CN108819713B - Accelerator pedal opening zero point adjusting method for pure electric logistics vehicle - Google Patents
Accelerator pedal opening zero point adjusting method for pure electric logistics vehicle Download PDFInfo
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- CN108819713B CN108819713B CN201810373027.3A CN201810373027A CN108819713B CN 108819713 B CN108819713 B CN 108819713B CN 201810373027 A CN201810373027 A CN 201810373027A CN 108819713 B CN108819713 B CN 108819713B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K2026/026—Adjusting of accelerator pedal positions
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- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
Abstract
The invention discloses an accelerator pedal opening zero point adjusting method for a pure electric logistics vehicle, which comprises the following steps of: the method comprises the steps of voltage signal obtaining, displacement signal mean value obtaining, current accelerator pedal minimum displacement obtaining, accelerator pedal opening calculating, current accelerator pedal minimum displacement compensation and current accelerator pedal opening recalculation. The method for adjusting the opening zero point of the accelerator pedal of the pure electric logistic vehicle solves the problem that the opening zero point of the accelerator pedal can not be accurately obtained usually under different vehicles or working conditions, and effectively realizes the active adjustment of the opening zero point of the accelerator pedal.
Description
Technical Field
The invention relates to the field of pure electric vehicles, in particular to a method for adjusting the zero opening of an accelerator pedal of a pure electric logistics vehicle.
Background
The pure electric vehicle is a vehicle which takes a vehicle-mounted power supply as power and drives wheels to run by using a motor, and meets various requirements of road traffic and safety regulations. The automobile has a small influence on the environment, so that the prospect is widely seen, but the current technology is not mature.
In the prior art, the opening zero point of an accelerator pedal of a pure electric logistics vehicle is usually calibrated through manual testing, and the problems of calibration errors or drifting of the opening zero point of the accelerator pedal in the use process of the vehicle exist, so that torque required by a driver cannot be timely and accurately responded, or the torque required by the whole vehicle is judged when the driver does not act on the accelerator pedal, the analysis of the information of the accelerator pedal is contrary to the actual driving intention, but the prior patent does not relate to how to actively adjust the opening zero point of the accelerator pedal through a self-learning method.
Disclosure of Invention
The purpose of the invention is: the method for adjusting the opening zero point of the accelerator pedal for the pure electric logistics vehicle is provided, and the problem that the opening zero point of the accelerator pedal cannot be actively adjusted in the prior art is solved.
The technical scheme for realizing the purpose is as follows: an accelerator pedal opening zero point adjusting method for a pure electric logistics vehicle comprises the following steps: a voltage signal acquisition step of acquiring an analog voltage signal of an accelerator pedal in real time; a displacement signal mean value calculating step, namely processing the analog voltage signal in real time to obtain a displacement signal of the accelerator pedal and calculating the mean value of all the displacement signals of the accelerator pedal within preset time; acquiring the minimum displacement of the current accelerator pedal, and solving the minimum displacement of the current accelerator pedal within a calibration time according to the mean value of the two displacement signals; calculating the opening degree of an accelerator pedal, namely calculating the current opening degree of the accelerator pedal according to the current minimum displacement of the accelerator pedal, the maximum displacement calibration value of the accelerator pedal and the current displacement of the accelerator pedal; compensating the minimum displacement of the current accelerator pedal, namely compensating a calibrated displacement compensation value to the minimum displacement of the last accelerator pedal to obtain the compensated minimum displacement of the accelerator pedal if the opening of the current accelerator pedal is larger than the opening of the last accelerator pedal after the current accelerator pedal is completely loosened; and recalculating the current accelerator pedal opening, namely recalculating the current accelerator pedal opening according to the compensated minimum accelerator pedal displacement, the compensated maximum accelerator pedal displacement calibration value and the current accelerator pedal displacement.
Further, the voltage signal acquiring step includes simultaneously acquiring two analog voltage signals of the accelerator pedal in real time.
Further, the voltage signal acquisition step comprises normalization processing, namely dividing the two analog voltage signals by corresponding reference voltages respectively to unify dimensions; unifying the signal strength of the analog voltage signal.
