CN114670854A - Method and device for calculating opening degree of clutch pedal and electric automobile - Google Patents
Method and device for calculating opening degree of clutch pedal and electric automobile Download PDFInfo
- Publication number
- CN114670854A CN114670854A CN202110202965.9A CN202110202965A CN114670854A CN 114670854 A CN114670854 A CN 114670854A CN 202110202965 A CN202110202965 A CN 202110202965A CN 114670854 A CN114670854 A CN 114670854A
- Authority
- CN
- China
- Prior art keywords
- value
- clutch pedal
- voltage
- opening
- calculating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000000737 periodic effect Effects 0.000 claims description 9
- 238000005457 optimization Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 abstract description 15
- 238000012545 processing Methods 0.000 description 13
- 230000007246 mechanism Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000012795 verification Methods 0.000 description 4
- 238000011084 recovery Methods 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 230000009193 crawling Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
-
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/18—Preventing unintentional or unsafe shift, e.g. preventing manual shift from highest gear to reverse gear
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Sustainable Energy (AREA)
- Sustainable Development (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
- Mechanical Operated Clutches (AREA)
Abstract
The invention provides a method and a device for calculating the opening degree of a clutch pedal and an electric automobile, and relates to the technical field of automobiles. The method comprises the following steps: collecting two paths of clutch pedal voltage signals under the condition that the clutch pedal is monitored to be stepped; determining the calculated voltage values of the two clutch pedal voltage signals; respectively calculating original opening values corresponding to the two clutch pedal voltage signals according to the calculated voltage values of the two clutch pedal voltage signals; and determining a final output opening value according to the original opening values respectively corresponding to the two clutch pedal voltage signals. According to the embodiment of the invention, the initial opening values of the two collected voltage signals are respectively calculated to determine the final output opening value, so that the accuracy of the signals is effectively guaranteed, and the problem that when the voltage of the clutch pedal fails, the abnormal opening of the clutch pedal cannot be correctly identified and processed is output is solved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a device for calculating the opening degree of a clutch pedal and an electric automobile.
Background
Along with the rapid increase of the number of people for driving training with proper age and social driving schools, the research and development of an energy-saving and reliable driving training vehicle is urgent. The traditional fuel oil driving and cultivating vehicle is in a low-speed and low-load operation working condition for a long time, and not only has poor emission and serious pollution, but also has high oil consumption and poor economical efficiency. Therefore, the development of a pure electric manual driving stopping and cultivating vehicle is urgent and especially important.
The pure electric manual gear driving training vehicle acquires signals through the position of a clutch pedal, and the whole vehicle controller calculates the output opening degree through a voltage value to determine the torque output of the whole vehicle. Therefore, the accuracy of the calculation of the opening degree of the clutch pedal is an important component concerning the safety of the entire vehicle. When the voltage of the clutch pedal breaks down, the voltage cannot be correctly identified and processed, and the abnormal opening degree of the clutch pedal is output, so that abnormal driving can be caused, and the driving safety is seriously influenced and threatened.
Disclosure of Invention
The embodiment of the invention provides a method and a device for calculating the opening degree of a clutch pedal and an electric automobile, and aims to solve the problem that when the voltage of the clutch pedal breaks down, the abnormal opening degree of the clutch pedal cannot be correctly identified and processed, and is output.
In order to solve the technical problem, the invention adopts the following technical scheme:
the embodiment of the invention provides a method for calculating the opening degree of a clutch pedal, which comprises the following steps:
Collecting two paths of clutch pedal voltage signals under the condition that the clutch pedal is monitored to be stepped;
determining the calculated voltage values of the two clutch pedal voltage signals;
respectively calculating original opening values corresponding to the two clutch pedal voltage signals according to the calculated voltage values of the two clutch pedal voltage signals;
and determining a final output opening value according to the original opening values respectively corresponding to the two clutch pedal voltage signals.
Further, the determining the calculated voltage values of the two clutch pedal voltage signals comprises:
respectively carrying out overrun fault judgment on the initial voltage value of each acquired voltage signal, and if each voltage signal is normal, carrying out check fault judgment;
and if the sum of the initial voltage values in the two clutch pedal voltage signals meets a preset value, determining the initial voltage values in the two clutch pedal voltage signals as a calculated voltage value.
Further, the method further comprises:
and if the sum of the initial voltage values of the two paths of voltages does not meet a preset value and lasts for a first preset time, determining that the current clutch pedal is trampled as a clutch checking fault.
