CN116766944A - Method, device, equipment and storage medium for monitoring accelerator pedal opening - Google Patents
Method, device, equipment and storage medium for monitoring accelerator pedal opening Download PDFInfo
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- CN116766944A CN116766944A CN202310921640.5A CN202310921640A CN116766944A CN 116766944 A CN116766944 A CN 116766944A CN 202310921640 A CN202310921640 A CN 202310921640A CN 116766944 A CN116766944 A CN 116766944A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
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- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
Abstract
The invention discloses a method, a device, equipment and a storage medium for monitoring the opening degree of an accelerator pedal, wherein the method comprises the following steps: acquiring voltage information of an accelerator pedal at the current position; determining the current accelerator pedal opening and the first fault state of the accelerator pedal according to the voltage information; calculating an opening limit value of the accelerator pedal according to the first fault state and the voltage information; determining an accelerator pedal opening output value according to the accelerator pedal opening limit value and the current accelerator pedal opening; and the opening limit value of the accelerator pedal is used for restraining the opening of the output accelerator pedal, so that the risk caused by out-of-control of the opening output value is effectively avoided, and the risk of safety accidents is reduced.
Description
Technical Field
The invention relates to the technical field of electric automobile control, in particular to a method, a device, equipment and a storage medium for monitoring the opening degree of an accelerator pedal.
Background
The electric automobile takes the motor as a power driving device of the automobile and has the characteristics of high low-speed torque and quick acceleration. The accelerator pedal is one of key components of the electric automobile operated by a driver, and the accelerator pedal opening signal can reflect the power requirement of the automobile and reflect the driving intention of the driver. In an electric vehicle, a VCU (Vehicle control unit, vehicle controller) calculates a driving torque of the vehicle and transmits the calculated driving torque information to a motor controller, which then controls a motor to output a corresponding torque according to the received driving torque. In the above-described VCU calculation of the drive torque, it is mainly performed based on the current vehicle speed and the current accelerator pedal opening. Therefore, whether or not the opening degree of the accelerator pedal accurately reflects the driving intention of the driver plays a critical role in the dynamics and safety of the vehicle.
The current mature technology is to calculate the opening of the accelerator pedal under no fault, and the processing measures on whether the accelerator pedal has fault or not and in the fault state are more concentrated on the detection of the consistency of the accelerator pedal, and the arbitration processing under the opening of the accelerator pedal is still to be perfected, so that if the VCU uses the wrong opening of the accelerator pedal in the process, the risk caused by the uncontrolled opening output value is generated, and the safety accident is very easy to cause.
Disclosure of Invention
Aiming at the problems existing in the prior art, the embodiment of the invention provides an accelerator pedal opening monitoring method, device, equipment and storage medium, which can effectively avoid risks caused by out-of-control opening output values and reduce risks of safety accidents.
In a first aspect, an embodiment of the present invention provides a method for monitoring an accelerator opening, including:
acquiring voltage information of an accelerator pedal at the current position;
determining the current accelerator pedal opening and the first fault state of the accelerator pedal according to the voltage information;
calculating an opening limit value of the accelerator pedal according to the first fault state and the voltage information;
and determining an accelerator pedal opening output value according to the accelerator pedal opening limit value and the current accelerator pedal opening.
As an improvement of the above-described scheme, the voltage information includes: a first voltage output by the first accelerator pedal sensor and a second voltage output by the second accelerator pedal sensor.
As an improvement of the above aspect, the determining the current accelerator pedal opening and the first failure state of the accelerator pedal according to the voltage information includes:
calculating the current accelerator pedal opening according to the first voltage and the second voltage;
and performing fault diagnosis on the accelerator pedal according to the current accelerator pedal opening degree, and determining a first fault state of the accelerator pedal.
As an improvement of the above-described aspect, the calculating the opening limit value of the accelerator pedal based on the first failure state and the voltage information includes:
determining a failure coefficient of the fault according to the first fault state;
and calculating the opening limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient and a preset limit value parameter.
