CN113492868B - A method and device for recognizing vehicle acceleration intention, vehicle and computer-readable storage medium - Google Patents

Abstract

The present invention discloses a method, device, automobile and computer-readable storage medium for identifying automobile acceleration intention, wherein the method for identifying automobile acceleration intention includes: obtaining the accelerator pedal opening in real time and calculating the accelerator pedal opening change rate; judging whether the current accelerator pedal opening is greater than a first threshold value, if so, continuing to compare the current accelerator opening change rate with a second threshold value and multiple threshold values decreasing from the second threshold value in sequence, judging the acceleration intention according to the comparison result, otherwise judging that there is no acceleration intention; the second threshold value and multiple threshold values decreasing from the second threshold value adjust the absolute value size according to the identified road slope. The present invention adopts a method of multiple threshold values of the accelerator pedal opening change rate to more timely and accurately identify different types of acceleration intentions, and the multiple threshold values of the accelerator pedal opening change rate are corrected by the identified road slope, and the adaptability to working conditions is stronger.

Description

A method and device for identifying vehicle acceleration intention, vehicle and computer-readable storage medium

Technical Field

The present invention belongs to the field of automobile technology, and specifically relates to a method and device for identifying automobile acceleration intention, an automobile, and a computer-readable storage medium.

Background Art

At present, the longitudinal speed of a vehicle is controlled by the driver operating the accelerator and brake pedals. More and more passenger cars are using automatic transmissions, and the throttle has also become an electronic throttle. The level of vehicle electronic control has improved, but the longitudinal control is still not intelligent enough, and the vehicle's drivability needs to be improved.

The acceleration intention is judged by the accelerator pedal and the rate of change of the accelerator pedal. The discrimination threshold has poor adaptability on different road surfaces. The hidden Markov model or neural network model, etc., is trained based on the driver's operation data and vehicle data collection. The discrimination requires more data and is complex to calculate. In addition, the established model may have low prediction accuracy in working conditions not covered by the training data. These existing methods do not accurately identify the urgency of acceleration, resulting in the vehicle not being able to strictly operate according to the driver's actual acceleration intention. The vehicle's power cannot be guaranteed during emergency acceleration, and the fuel economy during gentle acceleration cannot be guaranteed, which reduces the overall performance of the vehicle.

Summary of the invention

The technical problem to be solved by the embodiments of the present invention is to provide a method and device for identifying vehicle acceleration intention, a vehicle and a computer-readable storage medium to improve the accuracy of acceleration intention identification and facilitate optimized control of the vehicle.

In order to solve the above technical problems, the present invention provides a method for identifying automobile acceleration intention, comprising:

Step S1, obtaining the accelerator pedal opening in real time and calculating the accelerator pedal opening change rate;

Step S2, determining whether the current accelerator pedal opening is greater than a first threshold, if yes, proceeding to step S3, otherwise determining that there is no acceleration intention;

Step S3, determining whether the current throttle opening change rate is greater than a second threshold value, if so, determining that there is an emergency acceleration intention, otherwise comparing the current throttle opening change rate with a plurality of threshold values decreasing from the second threshold value in sequence, and determining the acceleration intention based on the comparison results;

The second threshold and the multiple thresholds decreasing from the second threshold are adjusted in absolute value according to the identified road slope. If it is an uphill road, the absolute value is increased compared to a flat road, and if it is a downhill road, the absolute value is decreased compared to a flat road.

Furthermore, the road slope is obtained according to a road slope identification device installed on the vehicle, or calculated in the following manner:

a _xs = a _x + g sin θ

Where _axs is the longitudinal acceleration of the vehicle measured by the inertial sensor, _ax is the actual longitudinal acceleration of the vehicle, g is the acceleration due to gravity, and θ is the slope angle;

The actual vehicle longitudinal acceleration _ax is calculated by measuring the wheel speeds through wheel speed sensors installed on the four wheels of the vehicle, estimating the vehicle speed based on the wheel speeds, and then derivatizing the vehicle speed.

Further, the road slope includes: going up a steep slope, going up a general slope, a flat road, going down a general slope, and going down a steep slope; when the vehicle goes up a steep slope, the absolute value of the second threshold and multiple thresholds that decrease from the second threshold are increased to 1.5 times that of a flat road; when the vehicle goes up a general slope, the absolute value of the second threshold and multiple thresholds that decrease from the second threshold are increased to 1.2 times that of a flat road; when the vehicle goes down a steep slope, the absolute value of the second threshold and multiple thresholds that decrease from the second threshold are reduced to 0.5 of that of a flat road; when the vehicle goes down a general slope, the absolute value of the second threshold and multiple thresholds that decrease from the second threshold are reduced to 0.8 of that of a flat road.

