for processing a two-way accelerator pedal signal is characterized by comprising the following steps:
acquiring a two-way signal output by a two-way accelerator pedal, wherein the two-way signal comprises a first signal and a second signal;
acquiring a first opening according to the first signal, and acquiring a second opening according to the second signal;
respectively judging whether the first opening degree and the second opening degree are within a preset threshold range to obtain a judgment result;
reading a first weight of the first opening degree and a second weight of the second opening degree according to the judgment result;
carrying out weighted summation on the first opening degree and the second opening degree according to the first weight and the second weight, and calculating the effective opening degree of the two-way accelerator pedal;
correcting the zero point of the two paths of accelerator pedal signals according to the effective opening degree; firstly, judging whether the effective opening degree of the two-way accelerator pedal is larger than 0, and if the effective opening degree of the two-way accelerator pedal is larger than 0, setting the effective opening degree at the moment as a zero point k0(ii) a Then judging whether the effective opening degree of the two-way accelerator pedal is smaller than k0If less than k0Then, the effective opening at this time is set as zero, and k is updated0(ii) a Then, whether the effective opening degree of the two-way accelerator pedal is equal to 0 or not is judged again, if the effective opening degree of the two-way accelerator pedal is equal to 0, the effective opening degree at the moment is set as a zero point, and the zero point k is updated again0And ending, if not equal to 0, judging whether the effective opening degree of the two-way accelerator pedal is smaller than k again0Until the effective opening degree of the two-way accelerator pedal is equal to 0;
and calculating the motor torque of the vehicle according to the effective opening, and controlling the vehicle according to the motor torque.
2. The method for processing a two-way accelerator pedal signal according to claim 1, wherein the obtaining a first opening degree according to the first signal and obtaining a second opening degree according to the second signal comprises:
acquiring a first voltage of the first signal and acquiring a second voltage of the second signal;
and calculating a first opening degree of the first signal according to the first voltage, and calculating a second opening degree of the second signal according to the second voltage.
3. The method of processing a dual accelerator pedal signal according to claim 2, wherein the obtaining a first voltage of the first signal and obtaining a second voltage of the second signal comprises:
and respectively filtering the first signal and the second signal by adopting a filtering algorithm to obtain a first voltage obtained after filtering the first signal and a second voltage obtained after filtering the second signal.
4. The method for processing a two-way accelerator pedal signal according to claim 1, wherein the reading a first weight of the first opening degree and a second weight of the second opening degree according to the determination result comprises:
and reading a first weight of the first opening degree and a second weight of the second opening degree from a preset weight table according to the judgment result.
5. The method for processing a two-way accelerator pedal signal according to claim 1, further comprising, after said obtaining a first opening degree based on said first signal and a second opening degree based on said second signal:
the first opening degree and the second opening degree are differentiated to obtain an opening degree difference value;
judging whether the opening difference value is larger than or equal to a preset threshold value or not;
and if the opening difference value is larger than or equal to a preset threshold value, generating information for identifying the double-path signal fault, and prompting a user according to the information.
6. A dual accelerator pedal signal processing apparatus, comprising:
the acquisition module is used for acquiring a two-way signal output by a two-way accelerator pedal, wherein the two-way signal comprises a first signal and a second signal;
the acquisition module is used for acquiring a first opening according to the first signal and acquiring a second opening according to the second signal;
the first judging module is used for respectively judging whether the first opening degree and the second opening degree are within a preset threshold range so as to obtain a judging result;
the reading module is used for reading a first weight of the first opening degree and a second weight of the second opening degree according to the judgment result;
the weighted summation module is used for carrying out weighted summation on the first opening degree and the second opening degree according to the first weight and the second weight so as to calculate the effective opening degree of the two-way accelerator pedal;
the correction module is used for correcting the zero point of the two paths of accelerator pedal signals according to the effective opening degree; firstly, judging whether the effective opening degree of the two-way accelerator pedal is larger than 0, and if the effective opening degree of the two-way accelerator pedal is larger than 0, setting the effective opening degree at the moment as a zero point k0(ii) a Then judging whether the effective opening degree of the two-way accelerator pedal is smaller than k0If less than k0Then, the effective opening at this time is set as zero, and k is updated0(ii) a Then, whether the effective opening degree of the two-way accelerator pedal is equal to 0 or not is judged again, if the effective opening degree of the two-way accelerator pedal is equal to 0, the effective opening degree at the moment is set as a zero point, and the zero point k is updated again0And ending, if not equal to 0, judging whether the effective opening degree of the two-way accelerator pedal is smaller than k again0Until the effective opening degree of the two-way accelerator pedal is equal to 0;
and the calculation module is used for calculating the motor torque of the vehicle according to the effective opening and controlling the vehicle according to the motor torque.
7. The dual accelerator pedal signal processing apparatus of claim 6, wherein the acquisition module comprises:
the acquisition submodule is used for acquiring a first voltage of the first signal and acquiring a second voltage of the second signal;
and the calculating submodule is used for calculating a first opening degree of the first signal according to the first voltage and calculating a second opening degree of the second signal according to the second voltage.
8. The dual accelerator pedal signal processing apparatus of claim 7, wherein the acquisition submodule is specifically configured to:
and respectively filtering the first signal and the second signal by adopting a filtering algorithm to obtain a first voltage obtained after filtering the first signal and a second voltage obtained after filtering the second signal.
9. The dual accelerator pedal signal processing apparatus of claim 6, wherein the reading module is specifically configured to:
and reading a first weight of the first opening degree and a second weight of the second opening degree from a preset weight table according to the judgment result.
10. The dual accelerator pedal signal processing apparatus of claim 6, further comprising:
the difference making module is used for making a difference between the first opening degree and the second opening degree after the first opening degree is obtained according to the first signal and the second opening degree is obtained according to the second signal to obtain an opening degree difference value;
the second judgment module is used for judging whether the opening difference value is larger than or equal to a preset threshold value or not;
and the generating module is used for generating information for identifying the double-path signal fault when the opening difference value is greater than or equal to a preset threshold value, and prompting a user according to the information.
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| CN201610816589.1A CN106364365B (en) | 2016-09-12 | 2016-09-12 | Method and device for processing double-path accelerator pedal signals |
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| CN107499133B (en) * | 2017-04-24 | 2020-09-18 | 宝沃汽车（中国）有限公司 | Control method and device for opening degree of accelerator pedal of electric automobile and electric automobile |
| CN107380009A (en) * | 2017-07-24 | 2017-11-24 | 上海精虹新能源科技有限公司 | Accelerator pedal identifying processing method applied to pure electronic logistics automobile |
| CN107918377B (en) * | 2017-10-20 | 2023-04-07 | 开沃新能源汽车集团有限公司 | Pedal fault diagnosis method based on vehicle control unit |
| CN108819713B (en) * | 2018-04-24 | 2021-06-18 | 上海伊控动力系统有限公司 | Accelerator pedal opening zero point adjusting method for pure electric logistics vehicle |
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