Further, respectively carry out overrun fault diagnosis to the initial voltage value of each way voltage signal who gathers, include:
If the initial voltage value of each path of voltage signal is between the lower limit value of the voltage characteristic and the upper limit value of the voltage characteristic, determining that the current voltage signal is normal; or,
if the initial voltage value of each path of voltage signal is smaller than the lower limit value of the voltage characteristic, or larger than the upper limit value of the voltage characteristic, and does not last for a first preset time, adopting the voltage value at the previous moment smaller than the lower limit value of the voltage characteristic, or larger than the upper limit value of the voltage characteristic to carry out checking fault judgment; or,
and if the voltage is smaller than the lower limit value of the voltage characteristic or larger than the upper limit value of the voltage characteristic and exceeds a first preset time, adopting a preset voltage opening value as an original opening value of the current clutch pedal voltage signal.
Further, according to the calculated voltage values of the two clutch pedal voltage signals, respectively calculating the original opening values respectively corresponding to the two clutch pedal voltage signals, including:
calculating a first path of original opening value in the two paths of clutch pedal voltage signals, wherein the first path of original opening value is the percentage of the calculated voltage value of the first path to a preset value;
and calculating a second path of original opening value in the two paths of clutch pedal voltage signals, wherein the second path of original opening value is the percentage of the calculated voltage value of the second path to a preset value.
Further, determining a final output opening value according to the original opening values respectively corresponding to the two clutch pedal voltage signals, comprising:
and calculating the average value of the original opening values respectively corresponding to the two paths of clutch pedal voltage signals, and determining the final output opening value.
Further, the method further comprises:
and carrying out periodic hysteresis calibration on the final output opening value, and determining an output optimized opening value.
Further, the periodic hysteresis calibration of the final output opening value includes:
if the final output opening value is smaller than the hysteresis calibration value, determining that the final output opening value of the first period is used as an output optimization opening value;
and if the final output opening degree value is greater than or equal to the hysteresis calibration value, determining the current final output opening degree value as an optimized output opening degree value.
Further, the method further comprises:
if the final output opening value is smaller than the dead zone calibration value, determining that the output opening value is zero;
wherein the dead zone calibration is less than the hysteresis calibration.
The embodiment of the invention also provides a device for calculating the opening degree of the clutch pedal, which comprises:
the acquisition module is used for acquiring two paths of clutch pedal voltage signals under the condition that the clutch pedal is monitored to be stepped;
The first determining module is used for determining the calculated voltage values of the two paths of clutch pedal voltage signals;
the calculation module is used for respectively calculating the original opening values corresponding to the two clutch pedal voltage signals according to the calculated voltage values of the two clutch pedal voltage signals;
and the second determining module is used for determining a final output opening value according to the original opening values respectively corresponding to the two paths of clutch pedal voltage signals.
The embodiment of the invention also provides an electric automobile which comprises the calculating device of the opening degree of the clutch pedal.
The embodiment of the invention also provides a storage medium, which comprises a stored program, wherein when the program runs, the device on which the storage medium is arranged is controlled to execute the method for calculating the opening degree of the clutch pedal.
The invention has the beneficial effects that:
according to the invention, under the condition that the clutch pedal is monitored to be stepped, two paths of clutch pedal voltage signals are collected, and the original opening values corresponding to the two paths of clutch pedal voltage signals respectively are calculated, so that the final output opening value is determined, the clutch pedal opening is accurately calculated, and the problem that when the clutch pedal voltage fails, the abnormal clutch pedal opening cannot be correctly identified and processed, and is output is solved. The method can accurately calculate and process the opening of the accelerator pedal, meets the driving requirement of a driver as much as possible, provides safety guarantee for the performances of the vehicle such as dynamic property, comfort and the like, and improves the realization and safety of the whole vehicle function of the electric vehicle.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for calculating clutch pedal opening according to an embodiment of the present invention;
FIG. 2 is a graph of voltage signal versus stroke characteristics provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for calculating a clutch pedal opening degree according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The invention provides a method and a device for calculating the opening degree of a clutch pedal and an electric automobile, aiming at the problem that when the voltage of the clutch pedal breaks down, the abnormal opening degree of the clutch pedal cannot be correctly identified, processed and output.
As shown in fig. 1, a method for calculating a clutch pedal opening according to an alternative embodiment of the present invention includes:
and step 400, determining a final output opening value according to the original opening values respectively corresponding to the two clutch pedal voltage signals.