Furthermore, the slope of a flat road is between ±2%, the slope of an ordinary ramp is between 2% and 10%, the slope of an upward steep slope is above 10%, the slope of a downward ordinary ramp is between -2% and -10%, and the slope of a downward steep slope is above -10%.

Furthermore, in the process of comparing the current throttle opening change rate with multiple thresholds decreasing from the second threshold in sequence, step S3 also includes judging whether the difference between the driver's expected torque and the actual engine torque is greater than the set threshold, and whether the duration of the driver stepping on or releasing the accelerator pedal is greater than the set threshold.

Furthermore, in step S3, if the current throttle opening change rate is not greater than the second threshold, the following steps are performed:

Step S31, determining whether the current accelerator pedal opening change rate is greater than a third threshold value, if yes, proceeding to step S32, otherwise proceeding to step S33;

Step S32, determining whether the time during which the current accelerator pedal opening change rate exceeds the third threshold is greater than the tenth threshold, if so, determining that there is a general acceleration intention, otherwise maintaining the acceleration intention recognized last time;

Step S33, determining whether the current accelerator pedal opening change rate is greater than a fourth threshold value, if yes, proceeding to step S34, otherwise proceeding to step S35;

Step S34, determining whether the time during which the current accelerator pedal opening change rate exceeds the fourth threshold is greater than the eleventh threshold, if so, determining that there is a general acceleration intention, otherwise maintaining the acceleration intention recognized last time;

Step S35, determining whether the current accelerator pedal opening change rate is greater than a fifth threshold value, if yes, proceeding to step S36, otherwise proceeding to step S38;

Step S36, determining whether the difference between the driver's desired torque and the actual engine torque is greater than an eighth threshold value, if yes, determining that there is a general acceleration intention, otherwise proceeding to step S37;

Step S37, determining whether the longitudinal acceleration of the vehicle exceeds the ninth threshold value, if yes, determining that there is a general acceleration intention, otherwise continuing to determine whether the current accelerator pedal opening exceeds the fourteenth threshold value, if yes, determining that there is a general acceleration intention, otherwise determining that there is no acceleration intention;

Step S38, determining whether the current accelerator pedal opening change rate is greater than a sixth threshold value, if yes, proceeding to step S39, otherwise proceeding to step S310;

Step S39, determining whether the time during which the current accelerator pedal opening change rate is not greater than the fifth threshold is greater than the twelfth threshold, if yes, determining that there is no acceleration intention, otherwise maintaining the acceleration intention recognized last time;

Step S310, determining whether the current accelerator pedal opening change rate is greater than a seventh threshold value, if yes, proceeding to step S311, otherwise determining that there is no acceleration intention;

Step S311, determine whether the time during which the current accelerator pedal opening change rate is not greater than the sixth threshold is greater than the thirteenth threshold, if so, determine that there is no acceleration intention, otherwise maintain the last recognized acceleration intention.

Furthermore, the second threshold to the seventh threshold decrease in sequence in a positive and negative relationship.

Further, the fourteenth threshold is greater than the first threshold, and the twelfth threshold is greater than the thirteenth threshold.

Furthermore, the time when the current accelerator pedal opening change rate exceeds the third threshold is calculated as follows: when it is detected that the current accelerator pedal opening change rate is greater than the third threshold, the time is increased by a step value; when it is detected that the current accelerator pedal opening change rate is less than or equal to the third threshold, the time is reset to zero.

The present invention also provides a vehicle acceleration intention recognition device, comprising:

An acquisition module is used to acquire the accelerator pedal opening in real time and calculate the accelerator pedal opening change rate;

A first judgment module is used to judge whether the current accelerator pedal opening is greater than a first threshold value, and when the current accelerator pedal opening is not greater than the first threshold value, it is judged that there is no acceleration intention;

a second judgment module, configured to further judge whether the current throttle opening change rate is greater than a second threshold value when the first judgment module judges that the current throttle pedal opening is greater than the first threshold value, and if so, judge that there is an emergency acceleration intention; otherwise, compare the current throttle opening change rate with a plurality of thresholds decreasing from the second threshold value in sequence, and judge the acceleration intention according to the comparison result;

The second threshold and the multiple thresholds decreasing from the second threshold are adjusted in absolute value according to the identified road slope. If it is an uphill road, the absolute value is increased compared to a flat road, and if it is a downhill road, the absolute value is decreased compared to a flat road.