As an improvement of the above, the limit value parameter includes: an error upper limit, a endurance error upper limit, and a safety demand upper limit;
the calculating the opening limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient and the preset limit value parameter comprises the following steps:
and calculating the opening upper limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient, the error upper limit value, the endurance error upper limit value and the safety requirement upper limit value.
As an improvement of the above-described aspect, the calculating the accelerator pedal opening upper limit value from the first voltage, the second voltage, the failure coefficient, the error upper limit value, the endurance error upper limit value, and the safety demand upper limit value includes:
according to the failure coefficient and the safety requirement upper limit value, calculating the safety upper limit value under the failure working condition;
calculating the current accelerator pedal opening according to the first voltage and the second voltage;
and calculating the sum of the current accelerator pedal opening, the safety upper limit value under the fault working condition, the error upper limit value and the endurance error upper limit value to obtain the accelerator pedal opening upper limit value.
As an improvement of the above solution, the determining the accelerator pedal opening output value according to the accelerator pedal opening limit value and the current accelerator pedal opening includes:
judging whether the current accelerator pedal opening is larger than the upper limit value of the accelerator pedal opening;
if yes, taking the upper limit value of the opening of the accelerator pedal as an accelerator pedal opening output value and outputting the accelerator pedal opening output value;
if not, the current accelerator pedal opening is taken as an accelerator pedal opening output value and output.
In a second aspect, an embodiment of the present invention provides an accelerator opening monitoring device, including:
the voltage information acquisition module is used for acquiring voltage information of the accelerator pedal at the current position;
the opening determining module is used for determining the current accelerator pedal opening and the first fault state of the accelerator pedal according to the voltage information;
the opening limit value calculation module is used for calculating the opening limit value of the accelerator pedal according to the first fault state and the voltage information;
and the opening output value determining module is used for determining an accelerator pedal opening output value according to the accelerator pedal opening limit value and the current accelerator pedal opening.
In a third aspect, an embodiment of the present invention provides an accelerator pedal opening monitoring apparatus, including: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the accelerator pedal opening monitoring method according to any one of the first aspects when the computer program is executed.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium storing a computer program, where the computer program when executed controls a device in which the computer readable storage medium is located to execute the accelerator pedal opening monitoring method according to any one of the first aspects.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the method comprises the steps of obtaining voltage information of an accelerator pedal at a current position; determining the current accelerator pedal opening and the first fault state of the accelerator pedal according to the voltage information; calculating an opening limit value of the accelerator pedal according to the first fault state and the voltage information; determining an accelerator pedal opening output value according to the accelerator pedal opening limit value and the current accelerator pedal opening; and the opening limit value of the accelerator pedal is used for restraining the opening of the output accelerator pedal, so that the risk caused by out-of-control of the opening output value is effectively avoided, and the risk of safety accidents is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that will be used in the embodiments will be briefly described below, and it will be apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an accelerator opening monitoring method according to an embodiment of the present invention;
FIG. 2 is a flow chart of an accelerator pedal opening arbitration provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of an accelerator opening monitoring device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an accelerator opening monitoring device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Fig. 1 is a flowchart of an accelerator opening monitoring method according to an embodiment of the invention. The accelerator pedal opening monitoring method is executed by a vehicle controller and specifically comprises the following steps:
s1: acquiring voltage information of an accelerator pedal at the current position;
the accelerator pedal of the electric automobile is provided with two paths of accelerator pedal sensors, such as a first accelerator pedal sensor and a second accelerator pedal sensor. After the driver steps on the accelerator pedal, the first accelerator pedal sensor/the second accelerator pedal sensor can convert the position information of the accelerator pedal stepped on by the driver into voltage and send the voltage to the whole vehicle controller, and then the whole vehicle controller analyzes and judges the voltage to enable the motor and the like to realize functions of idling, acceleration, deceleration and the like. Wherein the first accelerator pedal sensor/the second accelerator pedal sensor includes, but is not limited to, a variable resistance accelerator pedal position sensor, a hall accelerator pedal position sensor, and the like. Wherein the voltage output by the first accelerator pedal sensor/the second accelerator pedal sensor is in a linear relationship with the accelerator pedal position, and the voltage output by the first accelerator pedal sensor and the second accelerator pedal sensor is in a linear relationship, such as a multiple relationship or the voltage output by the second accelerator pedal sensor is a bias voltage of the voltage output by the first accelerator pedal sensor. For example, when a hall type accelerator pedal position sensor is used, the voltage output from the first accelerator pedal sensor is 2 times the voltage output from the second accelerator pedal sensor when the driver depresses the accelerator pedal.