In this embodiment, step 100 collects two ways of clutch pedal voltage signals, and the two ways of collecting are because two ways of voltage clutch pedal voltage signals monitor each other, and when one of them way trouble, another way voltage signal has the warning effect, and can satisfy the function of using the footboard at present, can not lead to whole car trouble because of the trouble of the same way. Under the condition that the clutch pedal is monitored to be stepped, two paths of clutch pedal voltage signals are respectively collected based on the position of a clutch pedal sensor. The voltage signal at least comprises initial voltage value information and is also used for controlling the working state of the engine when detecting the clutch is stepped on, and appropriately controlling the working condition of the engine.
Further, the step 200 includes:
respectively carrying out overrun fault judgment on the initial voltage value of each acquired voltage signal, and if each voltage signal is normal, carrying out check fault judgment;
and if the sum of the initial voltage values in the two clutch pedal voltage signals meets a preset value, determining the initial voltage values in the two clutch pedal voltage signals as a calculated voltage value.
The overrun fault in the embodiment refers to that when the initial voltage values of the two collected clutch pedals exceed the normal upper limit or lower limit voltage and last for a certain time, the overrun fault of the clutch pedals is considered to occur. In order to prevent abnormal jumps such as voltage jump, instantaneous error and the like, and overrun faults from delaying and diagnosing, the problem that the faults are frequently triggered due to the unreal faults and are continuously reported in the use process to influence the use can be effectively prevented, and therefore the overrun faults need to be processed for a certain time.
After the overrun fault is judged on the initial voltage value of each collected voltage signal, if each voltage signal is normal, in order to ensure the accuracy of the opening degree of the clutch pedal, according to the characteristics of the clutch pedal, the check fault judgment is carried out, namely, the voltage check is carried out on the initial voltage values of the two voltage signals, and when the two voltage values do not meet a certain relation and last for a certain time, the clutch pedal check fault is judged. The certain relation is that the sum of the initial voltage values in the two clutch pedal voltage signals meets a preset value, wherein the preset value is a value set according to requirements, namely the sum of the initial voltage values in the two clutch pedal voltage signals is a fixed value, namely the certain relation is met. In order to prevent abnormal jumps such as voltage jump, instantaneous error and the like, the checking fault is delayed and diagnosed, and frequent reporting of faults in the driving process caused by instantaneous faults is avoided.
Further, the determining of the verification fault includes:
if the initial voltage value of each path of voltage signal is between the lower limit value of the voltage characteristic and the upper limit value of the voltage characteristic, determining that the current voltage signal is normal; or,
if the initial voltage value of each path of voltage signal is smaller than the lower limit value of the voltage characteristic, or larger than the upper limit value of the voltage characteristic, and does not last for a first preset time, adopting the voltage value at the previous moment smaller than the lower limit value of the voltage characteristic, or larger than the upper limit value of the voltage characteristic to carry out checking fault judgment; or,
and if the voltage is smaller than the lower limit value of the voltage characteristic or larger than the upper limit value of the voltage characteristic and exceeds a first preset time, adopting a preset voltage opening value as an original opening value of the current clutch pedal voltage signal.
Specifically, as shown in fig. 2, an exception signal handling mechanism is introduced. The abscissa in fig. 2 is the rotation angle of the clutch pedal, the ordinate is the collected input voltage signal, the input voltage value here is 5 ± 0.25V, preferably 5V, where the upper limit value of the voltage characteristic is 95% of the input voltage value (Clamp Level high Max 95% Vin), i.e. 4.75V, and the lower limit value of the voltage characteristic is 5% of the input voltage value (Clamp Level Low Min 5% Vin), i.e. 0.25V.
In this embodiment, the initial voltage value of each path is checked and determined, and if the initial voltage value of the voltage of one path S1 is 4.5V, that is, is between the lower limit value of the voltage characteristic and the upper limit value of the voltage characteristic, it is determined that the current voltage signal is normal; if the initial voltage value of the voltage of one path of S1 is 4.98V (greater than 4.75V), or the initial voltage value of the voltage of one path of S1 is 0.23V (less than 0.25V) and does not last for the first preset time, adopting the voltage value at the previous moment greater than 4.75V or less than 0.25V to carry out checking fault judgment; if the initial voltage value of the voltage of one path of S1 is 4.98V (greater than 4.75V), or the initial voltage value of the voltage of one path of S1 is 0.23V (less than 0.25V) and exceeds a first preset time, the initial opening value of the path is set as a preset voltage opening value, that is, a 100% opening value. And reporting the fault when the first preset time is exceeded.