Further, the step of obtaining the mean value of the displacement signals includes filtering the two displacement signals to obtain the mean value of the two displacement signals corresponding to the analog voltage signal.
Further, in the step of obtaining the average value of the displacement signal, the preset time is set to 10ms as a period.
Further, the step of obtaining the current minimum displacement of the accelerator pedal includes a variance calculation step of calculating a standard square error between the current displacement and a mean value of the two displacement signals; a variance judging step, namely judging whether the standard square error is smaller than a calibration value, if so, entering the current displacement judging step, and if not, returning to the variance calculating step; and a current displacement judgment step, namely judging whether the current displacement is smaller than the previous displacement, if so, taking the current displacement as the current minimum displacement of the accelerator pedal, and if not, taking the previous displacement as the current minimum displacement of the accelerator pedal.
Further, the limitation range of the accelerator pedal opening is 0 to 100%.
Further, after the step of recalculating the current accelerator pedal opening, the method further includes a step of selecting an accelerator pedal opening, which is obtained by calculating two analog voltage signals of the accelerator pedal respectively.
Further, in the step of selecting the opening degree of the accelerator pedal, whether the two analog voltage signals are abnormal or not is judged, and if both the two analog voltage signals are abnormal, a smaller opening degree of the accelerator pedal is selected; if one of the analog voltage signals is abnormal, selecting the accelerator pedal opening calculated by the analog voltage signal without abnormality; if the two analog voltage signals are abnormal, the last result is reserved.
The invention has the advantages that: due to the reasons of signal zero drift, calibration error and the like of the accelerator pedal sensor, the method for adjusting the opening zero point of the accelerator pedal of the pure electric motor flow vehicle solves the problem that the opening zero point of the accelerator pedal can not be accurately obtained usually under different vehicles or working conditions, effectively realizes the active adjustment of the opening zero point of the accelerator pedal, and can effectively avoid the problems that the required torque can not be timely and accurately responded or the torque requirement of the whole vehicle is judged when a driver does not act on the accelerator pedal.
Drawings
The invention is further explained below with reference to the figures and examples.
Fig. 1 is a flowchart illustrating steps of an accelerator pedal opening zero point adjustment method according to an embodiment of the present invention.
Fig. 2 is a flowchart of the steps of obtaining the current minimum displacement of the accelerator pedal according to the embodiment of the present invention.
FIG. 3 is a graph of accelerator pedal position versus voltage.
FIG. 4 is a graph of accelerator pedal displacement versus voltage after normalization processing.
FIG. 5 is a diagram illustrating a variation of zero adjustment of accelerator pedal opening under steady-state conditions.
FIG. 6 is a diagram illustrating a variation of zero adjustment of accelerator pedal opening under dynamic conditions.
Detailed Description
The following description of the embodiments refers to the accompanying drawings for illustrating the specific embodiments in which the invention may be practiced.
Example (b): as shown in fig. 1, an accelerator opening zero point adjustment method for a pure electric logistics vehicle includes steps S1) to S7):
step S1), a voltage signal acquisition step, which is used for acquiring the analog voltage signal of the accelerator pedal in real time; in this step S1), two voltage signals are acquired at the same time, and the acquisition of the voltage signals is realized by two sensors of the accelerator pedal position. As shown in fig. 3 to 4, in this step S1), a normalization process is included, i.e., the two analog voltage signals are divided by the corresponding reference voltages, respectively, to unify the dimensions; unifying the signal strength of the analog voltage signal.
Step S2), a displacement signal mean value obtaining step, wherein the analog voltage signal is processed in real time to obtain a displacement signal of the accelerator pedal, and the mean value of all the displacement signals of the accelerator pedal is obtained within a preset time. In step S2), the step of obtaining the mean value of the displacement signals includes filtering the two displacement signals to obtain the mean value of the two displacement signals corresponding to the analog voltage signal. In this embodiment, the signal intensity of the first sensor is twice the signal intensity of the second sensor, so that the signal intensity of the second sensor is amplified by one time, and two accelerator pedal displacement signals with the same slope can be obtained. In the step of obtaining the average value of the displacement signals, the preset time is set to be 10ms as a period.