The present invention also provides a car, comprising the car acceleration intention recognition device as described above.

The present invention also provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program is running, it controls the device where the computer-readable storage medium is located to execute the vehicle acceleration intention recognition method as described above.

The implementation of the embodiment of the present invention has the following beneficial effects: the acceleration intention is recognized by using the accelerator pedal opening change rate multi-threshold method, which can recognize the acceleration intention of different types of accelerator pedal operations, is simple to calculate, has a small calibration workload, and is convenient for embedded code development;

When identifying the driver's acceleration intention, the acceleration delay of the vehicle and the difference between the driver's expected torque and the engine torque are taken into consideration, making the acceleration intention identification more accurate.

The multiple thresholds of the accelerator pedal opening rate change rate are corrected by identifying the road slope, which makes it more adaptable to working conditions and allows for more timely and accurate identification of the driver's acceleration intention.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG. 1 is a schematic flow chart of a method for identifying vehicle acceleration intention according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a specific flow chart of a method for identifying vehicle acceleration intention according to an embodiment of the present invention.

DETAILED DESCRIPTION

The following descriptions of the embodiments refer to the accompanying drawings to illustrate specific embodiments in which the present invention may be implemented.

The accelerator pedal and the rate of change of the pedal are the most direct signals for identifying the driver's acceleration intention. The throttle opening size and the throttle opening rate of change are used to distinguish between the driver's emergency acceleration and general acceleration intentions. On this basis, the present invention takes into account the duration of the acceleration intention, and the threshold of the throttle pedal opening rate of change is combined with the vehicle's uphill and downhill conditions. Through the driver's throttle release action, the actual engine torque and the driver's expected torque delay time, more accurate acceleration intention recognition can be achieved.

As shown in FIG. 1 , a first embodiment of the present invention provides a method for recognizing an acceleration intention of a vehicle, including:

Step S1, obtaining the accelerator pedal opening in real time and calculating the accelerator pedal opening change rate;

Step S2, determining whether the current accelerator pedal opening is greater than a first threshold, if yes, proceeding to step S3, otherwise determining that there is no acceleration intention;

Step S3, determining whether the current throttle opening change rate is greater than a second threshold value, if so, determining that there is an emergency acceleration intention, otherwise comparing the current throttle opening change rate with a plurality of threshold values decreasing from the second threshold value in sequence, and determining the acceleration intention based on the comparison results;

The second threshold and the multiple thresholds decreasing from the second threshold are adjusted in absolute value according to the identified road slope. If it is an uphill road, the absolute value is increased compared to a flat road, and if it is a downhill road, the absolute value is decreased compared to a flat road.

Specifically, please refer to Figure 2. All vehicles are equipped with a throttle position sensor. Step S1 can obtain the throttle pedal opening signal (the throttle pedal opening is set as Pe). After low-pass filtering the throttle pedal opening signal, the throttle pedal opening change rate (set as Pr) is calculated by the difference in the throttle pedal opening.

In this embodiment, step S2 first determines whether the current accelerator pedal opening Pe is greater than threshold 1. If yes, the process proceeds to step S3. Otherwise, it is determined that there is no acceleration intention. Threshold 1 is a very small number, such as 5 (the accelerator pedal opening is 0-100%, and the percentage sign is omitted here). When the accelerator pedal opening is less than threshold 1, the driver almost does not step on the accelerator, and it can be determined that there is no acceleration intention.

Step S3 uses the accelerator pedal opening rate Pr as the judgment object. Threshold 2 is a faster accelerator change rate, such as 100/s (the percentage sign is also omitted). If the current accelerator opening rate Pr is greater than threshold 2, it means that the driver is stepping on the accelerator pedal quickly, and it is determined that there is an emergency acceleration intention. If the current accelerator opening rate Pr is not greater than threshold 2, it indicates that there is no emergency acceleration intention, and the acceleration intention needs to be further distinguished (because step S2 has determined that the current accelerator pedal opening is greater than threshold 1, indicating that there is an acceleration intention).

Step S31 determines whether the current accelerator pedal opening change rate Pr is greater than threshold 3, if yes, then proceed to step S32, otherwise proceed to step S33. Threshold 3 is a throttle change rate smaller than threshold 2, such as 20/s.