Further, the voltage information includes: a first voltage output by the first accelerator pedal sensor and a second voltage output by the second accelerator pedal sensor. The voltage information further includes: and a power supply voltage of a first accelerator pedal sensor and a second accelerator pedal sensor of the accelerator pedal.
S2: determining the current accelerator pedal opening and the first fault state of the accelerator pedal according to the voltage information;
it should be noted that, in the embodiment of the present invention, the calculation manner of the opening degree of the accelerator pedal is not specifically limited, for example, the opening degree of the accelerator pedal corresponding to the corresponding first voltage/second voltage may be calculated according to an opening degree-voltage linear curve corresponding to the first voltage/second voltage, or the opening degree of the accelerator pedal corresponding to the corresponding first voltage/second voltage may be calculated by a specific opening degree-voltage conversion formula. And then determining a first fault state of the accelerator pedal based on the accelerator pedal opening corresponding to the calculated first voltage/second voltage.
S3: calculating an opening limit value of the accelerator pedal according to the first fault state and the voltage information;
s4: and determining an accelerator pedal opening output value according to the accelerator pedal opening limit value and the current accelerator pedal opening.
In the embodiment of the invention, a functional safety monitoring layer is added in the whole vehicle controller and is used for calculating the opening limit value of the accelerator pedal and determining the opening output value of the accelerator pedal. For example, the functional safety monitoring layer is used for comparing the current accelerator pedal opening with the opening limit value of the accelerator pedal, and outputting the upper limit of the opening limit value of the accelerator pedal as an accelerator pedal opening output value if the current accelerator pedal opening exceeds the upper limit of the opening limit value of the accelerator pedal; and if the current accelerator pedal opening is lower than the lower limit of the opening limit value of the accelerator pedal, or the current accelerator pedal opening is within the opening limit value range of the accelerator pedal, outputting the current accelerator pedal opening as an accelerator pedal opening output value. In the embodiment of the invention, the function safety monitoring layer is added, and the output accelerator pedal opening is restrained based on the calculated accelerator pedal opening limit value, so that the risk caused by out-of-control of the opening output value is effectively avoided, and the risk of safety accidents is reduced.
In an alternative embodiment, the determining the current accelerator pedal opening and the first fault state of the accelerator pedal according to the voltage information includes:
calculating the current accelerator pedal opening according to the first voltage and the second voltage;
in the embodiment of the present invention, the accelerator opening corresponding to the first voltage and the accelerator opening corresponding to the second voltage are calculatedThe accelerator pedal opening corresponding to the first voltage/second voltage may be calculated, for example, according to an opening-voltage linear curve corresponding to the first voltage/second voltage, or by the following formula: f (V) APS1 )＝(V APS1 －V)×100/(V full V), where V APS1 Representing the first voltage, V representing the voltage at the initial position of the accelerator pedal, V full Indicating the voltage at the initial position of the accelerator pedal. And similarly, the opening degree of the accelerator pedal corresponding to the second voltage is as follows: f (V) APS2 )＝(V APS2 －V)×100/(V full V), where V APS2 Representing the second voltage, V representing the voltage at the initial position of the accelerator pedal, V full Indicating the voltage at the initial position of the accelerator pedal.
And performing fault diagnosis on the accelerator pedal according to the current accelerator pedal opening degree, and determining a first fault state of the accelerator pedal.