Similarly, according to the above-described verification failure determination method, verification failure determination is performed on the initial voltage value of the voltage of the other path S2. And if the initial voltage values of the two paths of voltages are normal, checking the fault.
Specifically, if the sum of the initial voltage values of the two paths of voltages does not meet a preset value and lasts for a first preset time, it is determined that the current clutch pedal is stepped on as a clutch checking fault. If the first preset time is not exceeded, the preset voltage opening value is adopted, and if the first preset time is exceeded, the fault is reported, so that the accuracy of the signal is effectively guaranteed.
Further, the step 300 includes:
calculating a first path of original opening value in the two paths of clutch pedal voltage signals, wherein the first path of original opening value is the percentage of the calculated voltage value of the first path to a preset value;
and calculating a second path of original opening value in the two paths of clutch pedal voltage signals, wherein the second path of original opening value is the percentage of the calculated voltage value of the second path to a preset value.
In this embodiment, since the voltage values of the two paths are the preset values, that is, the preset value is the calculated voltage value of the first path S1 + the calculated voltage value of the second path S2, for example, if the preset value is 5V, the original opening value of the first path S1 is 100% of the calculated voltage value/5 of S1; the original opening degree value of the second path S2 is (calculated voltage value of 5-S1)/5 × 100%, and the original opening degree values of the two paths are accurately and respectively calculated by the method.
Further, the step 400 includes:
and calculating the average value of the original opening values respectively corresponding to the two paths of clutch pedal voltage signals, and determining the final output opening value.
Note that, when the weight distribution normalization processing is performed on the two original opening degree values, the final output opening degree value is (S1 original opening degree value + S2 original opening degree value) × 0.5.
Further, the method further comprises:
and carrying out periodic hysteresis calibration on the final output opening value, and determining an output optimized opening value. A hysteresis processing mechanism is added, so that the output stability of the opening degree of the clutch pedal is ensured, and the opening degree does not fluctuate along with signal fluctuation.
Specifically, the periodic hysteresis calibration of the final output opening value includes:
if the final output opening value is smaller than the hysteresis calibration value, determining that the final output opening value of the first period is used as an output optimization opening value;
and if the final output opening degree value is greater than or equal to the hysteresis calibration value, determining the current final output opening degree value as an optimized output opening degree value.
It should be noted that the hysteresis calibration is a value between the sensitivities for identifying the clutch pedal. Because the final output opening value is subjected to periodic hysteresis calibration, when the final output opening value is smaller than a hysteresis calibration value, the final output opening value of the first period is determined to be used as an output optimization opening value; and when the final output opening value is greater than or equal to the hysteresis calibration value, determining the current final output opening value as an optimized output opening value. Here, the first cycle is a previous cycle, and if the current cycle is n, n is greater than 2 and is an integer, the previous cycle is an (n-1) -th cycle, and if n is 1, the previous cycle is the first cycle.
Further, the method further comprises:
if the final output opening value is smaller than the dead zone calibration value, determining that the output opening value is zero;
wherein the dead zone calibration is less than the hysteresis calibration.
For example, when functions of cruising, crawling, vehicle speed limiting and the like are started, the system calculates the virtual pedal opening for interaction with the ESC function, the initial value of the virtual pedal is a latched value of the real pedal opening at the previous moment, and the system performs corresponding processing based on different functions; after the cruise function and the crawling function are started, the system looks up a table based on the rotating speed of the motor and the corresponding required torque to obtain the virtual pedal opening; when the driving demand torque is larger than the cruising output torque, the system outputs the actual pedal opening, otherwise, the actual pedal opening is output, and particularly, when the cruising torque is smaller than zero, the system outputs the virtual pedal opening which is 0 opening; after the cruise function is quitted, the virtual pedal opening degree returns to zero, and the system outputs an accelerator pedal signal based on the real pedal opening degree; and after the vehicle speed limiting function is started, the system obtains the virtual pedal opening based on the motor rotating speed and the corresponding required torque table, and outputs the virtual pedal opening all the time.
The embodiment also carries out anti-shake processing on the final output opening degree, when the opening degree of the pedal is increased, the opening degree of the pedal is increased and the difference between the opening degree of the pedal and the opening degree of the pedal at the last moment is larger than a certain value, the current opening degree value is output, otherwise, the opening degree value of the pedal at the last moment is maintained; when the pedal opening degree is reduced, the current opening degree value is directly output.