Step S32, determine whether the time (set as T1) during which the current accelerator pedal opening change rate Pr exceeds threshold value 3 is greater than threshold value 10. If so, it is determined that there is a general acceleration intention, otherwise the acceleration intention recognized last time is maintained. It can be understood that since the present embodiment acquires the accelerator pedal opening in real time and calculates the accelerator pedal opening change rate, and then recognizes the acceleration intention in real time based on this, the recognition method of the present embodiment (steps S1-S3) is executed once according to each acquired accelerator pedal opening and accelerator pedal opening change rate, and a recognized acceleration intention is obtained. Here, the "acceleration intention recognized last time" is the acceleration intention recognized by the recognition method of the present embodiment according to the accelerator pedal opening and accelerator pedal opening change rate acquired last time. As an example, the automobile acceleration intention recognition method of the present embodiment can be performed according to a set cycle, and the accelerator pedal opening is obtained in real time in each cycle and the accelerator pedal opening change rate is calculated. Then, the recognition method of the present embodiment is executed once according to the accelerator pedal opening and the accelerator pedal opening change rate obtained in real time in each cycle to obtain an identified acceleration intention; the "last identified acceleration intention" is equivalent to the acceleration intention identified in the previous cycle.

The time T1 during which the current accelerator pedal opening change rate Pr exceeds threshold 3 is greater than threshold 10, indicating that the driver continues to step on the accelerator pedal (because the current accelerator pedal opening change rate Pr is not greater than threshold 2, the emergency acceleration state in step S3 is not reached) and has a general acceleration intention.

Step S33, determine whether the current accelerator pedal opening change rate Pr is greater than threshold 4, if yes, proceed to step S34, otherwise proceed to step S35. Threshold 4 is a smaller accelerator change rate than threshold 3, such as 5/s.

Step S34, determine whether the time (set as T2) during which the current accelerator pedal opening change rate Pr exceeds threshold 4 is greater than threshold 11. If so, it is determined that there is a general acceleration intention, otherwise the last recognized acceleration intention is maintained.

The time T2 during which the current accelerator pedal opening change rate Pr exceeds threshold 4 is greater than threshold 11, indicating that the driver continues to step on the accelerator pedal (because the current accelerator pedal opening change rate Pr is not greater than threshold 2, the emergency acceleration state in step S3 is not reached) and has a general acceleration intention.

Step S35, determine whether the current accelerator pedal opening change rate Pr is greater than threshold 5, if yes, proceed to step S36, otherwise proceed to step S38. Threshold 5 is a negative accelerator opening change rate smaller than threshold 4 (in this embodiment, the magnitude relationship of thresholds 2-7 is based on a positive and negative relationship rather than an absolute value), such as -5/s (-5/s＜5/s). In step S35, the accelerator pedal opening change rate Pr is between threshold 4 and threshold 5, indicating that the driver is in a basically stable state when stepping on the accelerator pedal, but for fuel vehicles, when the driver accelerates, he generally steps on the accelerator pedal first and then stabilizes to a certain opening. At this time, the engine torque establishment rate is not fast enough, and there is a gap between the actual engine torque and the driver's expected torque. If the difference between the driver's expected torque and the actual engine torque is greater than a certain threshold, it indicates that the driver is still waiting for the engine torque to rise. Although the accelerator pedal opening is basically unchanged, there is still an actual intention to accelerate. Therefore, this embodiment judges and identifies this through step S36.

Step S36, judging whether the difference between the driver's desired torque and the actual engine torque is greater than a threshold value 8, if so, it is determined that there is a general acceleration intention, otherwise, proceeding to step S37.

It can be understood that the driver's expected torque (set as Te) is calculated by the vehicle based on the accelerator pedal opening and vehicle speed according to other correction information. This torque is sent to the engine as a torque demand to enable the driver to control the vehicle torque; the actual engine torque (set as Ta) is generally obtained by looking up a table and can be obtained through the CAN line.

Step S37, determine whether the vehicle longitudinal acceleration exceeds a threshold value of 9, if so, determine that there is a general acceleration intention, otherwise continue to determine whether the current accelerator pedal opening Pe exceeds a threshold value of 14, if so, determine that there is a general acceleration intention, otherwise determine that there is no acceleration intention.