The application software layer of the vehicle controller calculates the accelerator opening degree and fault detection flow based on the first voltage output by the first accelerator pedal sensor and the second voltage output by the second accelerator pedal sensor as follows:
when the first voltage output by the first accelerator pedal sensor and the second voltage output by the second accelerator pedal sensor are both effective and the accelerator pedal is in linear synchronization, outputting an accelerator pedal opening corresponding to the first voltage as a current accelerator pedal opening, and outputting a first fault state as no fault;
when the first voltage output by the first accelerator pedal sensor and the second voltage output by the second accelerator pedal sensor are both valid, but the accelerator pedal is in nonlinear synchronization, outputting an average value of the accelerator pedal opening corresponding to the first voltage and the accelerator pedal opening corresponding to the second voltage, or performing weighted average on the accelerator pedal opening corresponding to the first voltage and the accelerator pedal opening corresponding to the second voltage as a current accelerator pedal opening, and outputting a first fault state as follows: a first failure level;
and when the first voltage is within a preset first voltage range within the continuous set time, determining that the first voltage is valid, otherwise, considering that the first voltage is invalid. Similarly, when the second voltages are within the preset second voltage range within the continuous set time, the second voltages are determined to be valid, otherwise, the second voltages are determined to be invalid.
When the first voltage output by the first accelerator pedal sensor is effective and the second voltage output by the second accelerator pedal sensor is ineffective, outputting an accelerator pedal opening corresponding to the first voltage as a current accelerator pedal opening, and outputting a first fault state as follows: a second failure level;
when the second voltage output by the second accelerator pedal sensor is effective and the first voltage output by the first accelerator pedal sensor is ineffective, outputting an accelerator pedal opening corresponding to the second voltage as a current accelerator pedal opening, and outputting a first fault state as follows: a third failure level;
when the first voltage output by the first accelerator pedal sensor and the second voltage output by the second accelerator pedal sensor are invalid, outputting a current accelerator pedal opening degree as 0, and outputting a first fault state as follows: and a fourth failure level.
Wherein the first failure level indicates that the two accelerator pedal sensors are not failed, the second failure level indicates that the first accelerator pedal sensor is failed, the third failure level indicates that the second accelerator pedal sensor is failed, and the fourth failure level indicates that both accelerator pedal sensors are failed.
It should be noted that in the present embodiment, the linearity and synchronization of the first voltage and the second voltage are not specifically limited, for example, a first theoretical voltage corresponding to a first accelerator pedal sensor and a second theoretical voltage corresponding to a second accelerator pedal sensor at a current accelerator pedal position are obtained, and when a ratio of a difference value between the first theoretical voltage and the first voltage to the first theoretical voltage is smaller than a set threshold and the first voltage is valid for a set duration, the first voltage is considered to be linearly related; and similarly, when the ratio of the difference value between the second theoretical voltage and the second voltage to the second theoretical voltage is smaller than a set threshold value and the second voltage is valid for a set duration, the second voltage is considered to be linearly related; an accelerator pedal is considered to be linearly dependent when the first voltage and the second voltage are linearly dependent. When simultaneously satisfying: the absolute value of the difference value between the ratio of the first voltage and the second voltage is smaller than a set voltage threshold value, the absolute value of the difference value between the accelerator pedal opening corresponding to the first voltage and the accelerator pedal opening corresponding to the second voltage is smaller than a preset opening threshold value, and the accelerator pedal is considered to be synchronous, otherwise, the accelerator pedal is considered to be asynchronous.
In an alternative embodiment, said calculating an opening limit of said accelerator pedal based on said first fault condition and said voltage information comprises:
determining a failure coefficient of the fault according to the first fault state;
in the embodiment of the invention, the fault failure coefficient corresponding to the fault level indicated by the first fault state can be determined according to the mapping relation between the preset fault level and the fault failure coefficient, or the fault failure coefficient corresponding to the fault level indicated by the first fault state can be calculated according to the preset functional relation. For example, the failure coefficient of the first failure level is 1, the failure coefficient of the second failure level is 0.5, the failure coefficient of the third failure level is 0.5, and the failure coefficient of the third failure level is 0.
And calculating the opening limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient and a preset limit value parameter.
Further, the limit parameters include: an error upper limit, a endurance error upper limit, and a safety demand upper limit;
calculating an opening limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient and a preset limit value parameter, wherein the calculating comprises the following steps:
and calculating the opening upper limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient, the error upper limit value, the endurance error upper limit value and the safety requirement upper limit value.