The invention provides a method for calculating the opening degree of a clutch pedal of a pure electric manual gear automobile, which is characterized in that before the opening degree of the clutch pedal is calculated, a fault mechanism is also judged on a voltage signal, so that the problem of abnormal output torque caused by abnormal voltage and abnormal calculated opening degree is effectively solved; and a hysteresis processing mechanism is added, the final output opening value is optimized, and the stable output of the opening of the clutch pedal is ensured and is not fluctuated along with the fluctuation of the voltage signal.
Furthermore, an embodiment of the present invention further provides a storage medium having a program for calculating a clutch pedal opening stored thereon, where the program for calculating a clutch pedal opening is executed by a processor to perform the following operations:
collecting two paths of clutch pedal voltage signals under the condition that the clutch pedal is monitored to be stepped;
determining the calculated voltage values of the two clutch pedal voltage signals;
respectively calculating original opening values corresponding to the two clutch pedal voltage signals according to the calculated voltage values of the two clutch pedal voltage signals;
and determining a final output opening value according to the original opening values respectively corresponding to the two clutch pedal voltage signals.
Further, the calculation program of the clutch pedal opening degree, when executed by the processor, further realizes the following operations:
Respectively carrying out overrun fault judgment on the initial voltage value of each acquired voltage signal, and if each voltage signal is normal, carrying out check fault judgment;
and if the sum of the initial voltage values in the two clutch pedal voltage signals meets a preset value, determining the initial voltage values in the two clutch pedal voltage signals as a calculated voltage value.
Further, the calculation program of the clutch pedal opening degree, when executed by the processor, further realizes the following operations:
and if the sum of the initial voltage values of the two paths of voltages does not meet a preset value and lasts for a first preset time, determining that the current clutch pedal is trampled as a clutch checking fault.
Further, the calculation program of the clutch pedal opening degree, when executed by the processor, further realizes the following operations:
if the initial voltage value of each path of voltage signal is between the lower limit value of the voltage characteristic and the upper limit value of the voltage characteristic, determining that the current voltage signal is normal; or,
if the initial voltage value of each path of voltage signal is smaller than the lower limit value of the voltage characteristic, or larger than the upper limit value of the voltage characteristic, and does not last for a first preset time, adopting the voltage value at the previous moment smaller than the lower limit value of the voltage characteristic, or larger than the upper limit value of the voltage characteristic to carry out checking fault judgment; or,
And if the voltage is smaller than the lower limit value of the voltage characteristic or larger than the upper limit value of the voltage characteristic and exceeds a first preset time, adopting a preset voltage opening value as an original opening value of the current clutch pedal voltage signal.
Further, the calculation program of the clutch pedal opening degree, when executed by the processor, further realizes the following operations:
calculating a first path of original opening value in the two paths of clutch pedal voltage signals, wherein the first path of original opening value is the percentage of the calculated voltage value of the first path to a preset value;
and calculating a second path of original opening value in the two paths of clutch pedal voltage signals, wherein the second path of original opening value is the percentage of the calculated voltage value of the second path to a preset value.
Further, the calculation program of the clutch pedal opening degree, when executed by the processor, further realizes the following operations:
and calculating the average value of the original opening values respectively corresponding to the two paths of clutch pedal voltage signals, and determining the final output opening value.
Further, the calculation program of the clutch pedal opening degree, when executed by the processor, further realizes the following operations:
and carrying out periodic hysteresis calibration on the final output opening value, and determining an output optimized opening value.
Further, the calculation program of the clutch pedal opening degree, when executed by the processor, further realizes the following operations:
If the final output opening value is smaller than the hysteresis calibration value, determining that the final output opening value of the first period is used as an output optimization opening value;
and if the final output opening degree value is greater than or equal to the hysteresis calibration value, determining the current final output opening degree value as an optimized output opening degree value.
Further, the calculation program of the clutch pedal opening degree, when executed by the processor, further realizes the following operations:
if the final output opening value is smaller than the dead zone calibration value, determining that the output opening value is zero;
wherein the dead zone calibration is less than the hysteresis calibration.
In the embodiment, under the condition that the clutch pedal is monitored to be stepped, two paths of clutch pedal voltage signals are collected; and calculating the original opening values respectively corresponding to the two paths of clutch pedal voltage signals so as to determine the final output opening value, accurately calculating the opening of the clutch pedal, and solving the problem that when the clutch pedal voltage fails, the abnormal opening of the clutch pedal cannot be correctly identified and processed and is output.