As in the working condition described in step S36, if the actual engine torque Ta is close to the driver's expected torque Te (not greater than the threshold value 8), and the longitudinal acceleration of the vehicle (set as ax) is greater than a certain threshold, it indicates that the driver is also waiting for the vehicle to accelerate, and the driver has a general acceleration intention at this time. However, in some cases, the driver almost steps on the accelerator pedal to the bottom (the current accelerator pedal opening Pe exceeds the threshold value 14, and the threshold value 14 is a larger accelerator opening, such as 90), at which time the driver's expected torque is close to the actual engine torque, and the vehicle has no longitudinal acceleration due to the large resistance, so it is determined that there is a general acceleration intention. On the contrary, if the current accelerator pedal opening Pe does not exceed the threshold value 14, it is determined that there is no acceleration intention.

Step S38, determine whether the current throttle pedal opening change rate is greater than threshold 6, if yes, proceed to step S39, otherwise proceed to step S310. Threshold 6 is a negative throttle opening change rate smaller than threshold 5, such as -30/s, but its absolute value is large, indicating a throttle closing rate greater than threshold 5.

If the current accelerator pedal opening change rate Pr is greater than the threshold value 6, then enter step S39 to determine whether the time (set as T3) during which the current accelerator pedal opening change rate Pr is not greater than the threshold value 5 is greater than the threshold value 12. If so, it is determined that there is no acceleration intention, otherwise the acceleration intention recognized last time is maintained. The reason why step S39 determines whether T3 exceeds the threshold value 12 is that when the current accelerator pedal opening change rate Pr continues to be lower than the threshold value 5 for a period of time, it indicates that the driver is performing an obvious throttle reduction action, and therefore it is determined that there is no acceleration intention. If the duration is not long enough, the acceleration intention recognized last time is maintained.

Step S310, determine whether the current accelerator pedal opening change rate Pr is greater than a threshold value 7, if yes, proceed to step S311, otherwise it is determined that there is no acceleration intention.

Threshold 7 is a negative throttle opening change rate that is smaller than threshold 6, such as -100/s, but its absolute value is larger, indicating a throttle closing rate that is larger than threshold 6. When the current throttle pedal opening change rate Pr does not exceed threshold 7, it indicates that the throttle pedal is quickly retracted, and thus it is determined that there is no acceleration intention.

Step S311, determine whether the time (set as T4) during which the current accelerator pedal opening change rate Pr is not greater than threshold 6 is greater than threshold 13. If so, it is determined that there is no acceleration intention, otherwise the last recognized acceleration intention is maintained. Similar to step S39, T4 is the accelerator pedal opening change rate that is less than threshold 6 for a certain period of time, representing a negative accelerator pedal change rate that continues for a period of time, indicating an intention to decelerate, so this embodiment determines it as having no acceleration intention. This embodiment sets thresholds 5 and 6 so that the driver's throttle reduction actions at different rates can be identified as having no acceleration intention. Threshold 13 is a shorter time, while threshold 12 is a longer time than threshold 13.

In this embodiment, the time T1 when the current accelerator pedal opening change rate Pr exceeds the threshold value 3 is calculated as follows: when it is detected that the current accelerator pedal opening change rate is greater than the threshold value 3, T1 increases by a step value; when it is detected that the current accelerator pedal opening change rate is less than or equal to the threshold value 3, T1 is reset to zero. Other times - T2, T3, T4 are also calculated in the same way. For example, the time T3 when the current accelerator pedal opening change rate Pr is not greater than the threshold value 5 is calculated as follows: when it is detected that the current accelerator pedal opening change rate is less than or equal to the threshold value 5, T3 increases by a step value; when it is detected that the current accelerator pedal opening change rate is greater than the threshold value 5, T3 is reset to zero.

As mentioned above, threshold values 2 to 7 for judging the rate of change of the accelerator pedal opening decrease in sequence according to a positive and negative relationship, and can be implemented through actual vehicle calibration. At the same time, they will be adjusted according to the identified road slope. For example, when going uphill, the driver feels that the vehicle resistance is large, and the throttle change rate will be increased when accelerating. At this time, threshold values 2 to 7 can be appropriately increased (referring to an increase in their absolute values). When going downhill, the driver's pedaling depth may be significantly reduced or even not step on the accelerator. At this time, the throttle change rate becomes smaller, and threshold values 2 to 7 can be appropriately reduced (referring to a decrease in their absolute values). Therefore, the threshold value of the throttle change rate can be adjusted according to the identified road slope.