In an alternative embodiment, the calculating the opening upper limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient, the error upper limit value, the endurance error upper limit value, and the safety demand upper limit value includes:
according to the failure coefficient and the safety requirement upper limit value, calculating the safety upper limit value under the failure working condition;
the safety upper limit value under the fault working condition is obtained by calculating the product of the fault failure coefficient and the safety requirement upper limit value.
Calculating the current accelerator pedal opening according to the first voltage and the second voltage;
it should be noted that, the calculation flow of the current accelerator opening is described above, and is not described herein. In the embodiment of the invention, the functional safety software layer can directly read the current accelerator pedal opening calculated by the application software layer processor to calculate the corresponding accelerator pedal opening limit value.
And calculating the sum of the current accelerator pedal opening, the safety upper limit value under the fault working condition, the error upper limit value and the endurance error upper limit value to obtain the accelerator pedal opening upper limit value.
For example, the accelerator pedal opening upper limit value=the current accelerator pedal opening + the error upper limit value + the endurance error upper limit value + the failure coefficient x the safety demand upper limit value. Similarly, the limit parameters further include: lower error limit, lower endurance error limit, lower safety requirement limit; the accelerator pedal opening lower limit value=the current accelerator pedal opening + the error lower limit value + the endurance error lower limit value + the failure coefficient x the safety demand lower limit value.
In an alternative embodiment, the determining the accelerator pedal opening output value according to the accelerator pedal opening limit value and the current accelerator pedal opening includes:
judging whether the current accelerator pedal opening is larger than the upper limit value of the accelerator pedal opening;
if yes, taking the upper limit value of the opening of the accelerator pedal as an accelerator pedal opening output value and outputting the accelerator pedal opening output value;
if not, the current accelerator pedal opening is taken as an accelerator pedal opening output value and output.
In the embodiment of the invention, an accelerator opening monitoring flow is mainly executed by an application software layer processor and a functional safety software layer of a vehicle controller, and calculation and diagnosis flows of the application software layer processor and the functional safety software layer run independently of each other, as shown in fig. 2, the application software layer processor calculates the current accelerator opening to be output according to a first voltage output by a first accelerator sensor and a second voltage output by a second accelerator sensor, performs fault diagnosis on the calculated current accelerator opening, and determines a first fault state to be output; meanwhile, the functional safety software layer calculates the opening limit value of the accelerator pedal according to the first voltage output by the first accelerator pedal sensor and the second voltage output by the second accelerator pedal sensor, and the opening limit value under the fault working condition is included; and then, carrying out fault arbitration on the current accelerator pedal opening calculated by the application software layer processor by combining the current accelerator pedal opening calculated by the application software layer processor with the first fault state, and outputting the opening upper limit value of the accelerator pedal by the whole vehicle controller finally when the current accelerator pedal opening is larger than the opening upper limit value of the accelerator pedal and outputting a corresponding second fault state (for example, the pedal opening value exceeds the pedal opening allowable upper limit), otherwise, outputting the current accelerator pedal opening calculated by the application software layer processor and the corresponding first fault state by the whole vehicle controller. According to the embodiment of the invention, the output accelerator pedal opening is restrained by the calculated accelerator pedal opening limit value, so that the secondary arbitration of the accelerator pedal opening output value is realized, and the independently operated monitoring software layer is introduced, so that the output pedal opening value can be limited within the accelerator pedal opening limit value range set by meeting the functional safety requirement under the condition that the accelerator pedal opening calculation of the application software layer fails, thereby effectively avoiding the risk caused by the uncontrolled opening output value and reducing the risk of safety accidents.
Example two
Referring to fig. 3, an embodiment of the present invention provides an accelerator opening monitoring device, including:
the voltage information acquisition module 1 is used for acquiring voltage information of an accelerator pedal at the current position;
the opening determining module 2 is used for determining the current accelerator pedal opening and the first fault state of the accelerator pedal according to the voltage information;
an opening limit value calculation module 3, configured to calculate an opening limit value of the accelerator pedal according to the first fault state and the voltage information;
and the opening output value determining module 4 is used for determining an accelerator pedal opening output value according to the accelerator pedal opening limit value and the current accelerator pedal opening.