Step S3), obtaining the current minimum displacement of the accelerator pedal, and obtaining the current minimum displacement of the accelerator pedal within the calibration time according to the mean value of the two displacement signals. The step of obtaining the minimum displacement of the current accelerator pedal includes steps S31) to S35), as shown in fig. 2, step S31) a variance calculating step of calculating a standard square difference of the current displacement and a mean of two displacement signals, respectively; step S32), a variance judgment step, namely judging whether the standard square deviation is smaller than a calibration value, if so, entering the step S33) of judging the current displacement, and if not, returning to the variance calculation step; step S33), a current displacement determining step, which determines whether the current displacement is smaller than the previous displacement, if yes, step S34) takes the current displacement as the current accelerator pedal minimum displacement, and if not, step S35) takes the previous displacement as the current accelerator pedal minimum displacement. In the step S3), if the standard square deviation is smaller than a certain calibration value, the downward learning of the minimum displacement of the accelerator pedal can be realized, that is: if the current displacement of the accelerator pedal is smaller than the last minimum displacement of the accelerator pedal, taking the current displacement as the current minimum displacement of the accelerator pedal, and calculating the opening degree of the accelerator pedal, as shown in fig. 2; otherwise, the last displacement is still retained as the current accelerator pedal minimum displacement.
Step S4), an accelerator pedal opening calculation step, which is used for calculating the current accelerator pedal opening according to the current minimum accelerator pedal displacement, the maximum accelerator pedal displacement calibration value and the current accelerator pedal displacement; the limitation range of the accelerator opening degree is 0 to 100%.
Step S5), compensating the minimum displacement of the current accelerator pedal, if the opening of the current accelerator pedal is larger than the opening of the previous accelerator pedal after the current accelerator pedal is completely loosened, compensating a calibrated displacement compensation value to the minimum displacement of the previous accelerator pedal to obtain the compensated minimum displacement of the accelerator pedal; in this step S5), after the driver has completely released the pedal, there may be a case where the current accelerator pedal position is larger than the accelerator pedal minimum displacement due to a problem such as drift of the accelerator pedal sensor zero point. In this case, the calculated accelerator opening is not zero and is contrary to the intention of the driver, and therefore, it is necessary to learn the accelerator opening upward by a strategy.
Step S6), a step of recalculating the current accelerator pedal opening, which is to recalculate the current accelerator pedal opening according to the compensated minimum accelerator pedal displacement, the calibrated maximum accelerator pedal displacement and the current accelerator pedal displacement. As shown in fig. 6.
Step S7) an accelerator pedal opening selecting step of selecting an accelerator pedal opening calculated from each of the two analog voltage signals of the accelerator pedal. In the step of selecting the opening degree of the accelerator pedal, judging whether two analog voltage signals are abnormal or not, and if not, selecting the smaller opening degree of the accelerator pedal; if one of the analog voltage signals is abnormal, selecting the accelerator pedal opening calculated by the analog voltage signal without abnormality; if the two analog voltage signals are abnormal, the last result is reserved.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The method for adjusting the opening zero point of the accelerator pedal of the pure electric logistics vehicle is characterized by comprising the following steps of:
a voltage signal acquisition step of acquiring an analog voltage signal of an accelerator pedal in real time;
a displacement signal mean value calculating step, namely processing the analog voltage signal in real time to obtain a displacement signal of the accelerator pedal and calculating the mean value of all the displacement signals of the accelerator pedal within preset time;
acquiring the minimum displacement of the current accelerator pedal, and solving the minimum displacement of the current accelerator pedal within a calibration time according to the mean value of the two displacement signals;
calculating the opening degree of an accelerator pedal, namely calculating the current opening degree of the accelerator pedal according to the current minimum displacement of the accelerator pedal, the maximum displacement calibration value of the accelerator pedal and the current displacement of the accelerator pedal;
compensating the minimum displacement of the current accelerator pedal, namely compensating a calibrated displacement compensation value to the minimum displacement of the last accelerator pedal to obtain the compensated minimum displacement of the accelerator pedal if the opening of the current accelerator pedal is larger than the opening of the last accelerator pedal after the current accelerator pedal is completely loosened;
recalculating the current accelerator pedal opening, namely recalculating the current accelerator pedal opening according to the compensated minimum accelerator pedal displacement, the compensated maximum accelerator pedal displacement calibration value and the current accelerator pedal displacement;
wherein, the step of obtaining the current minimum displacement of the accelerator pedal comprises the following steps:
a variance calculation step, namely calculating the standard square error of the current displacement and the mean value of the two displacement signals respectively;
a variance judging step, namely judging whether the standard square error is smaller than a calibration value, if so, entering the current displacement judging step, and if not, returning to the variance calculating step; and
and a current displacement judgment step, namely judging whether the current displacement is smaller than the previous displacement, if so, taking the current displacement as the minimum displacement of the front accelerator pedal, and if not, taking the previous displacement as the minimum displacement of the front accelerator pedal.