If the vehicle is equipped with a road slope recognition device, the road slope is identified based on its signal. If the vehicle is not equipped with a road slope recognition device, the basic principle of slope recognition is that the longitudinal acceleration is measured by the vehicle's inertial sensor. The longitudinal acceleration measured by the inertial sensor contains a gravity acceleration component, that is,

a _xs = a _x + g sin θ (1)

Where _axs is the longitudinal acceleration of the vehicle measured by the inertial sensor, _ax is the actual longitudinal acceleration of the vehicle, g is the acceleration due to gravity, and θ is the slope angle.

The vehicle is equipped with wheel speed sensors on all four wheels. The vehicle speed can be estimated based on the wheel speed, and the actual vehicle longitudinal acceleration _ax can be obtained by taking the derivative of the vehicle speed. The vehicle longitudinal acceleration _axs measured by the inertial sensor and the actual vehicle longitudinal acceleration _ax are substituted into the above formula (1) and low-pass filtered to obtain an estimate of the slope angle. As an example, the road slopes identified in this embodiment include five types: ascending a steep slope, ascending a general slope, flat road, descending a general slope, and descending a steep slope. The accelerator pedal opening change rate threshold is adjusted according to the identified road slope. For example, when ascending a steep slope, the absolute value of the accelerator pedal opening change rate threshold can be increased to 1.5 times that of a flat road; when ascending a general slope, the absolute value of the accelerator pedal opening change rate threshold can be increased to 1.2 times that of a flat road. When going down a steep slope, the driver usually steps on the brake pedal. At this time, on the one hand, it can be judged whether the vehicle has an acceleration intention based on whether the actual acceleration of the vehicle is greater than the fifteenth threshold value (for example, 0.5m/s ² ). If it is greater, it is determined that the vehicle has an acceleration intention, otherwise it is determined that there is no acceleration intention. On the other hand, the absolute value of the threshold value of the accelerator pedal opening rate change rate is reduced to about 0.5 of a flat road or even lower. According to the identification method of this embodiment, if the accelerator pedal is stepped on when going down a steep slope, the threshold value of the accelerator pedal opening rate change rate is much smaller than that of a flat road. The acceleration intention is identified by comparing the actual accelerator pedal opening rate change rate with the relatively small second to seventh threshold values. When going down a general slope, on the one hand, the acceleration intention is judged based on the actual acceleration of the vehicle, and on the other hand, the absolute value of the threshold value of the accelerator pedal opening rate change rate can be reduced to about 0.8 of a flat road. The specific value can be calibrated. It is understood that the slope of a flat road is between ±2%, the slope of a general ramp is between 2% and 10%, the slope of an upper steep slope is above 10%, the slope of a lower general ramp is between -2% and -10%, and the slope of a lower steep slope is above -10%. This embodiment can also use more levels of ramps to set different thresholds, and these thresholds can increase linearly with the slope, and the accuracy of recognition can also be improved through real vehicle calibration.

Corresponding to the vehicle acceleration intention recognition method of the first embodiment of the present invention, the second embodiment of the present invention provides a vehicle acceleration intention recognition device, including:

An acquisition module is used to acquire the accelerator pedal opening in real time and calculate the accelerator pedal opening change rate;

A first judgment module is used to judge whether the current accelerator pedal opening is greater than a first threshold value, and when the current accelerator pedal opening is not greater than the first threshold value, it is judged that there is no acceleration intention;

a second judgment module, configured to further judge whether the current throttle opening change rate is greater than a second threshold value when the first judgment module judges that the current throttle pedal opening is greater than the first threshold value, and if so, judge that there is an emergency acceleration intention; otherwise, compare the current throttle opening change rate with a plurality of thresholds decreasing from the second threshold value in sequence, and judge the acceleration intention according to the comparison result;

The second threshold and the multiple thresholds decreasing from the second threshold are adjusted in absolute value according to the identified road slope. If it is an uphill road, the absolute value is increased compared to a flat road, and if it is a downhill road, the absolute value is decreased compared to a flat road.

For the working principle and process of this embodiment, please refer to the description of the first embodiment of the present invention, which will not be repeated here.

The present invention also provides a car, comprising the car acceleration intention recognition device as described above.

The present invention also provides a computer-readable storage medium, the computer-readable storage medium including a stored computer program; wherein the computer program, when running, controls the device where the computer-readable storage medium is located to execute the above-mentioned vehicle acceleration intention recognition method. Preferably, the computer program can be divided into one or more modules/units (such as computer program 1, computer program 2, ...), and the one or more modules/units are stored in the memory and executed by the processor to complete the present invention. The one or more modules/units can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the device.