In an alternative embodiment, the voltage information includes: a first voltage output by the first accelerator pedal sensor and a second voltage output by the second accelerator pedal sensor.
In an alternative embodiment, the opening determining module includes:
a first opening calculating unit, configured to calculate a current accelerator pedal opening according to the first voltage and the second voltage;
and the first fault diagnosis unit is used for performing fault diagnosis on the accelerator pedal according to the current accelerator pedal opening degree and determining a first fault state of the accelerator pedal.
In an alternative embodiment, the opening limit calculation module includes:
the fault failure coefficient determining unit is used for determining a fault failure coefficient according to the first fault state;
and the opening limit value calculation unit is used for calculating the opening limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient and a preset limit value parameter.
In an alternative embodiment, the limit parameters include: an error upper limit, a endurance error upper limit, and a safety demand upper limit;
the opening limit value calculation unit includes:
and the opening upper limit value calculation unit is used for calculating the opening upper limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient, the error upper limit value, the durable error upper limit value and the safety requirement upper limit value.
In an alternative embodiment, the opening degree upper limit value calculation unit includes:
the safety upper limit value calculation unit is used for calculating the safety upper limit value under the fault working condition according to the fault failure coefficient and the safety requirement upper limit value;
a second opening calculating unit, configured to calculate a current accelerator pedal opening according to the first voltage and the second voltage;
and the summing unit is used for calculating the sum of the current accelerator pedal opening, the safety upper limit value under the fault working condition, the error upper limit value and the durable error upper limit value to obtain the accelerator pedal opening upper limit value.
In an alternative embodiment, the opening output value determining module includes:
the opening judging unit is used for judging whether the current opening of the accelerator pedal is larger than the upper limit value of the opening of the accelerator pedal;
the first opening output unit is used for taking the upper limit value of the opening of the accelerator pedal as an accelerator pedal opening output value and outputting the accelerator pedal opening output value if the accelerator pedal opening output value is the same as the accelerator pedal opening output value;
and the second opening output unit is used for taking the current accelerator pedal opening as an accelerator pedal opening output value and outputting the accelerator pedal opening output value if not.
It should be noted that the technical principle and the achieved technical effect of the embodiment of the present invention are the same as those of the first embodiment, and the detailed description is not repeated here.
Example III
Referring to fig. 4, a schematic diagram of an accelerator opening monitoring device according to an embodiment of the present invention is shown. The accelerator pedal opening degree monitoring apparatus of this embodiment includes: a processor 100, a memory 200, and a computer program, such as an accelerator pedal opening monitor, stored in the memory 200 and executable on the processor 100. The processor 100, when executing the computer program, implements the steps of the embodiments of the method for monitoring the opening degree of the accelerator pedal described above, such as steps S1 to S4 shown in fig. 1.
The computer program may be divided into one or more modules/units, which are stored in the memory and executed by the processor to accomplish the present invention, for example. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in the accelerator pedal opening monitoring device.
The accelerator pedal opening monitoring device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of an accelerator opening monitoring device, and does not constitute a limitation of the accelerator opening monitoring device, and may include more or less components than those illustrated, or may combine certain components, or different components, e.g., the accelerator opening monitoring device may further include an input-output device, a network access device, a bus, etc.
The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the accelerator pedal opening monitoring device, and connects the various parts of the entire accelerator pedal opening monitoring device using various interfaces and lines.
The memory may be used to store the computer program and/or module, and the processor may implement various functions of the accelerator pedal opening monitoring device by running or executing the computer program and/or module stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
Wherein the integrated module/unit of the accelerator opening monitoring device may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a stand alone product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that many modifications and variations may be made without departing from the spirit of the invention, and it is intended that such modifications and variations be considered as a departure from the scope of the invention.
Claims (10)
1. An accelerator pedal opening monitoring method, characterized by comprising:
acquiring voltage information of an accelerator pedal at the current position;
determining the current accelerator pedal opening and the first fault state of the accelerator pedal according to the voltage information;
calculating an opening limit value of the accelerator pedal according to the first fault state and the voltage information;
and determining an accelerator pedal opening output value according to the accelerator pedal opening limit value and the current accelerator pedal opening.