Further, as shown in fig. 3, an embodiment of the present invention further provides a calculation apparatus for a clutch pedal opening degree, including:
the acquisition module 10 is used for acquiring two paths of clutch pedal voltage signals under the condition that the clutch pedal is monitored to be stepped;
The first determining module 20 is configured to determine calculated voltage values of the two clutch pedal voltage signals;
the calculating module 30 is configured to calculate, according to the calculated voltage values of the two clutch pedal voltage signals, original opening values corresponding to the two clutch pedal voltage signals, respectively;
and the second determining module 40 is configured to determine a final output opening value according to the original opening values respectively corresponding to the two clutch pedal voltage signals.
Further, the first determining module 20 includes:
the first processing unit is used for respectively carrying out overrun fault judgment on the initial voltage value of each acquired voltage signal, and carrying out check fault judgment if each voltage signal is normal;
and the second processing unit is used for determining the initial voltage values in the two clutch pedal voltage signals as the calculated voltage values if the sum of the initial voltage values in the two clutch pedal voltage signals meets a preset value.
Further, the first determining module 20 further includes:
and the third processing unit is used for determining that the current clutch pedal is trampled as a clutch checking fault if the sum of the initial voltage values of the two paths of voltages does not meet a preset value and lasts for a first preset time.
Specifically, the first processing unit includes:
the first processing subunit is used for determining that the current voltage signal is normal if the initial voltage value of each path of voltage signal is between the lower limit value of the voltage characteristic and the upper limit value of the voltage characteristic; or,
the second processing subunit is configured to, if the initial voltage value of each path of voltage signal is smaller than the voltage characteristic lower limit value or larger than the voltage characteristic upper limit value and does not last for a first preset time, perform verification fault judgment by using a voltage value at a previous time that is smaller than the voltage characteristic lower limit value or larger than the voltage characteristic upper limit value; or,
and the third processing subunit is used for adopting a preset voltage opening value as an original opening value of the current clutch pedal voltage signal if the voltage is smaller than the voltage characteristic lower limit value or larger than the voltage characteristic upper limit value and exceeds a first preset time.
Further, the calculation module 30 includes:
the first calculation unit is used for calculating a first path of original opening value in the two paths of clutch pedal voltage signals, wherein the first path of original opening value is the percentage of the calculated voltage value of the first path to a preset value;
and the second calculating unit is used for calculating a second path of original opening value in the two paths of clutch pedal voltage signals, and the second path of original opening value is the percentage of the calculated voltage value of the second path and a preset value.
Further, the second determining module 40 includes:
and the third calculating unit is used for calculating the average value of the original opening values respectively corresponding to the two paths of clutch pedal voltage signals and determining the final output opening value.
Further, the calculation means of the clutch pedal opening degree further includes:
and the third determining module is used for carrying out periodic hysteresis calibration on the final output opening value and determining an output optimized opening value.
Further, the third determining module comprises:
a first determining unit, configured to determine, if the final output opening value is smaller than a hysteresis calibration value, the final output opening value in the previous cycle as an output optimized opening value;
and the second determining unit is used for determining the current final output opening value as the optimized output opening value if the final output opening value is greater than or equal to the hysteresis calibration value.
Further, the third determining module further comprises:
a third determining unit, configured to determine that the output opening value is zero if the final output opening value is smaller than a dead zone calibration value;
wherein the dead zone calibration is less than the hysteresis calibration.
In addition, the embodiment of the invention also provides an electric automobile which comprises the calculating device of the opening degree of the clutch pedal.
In conclusion, the method and the device for calculating the opening degree of the clutch pedal and the electric automobile provided by the invention provide a method for calculating the opening degree of the clutch pedal of a pure electric manual gear automobile, and the voltage signal is subjected to fault mechanism judgment before the opening degree of the clutch pedal is calculated, so that the problem that the calculated opening degree is abnormal due to abnormal voltage and the output torque is abnormal is effectively avoided; a hysteresis processing mechanism is added, the final output opening value is optimized, and the stable output of the opening of the clutch pedal is ensured and does not fluctuate along with the fluctuation of the voltage signal; the realization and the security of the whole vehicle function of the electric vehicle are improved.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling an intelligent electric vehicle energy recovery control device (such as a mobile phone, a computer, an electric vehicle energy recovery control device, an air conditioner, or a network electric vehicle energy recovery control device) to execute the method according to the embodiments of the present invention.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (12)
1. A method of calculating a clutch pedal opening degree, characterized by comprising:
collecting two paths of clutch pedal voltage signals under the condition that the clutch pedal is monitored to be stepped;
determining the calculated voltage values of the two clutch pedal voltage signals;
respectively calculating original opening values corresponding to the two clutch pedal voltage signals according to the calculated voltage values of the two clutch pedal voltage signals;
and determining a final output opening value according to the original opening values respectively corresponding to the two clutch pedal voltage signals.