The processor may be a central processing unit (CPU), or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor. The processor is the control center of the device, and various parts of the device are connected using various interfaces and lines.

The memory mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function, etc., and the data storage area can store related data, etc. In addition, the memory can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, and a flash card (Flash Card), etc., or the memory can also be other volatile solid-state storage devices.

It should be noted that the above-mentioned device may include, but is not limited to, a processor and a memory, which can be understood by those skilled in the art.

Compared with the prior art, the invention has the following beneficial effects: the acceleration intention is recognized by using the accelerator pedal opening change rate multi-threshold method, which can recognize the acceleration intention of different types of accelerator pedal operations, is simple to calculate, has a small calibration workload, and is convenient for embedded code development;

When identifying the driver's acceleration intention, the acceleration delay of the vehicle and the difference between the driver's expected torque and the engine torque are taken into consideration, making the acceleration intention identification more accurate.

The multiple thresholds of the accelerator pedal opening rate change rate are corrected by identifying the road slope, which makes it more adaptable to working conditions and allows for more timely and accurate identification of the driver's acceleration intention.

The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims (9)

1. A method for identifying an acceleration intention of an automobile, comprising:

Step S1, acquiring the opening of an accelerator pedal in real time and calculating the change rate of the opening of the accelerator pedal;

Step S2, judging whether the current accelerator pedal opening is larger than a first threshold value, if yes, entering step S3, otherwise, judging that no acceleration intention exists;

Step S3, judging whether the current accelerator opening change rate is larger than a second threshold value, if yes, judging that the accelerator has urgent acceleration intention, otherwise, sequentially comparing the current accelerator opening change rate with a plurality of thresholds decreasing from the second threshold value, and judging the acceleration intention according to a comparison result;

the second threshold value and a plurality of threshold values which are reduced from the second threshold value are used for adjusting the absolute value according to the identified road gradient, and the absolute value is increased compared with a flat road if the road gradient is an ascending slope, and is decreased compared with the flat road if the road gradient is a descending slope;

And step S3 is used for judging whether the difference value between the expected torque of the driver and the actual torque of the engine is larger than a set threshold value or not and whether the duration of the driver stepping on the accelerator pedal or receiving the accelerator pedal is larger than the set threshold value or not in the process of sequentially comparing the current accelerator opening change rate with a plurality of thresholds which are gradually decreased from the second threshold value.

2. The vehicle acceleration intention recognition method according to claim 1, wherein the road gradient is acquired from a road gradient recognition device mounted on the vehicle, or is calculated as follows:

a_xs＝a_x+gsinθ

Wherein a _xs is the vehicle longitudinal acceleration measured by the inertial sensor, a _x is the actual vehicle longitudinal acceleration, g is the gravitational acceleration, and θ is the gradient angle;

The actual vehicle longitudinal acceleration a _x is calculated by the following steps: the wheel speed is measured through a wheel speed sensor arranged on four wheels of the vehicle, the vehicle speed is estimated according to the wheel speed, and then the vehicle speed is derived.

3. The vehicle acceleration intention recognition method according to claim 2, characterized in that the road gradient includes: an up steep slope, an up general slope, a flat road, a down general slope and a down steep slope; when the vehicle goes up a steep slope, the absolute values of the second threshold value and the thresholds which are decreased from the second threshold value are increased to 1.5 times of a flat road; when a vehicle is on a general slope, the absolute value of the second threshold value and the plurality of threshold values which are decreased from the second threshold value are increased to 1.2 times of a level road; when the vehicle descends a steep slope, the absolute values of the second threshold value and the plurality of threshold values which are gradually decreased from the second threshold value are reduced to 0.5 of a flat road; when the vehicle is on a general slope, the absolute values of the second threshold value and the thresholds decreasing from the second threshold value are reduced to 0.8 of a level road.

4. The method for recognizing an acceleration intention of an automobile according to claim 3, wherein the level road has a gradient of + -2%, the upper general slope has a gradient of 2-10%, the upper steep slope has a gradient of more than 10%, the lower general slope has a gradient of-2 to-10%, and the lower steep slope has a gradient of more than-10%.