2. The accelerator pedal opening monitoring method according to claim 1 wherein the voltage information includes: a first voltage output by the first accelerator pedal sensor and a second voltage output by the second accelerator pedal sensor.
3. The accelerator pedal opening monitoring method according to claim 2, wherein the determining the current accelerator pedal opening and the first failure state of the accelerator pedal based on the voltage information includes:
calculating the current accelerator pedal opening according to the first voltage and the second voltage;
and performing fault diagnosis on the accelerator pedal according to the current accelerator pedal opening degree, and determining a first fault state of the accelerator pedal.
4. The accelerator pedal opening monitoring method according to claim 2 wherein the calculating an opening limit value of the accelerator pedal based on the first failure state and the voltage information includes:
determining a failure coefficient of the fault according to the first fault state;
and calculating the opening limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient and a preset limit value parameter.
5. The accelerator pedal opening monitoring method according to claim 4 wherein the limit value parameter includes: an error upper limit, a endurance error upper limit, and a safety demand upper limit;
the calculating the opening limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient and the preset limit value parameter comprises the following steps:
and calculating the opening upper limit value of the accelerator pedal according to the first voltage, the second voltage, the failure coefficient, the error upper limit value, the endurance error upper limit value and the safety requirement upper limit value.
6. The accelerator pedal opening monitoring method according to claim 5 wherein the calculating the accelerator pedal opening upper limit value based on the first voltage, the second voltage, the failure coefficient, the error upper limit value, the endurance error upper limit value, and the safety demand upper limit value includes:
according to the failure coefficient and the safety requirement upper limit value, calculating the safety upper limit value under the failure working condition;
calculating the current accelerator pedal opening according to the first voltage and the second voltage;
and calculating the sum of the current accelerator pedal opening, the safety upper limit value under the fault working condition, the error upper limit value and the endurance error upper limit value to obtain the accelerator pedal opening upper limit value.
7. The accelerator pedal opening monitoring method according to claim 5 wherein the determining an accelerator pedal opening output value from the accelerator pedal opening limit and a current accelerator pedal opening comprises:
judging whether the current accelerator pedal opening is larger than the upper limit value of the accelerator pedal opening;
if yes, taking the upper limit value of the opening of the accelerator pedal as an accelerator pedal opening output value and outputting the accelerator pedal opening output value;
if not, the current accelerator pedal opening is taken as an accelerator pedal opening output value and output.
8. An accelerator pedal opening monitoring device characterized by comprising:
the voltage information acquisition module is used for acquiring voltage information of the accelerator pedal at the current position;
the opening determining module is used for determining the current accelerator pedal opening and the first fault state of the accelerator pedal according to the voltage information;
the opening limit value calculation module is used for calculating the opening limit value of the accelerator pedal according to the first fault state and the voltage information;
and the opening output value determining module is used for determining an accelerator pedal opening output value according to the accelerator pedal opening limit value and the current accelerator pedal opening.
9. An accelerator pedal opening monitoring device, characterized by comprising: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the accelerator pedal opening monitoring method according to any one of claims 1 to 7 when the computer program is executed.
10. A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and wherein the computer program, when executed, controls a device in which the computer-readable storage medium is located to perform the accelerator pedal opening degree monitoring method according to any one of claims 1 to 7.
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| CN202310921640.5A CN116766944A (en) | 2023-07-26 | 2023-07-26 | Method, device, equipment and storage medium for monitoring accelerator pedal opening |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118182135A (en) * | 2024-04-10 | 2024-06-14 | 深蓝汽车科技有限公司 | Vehicle control method, device, vehicle controller and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118182135A (en) * | 2024-04-10 | 2024-06-14 | 深蓝汽车科技有限公司 | Vehicle control method, device, vehicle controller and storage medium |
| CN118182135B (en) * | 2024-04-10 | 2024-10-25 | 深蓝汽车科技有限公司 | Vehicle control method, device, whole vehicle controller and storage medium |
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