2. The method for adjusting the opening zero point of the accelerator pedal for the electric-only logistics vehicle as claimed in claim 1, wherein the voltage signal acquiring step comprises simultaneously acquiring two analog voltage signals of the accelerator pedal in real time.
3. The accelerator pedal opening zero point adjustment method for the electric-only logistics vehicle as claimed in claim 2, wherein the voltage signal obtaining step comprises
Normalization processing, namely dividing the two analog voltage signals by corresponding reference voltages respectively to unify dimensions;
unifying the signal strength of the analog voltage signal.
4. The method for adjusting the opening zero point of the accelerator pedal for the electric-only logistics vehicle as claimed in claim 3, wherein the step of obtaining the mean value of the displacement signals comprises filtering the two displacement signals to obtain the mean value of the two displacement signals corresponding to the analog voltage signal.
5. The accelerator pedal opening zero point adjustment method for the electric-only logistics vehicle as claimed in claim 3, wherein in the displacement signal average value calculation step, the preset time is set to 10ms as a period.
6. The accelerator pedal opening zero point adjustment method for the electric-only logistics vehicle as claimed in claim 1, wherein the limit range of the accelerator pedal opening is 0-100%.
7. The accelerator pedal opening zero point adjustment method for the electric-only logistics vehicle as claimed in claim 5, further comprising an accelerator pedal opening selection step of selecting the accelerator pedal opening calculated by each of the two analog voltage signals of the accelerator pedal after the current accelerator pedal opening recalculation step.
8. The accelerator pedal opening degree zero point adjustment method for the electric-only logistics vehicle of claim 7, wherein in the accelerator pedal opening degree selection step,
judging whether the two analog voltage signals are abnormal or not, and if not, selecting a smaller opening degree of an accelerator pedal; if one of the analog voltage signals is abnormal, selecting the accelerator pedal opening calculated by the analog voltage signal without abnormality; if the two analog voltage signals are abnormal, the last result is reserved.
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110040085A (en) * | 2019-04-30 | 2019-07-23 | 东风航盛（武汉）汽车控制系统有限公司 | Electromobile pedal aperture failure automatic processing method |
| CN110103709B (en) * | 2019-05-20 | 2021-04-23 | 北京易控智驾科技有限公司 | A vehicle pedal opening control method, system, device and medium |
| CN112298070A (en) * | 2019-07-26 | 2021-02-02 | 华为技术有限公司 | Pedal fault diagnosis method and device |
| CN111038277B (en) * | 2019-11-04 | 2021-01-26 | 郑州意昂新能源汽车科技有限公司 | Calculation and processing method for opening degree of accelerator pedal of pure electric vehicle |
| CN112277845A (en) * | 2020-10-28 | 2021-01-29 | 中国第一汽车股份有限公司 | Vehicle accelerator pedal opening obtaining method, active sound production system and vehicle |
| CN112977059B (en) * | 2021-02-26 | 2022-09-27 | 三一汽车制造有限公司 | Failure processing method and device for pedal, vehicle and readable storage medium |
| CN113008574A (en) * | 2021-03-18 | 2021-06-22 | 中国第一汽车股份有限公司 | Hybrid electric vehicle accelerator pedal position and stroke output calibration method and hybrid electric vehicle |
| CN113147388B (en) * | 2021-05-11 | 2023-01-17 | 东风汽车集团股份有限公司 | Vehicle accelerator pedal position analysis method and system |
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