2. The method for calculating the opening degree of the clutch pedal according to claim 1, wherein the step of determining the calculated voltage values of the two clutch pedal voltage signals comprises the following steps:
respectively carrying out overrun fault judgment on the initial voltage value of each acquired voltage signal, and if each voltage signal is normal, carrying out check fault judgment;
and if the sum of the initial voltage values in the two clutch pedal voltage signals meets a preset value, determining the initial voltage values in the two clutch pedal voltage signals as a calculated voltage value.
3. The method of calculating the opening degree of the clutch pedal according to claim 2, characterized by further comprising:
and if the sum of the initial voltage values of the two paths of voltages does not meet a preset value and lasts for a first preset time, determining that the current clutch pedal is trampled as a clutch checking fault.
4. The method for calculating the opening degree of the clutch pedal according to claim 2, wherein the step of performing overrun fault judgment on the initial voltage value of each collected voltage signal comprises the following steps:
if the initial voltage value of each path of voltage signal is between the lower limit value of the voltage characteristic and the upper limit value of the voltage characteristic, determining that the current voltage signal is normal; or,
if the initial voltage value of each path of voltage signal is smaller than the lower limit value of the voltage characteristic, or larger than the upper limit value of the voltage characteristic, and does not last for a first preset time, adopting the voltage value at the previous moment smaller than the lower limit value of the voltage characteristic, or larger than the upper limit value of the voltage characteristic to carry out checking fault judgment; or,
and if the voltage is smaller than the lower limit value of the voltage characteristic or larger than the upper limit value of the voltage characteristic and exceeds a first preset time, adopting a preset voltage opening value as an original opening value of the current clutch pedal voltage signal.
5. The method for calculating the opening degree of the clutch pedal according to claim 1, wherein calculating the original opening degree values corresponding to the two clutch pedal voltage signals respectively according to the calculated voltage values of the two clutch pedal voltage signals comprises:
calculating a first path of original opening degree value in the two paths of clutch pedal voltage signals, wherein the first path of original opening degree value is the percentage of the calculated voltage value of the first path to a preset value;
and calculating a second path of original opening value in the two paths of clutch pedal voltage signals, wherein the second path of original opening value is the percentage of the calculated voltage value of the second path to a preset value.
6. The method for calculating the opening degree of the clutch pedal according to claim 1, wherein determining a final output opening degree value according to the original opening degree values respectively corresponding to the two clutch pedal voltage signals comprises:
and calculating the average value of the original opening values respectively corresponding to the two paths of clutch pedal voltage signals, and determining the final output opening value.
7. The method of calculating the opening degree of the clutch pedal according to claim 1, characterized by further comprising:
and carrying out periodic hysteresis calibration on the final output opening value, and determining an output optimized opening value.
8. The method of calculating clutch pedal opening according to claim 7, wherein the periodic hysteresis calibration of the final output opening value includes:
if the final output opening value is smaller than the hysteresis calibration value, determining that the final output opening value of the first period is used as an output optimization opening value;
and if the final output opening degree value is greater than or equal to the hysteresis calibration value, determining the current final output opening degree value as an optimized output opening degree value.
9. The method of calculating the clutch pedal opening according to claim 8, characterized by further comprising:
if the final output opening value is smaller than the dead zone calibration value, determining that the output opening value is zero;
wherein the dead zone calibration is less than the hysteresis calibration.
10. A calculation device of a clutch pedal opening degree, characterized by comprising:
the acquisition module is used for acquiring two paths of clutch pedal voltage signals under the condition that the clutch pedal is monitored to be stepped;
the first determining module is used for determining the calculated voltage values of the two paths of clutch pedal voltage signals;
the calculation module is used for respectively calculating the original opening values corresponding to the two clutch pedal voltage signals according to the calculated voltage values of the two clutch pedal voltage signals;
And the second determining module is used for determining a final output opening value according to the original opening values respectively corresponding to the two paths of clutch pedal voltage signals.
11. An electric vehicle characterized by comprising the calculation means of the opening degree of the clutch pedal according to claim 10.