5. The method according to claim 1, wherein in the step S3, if the current accelerator opening change rate is not greater than the second threshold value, the method comprises:

step S31, judging whether the current throttle pedal opening change rate is larger than a third threshold value, if so, entering step S32, otherwise, entering step S33;

step S32, judging whether the time when the current accelerator pedal opening change rate exceeds a third threshold value is greater than a tenth threshold value, if yes, judging that the accelerator pedal has a general acceleration intention, otherwise, keeping the last identified acceleration intention;

Step S33, judging whether the current throttle pedal opening change rate is larger than a fourth threshold value, if yes, entering step S34, otherwise, entering step S35;

step S34, judging whether the time when the current accelerator pedal opening change rate exceeds the fourth threshold is larger than an eleventh threshold, if so, judging that the accelerator pedal has a general acceleration intention, otherwise, keeping the last identified acceleration intention;

Step S35, judging whether the current throttle pedal opening change rate is larger than a fifth threshold value, if yes, entering step S36, otherwise, entering step S38;

Step S36, judging whether the difference value between the expected torque of the driver and the actual torque of the engine is larger than an eighth threshold value, if yes, judging that the vehicle has general acceleration intention, otherwise, entering step S37;

Step S37, judging whether the longitudinal acceleration of the vehicle exceeds a ninth threshold value, if so, judging that the vehicle has a general acceleration intention, if not, continuously judging whether the opening degree of the current accelerator pedal exceeds a fourteenth threshold value, if so, judging that the vehicle has the general acceleration intention, otherwise, judging that the vehicle has no acceleration intention;

Step S38, judging whether the current accelerator pedal opening change rate is larger than a sixth threshold value, if yes, entering step S39, otherwise, entering step S310;

Step S39, judging whether the time that the current accelerator pedal opening change rate is not more than a fifth threshold value is more than a twelfth threshold value, if so, judging that no acceleration intention exists, otherwise, keeping the last identified acceleration intention;

step S310, judging whether the current accelerator pedal opening change rate is larger than a seventh threshold value, if yes, entering step S311, otherwise, judging that no acceleration intention exists;

Step S311, judging whether the time when the current accelerator pedal opening change rate is not more than a sixth threshold is more than a thirteenth threshold, if so, judging that no accelerating intention exists, otherwise, keeping the last identified accelerating intention;

The second threshold value to the seventh threshold value are sequentially reduced according to positive-negative relation, the fourteenth threshold value is larger than the first threshold value, and the twelfth threshold value is larger than the thirteenth threshold value.

6. The method for recognizing an acceleration intention of an automobile according to claim 5, wherein the time when the current accelerator pedal opening change rate exceeds the third threshold value is calculated by: when the current accelerator pedal opening change rate is detected to be larger than a third threshold value, the time is increased by a step value; and when the current accelerator pedal opening change rate is detected to be smaller than or equal to a third threshold value, setting the time to zero.

7. An automobile acceleration intention recognition device, characterized by comprising:

The acquisition module is used for acquiring the opening of the accelerator pedal in real time and calculating the change rate of the opening of the accelerator pedal;

The first judging module is used for judging whether the current accelerator pedal opening is larger than a first threshold value or not, and judging that no acceleration intention exists when the current accelerator pedal opening is not larger than the first threshold value;

The second judging module is used for further judging whether the current accelerator opening change rate is larger than a second threshold value when the first judging module judges that the current accelerator opening is larger than the first threshold value, if yes, determining that the emergency acceleration intention exists, otherwise, sequentially comparing the current accelerator opening change rate with a plurality of thresholds which are gradually decreased from the second threshold value, and judging the acceleration intention according to the comparison result;

the second threshold value and a plurality of threshold values which are reduced from the second threshold value are used for adjusting the absolute value according to the identified road gradient, and the absolute value is increased compared with a flat road if the road gradient is an ascending slope, and is decreased compared with the flat road if the road gradient is a descending slope;

the second judging module is further used for judging whether the difference value between the expected torque of the driver and the actual torque of the engine is larger than a set threshold value or not and whether the duration of the driver stepping on the accelerator pedal or receiving the accelerator pedal is larger than the set threshold value or not in the process of sequentially comparing the current accelerator opening change rate with a plurality of thresholds which are gradually decreased from the second threshold value.

8. An automobile comprising the automobile acceleration intention recognition apparatus according to claim 7.

9. A computer readable storage medium, wherein the computer readable storage medium comprises a stored computer program; wherein the computer program, when run, controls a device in which the computer-readable storage medium is located to execute the vehicle acceleration intention recognition method according to any one of claims 1 to 6.