12. A storage medium characterized by comprising a stored program, wherein an apparatus in which the storage medium is stored is controlled to execute the method of calculating the opening degree of the clutch pedal according to any one of claims 1 to 9 when the program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110202965.9A CN114670854A (en) | 2021-02-23 | 2021-02-23 | Method and device for calculating opening degree of clutch pedal and electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110202965.9A CN114670854A (en) | 2021-02-23 | 2021-02-23 | Method and device for calculating opening degree of clutch pedal and electric automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114670854A true CN114670854A (en) | 2022-06-28 |
Family
ID=82069630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110202965.9A Pending CN114670854A (en) | 2021-02-23 | 2021-02-23 | Method and device for calculating opening degree of clutch pedal and electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114670854A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105946572A (en) * | 2016-06-03 | 2016-09-21 | 北京车和家信息技术有限责任公司 | Method for calibrating pedal open degree value, calibrating device and vehicle |
| CN106364365A (en) * | 2016-09-12 | 2017-02-01 | 北京新能源汽车股份有限公司 | Method and device for processing double-path accelerator pedal signals |
| CN106427602A (en) * | 2016-10-25 | 2017-02-22 | 北京新能源汽车股份有限公司 | Control method and control device of brake system |
| CN108944440A (en) * | 2018-07-27 | 2018-12-07 | 北京新能源汽车股份有限公司 | Control method and device of accelerator pedal, vehicle and computing equipment |
| CN111038277A (en) * | 2019-11-04 | 2020-04-21 | 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 |
-
2021
- 2021-02-23 CN CN202110202965.9A patent/CN114670854A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105946572A (en) * | 2016-06-03 | 2016-09-21 | 北京车和家信息技术有限责任公司 | Method for calibrating pedal open degree value, calibrating device and vehicle |
| CN106364365A (en) * | 2016-09-12 | 2017-02-01 | 北京新能源汽车股份有限公司 | Method and device for processing double-path accelerator pedal signals |
| CN106427602A (en) * | 2016-10-25 | 2017-02-22 | 北京新能源汽车股份有限公司 | Control method and control device of brake system |
| CN108944440A (en) * | 2018-07-27 | 2018-12-07 | 北京新能源汽车股份有限公司 | Control method and device of accelerator pedal, vehicle and computing equipment |
| CN111038277A (en) * | 2019-11-04 | 2020-04-21 | 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109515195B (en) | Whole vehicle control system and control method for pure electric vehicle | |
| CN104590267B (en) | Torque safety control method of new energy automobile | |
| CN112302817A (en) | Fault diagnosis method, device, equipment and storage medium for air inlet pressure sensor | |
| US8956266B2 (en) | Vehicle driving force control device | |
| CN107020957A (en) | A kind of fault handling method of pure electric automobile, system and pure electric automobile | |
| CN106681304B (en) | A kind of test macro and method of entire car controller | |
| JP5299375B2 (en) | Vehicle abnormality diagnosis device | |
| CN111645664B (en) | Electric vehicle fault analysis method, device and equipment and vehicle | |
| US20120290186A1 (en) | Multiplex control system, transport device having multiplex control system, and control method thereof | |
| CN205854135U (en) | Pure electric automobile integrated form control system | |
| CN111942230B (en) | Fuel cell automobile power control method, fuel cell controller and fuel cell | |
| CN113232519B (en) | Vehicle control method, device and system, vehicle and readable storage medium | |
| JP4476494B2 (en) | Method and apparatus for monitoring calculation element in automobile | |
| JPH06241105A (en) | Method and equipment for controlling internal combustion engine | |
| CN112537206A (en) | New energy automobile torque monitoring method and system | |
| CN111391866B (en) | A method and system for functional safety torque monitoring | |
| CN110735919B (en) | Gear shifting prompting method and system | |
| CN114670854A (en) | Method and device for calculating opening degree of clutch pedal and electric automobile | |
| CN109094536B (en) | Vehicle control method and device and vehicle | |
| CN105620458B (en) | Brake pedal position signal diagnostic method and device | |
| JPH06320981A (en) | Method and device for controlling output of vehicle driving unit | |
| KR101870486B1 (en) | Method and device for monitoring a control unit for operating an engine system | |
| CN112498121A (en) | Control method of electric automobile and electric automobile | |
| CN113561958B (en) | Dynamic response diagnosis method and system for rear oxygen sensor of hybrid electric vehicle | |
| CN113002519B (en) | Hybrid vehicle fault processing method and device, electronic equipment and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |