CN114261280B - Acceleration pedal adaptive method, vehicle controller, vehicle and storage medium - Google Patents

Abstract

The application discloses an accelerator pedal self-adaption method, a vehicle-mounted controller, an automobile and a storage medium, wherein the accelerator pedal self-adaption method comprises the following steps: acquiring vehicle state data, and judging whether the vehicle state data meets pedal self-adaptive conditions or not; if the vehicle state data meets the pedal self-adaptive condition, acquiring an actually measured voltage value of the accelerator pedal at the current position in real time; performing deviation calculation on the measured voltage value and the calibrated voltage value to obtain a voltage deviation value, and performing reasonable verification on the voltage deviation value to obtain a voltage deviation verification result; if the voltage deviation checking result is reasonable, reasonably checking the real-time offset to obtain an offset checking result; if the offset verification result is reasonable, acquiring a target voltage value according to the actually measured voltage value and the target offset, and determining the stroke opening of the accelerator pedal according to the target voltage value. According to the technical scheme, the reliability and the authenticity of the stroke opening of the accelerator pedal are improved, and the driving safety of a driver is improved.

Description

Acceleration pedal adaptive method, vehicle controller, vehicle and storage medium

technical field

The invention relates to the technical field of vehicle safety, in particular to an accelerator pedal adaptive method, a vehicle controller, a vehicle and a storage medium.

Background technique

In the control of new energy vehicles, the accelerator pedal stroke opening is an important input of the vehicle torque, which directly reflects the driver's acceleration demand for the vehicle, that is, whether the accelerator pedal stroke opening accurately reflects the driver's vehicle acceleration demand. It has a significant impact on the safe operation of the vehicle. At present, the sensor voltage of the accelerator pedal of new energy vehicles is mostly collected directly by the on-board controller. When the initial zero position of the accelerator pedal is deviated, or as the electronic components of the accelerator pedal age, the sensor voltage corresponding to the initial zero position of the accelerator pedal will shift, resulting in the sensor voltage corresponding to the initial zero position of the accelerator pedal relative to the initial calibration. The sensor voltage corresponding to the zero position produces a voltage difference, which leads to inaccurate accelerator pedal stroke opening calculated by the on-board controller, affecting driving safety and the driver's sense of operation.

Contents of the invention

Embodiments of the present invention provide an accelerator pedal self-adapting method, a vehicle controller, a vehicle and a storage medium to solve the problem of inaccurate calculation of the stroke opening of the accelerator pedal and affect the driving safety of the driver.

An accelerator pedal adaptive method, comprising:

Acquiring vehicle state data, and judging whether the vehicle state data satisfies the pedal adaptive condition;

If the vehicle state data satisfies the pedal adaptive condition, then collect the measured voltage value at the current position of the accelerator pedal in real time;

Perform deviation calculation on the measured voltage value and the calibrated voltage value to obtain a voltage deviation value, perform reasonable verification on the voltage deviation value, and obtain a voltage deviation verification result;

If the voltage deviation verification result is reasonable, then obtain a real-time offset according to the voltage deviation value, perform a reasonable verification on the real-time offset, and obtain an offset verification result;

If the offset verification result is reasonable, then determine the real-time offset as a target offset, obtain a target voltage value according to the measured voltage value and the target offset, and obtain a target voltage value according to the target The voltage value determines the accelerator pedal travel opening.

Further, the accelerator pedal adaptive method also includes:

If the vehicle state data does not satisfy the pedal adaptive condition, the voltage deviation check result is unreasonable or the offset check result is unreasonable, then determine the historical offset as the target offset, according to The measured voltage value and the target offset are used to obtain a target voltage value, and an accelerator pedal stroke opening is determined according to the target voltage value.

Further, the vehicle state data includes the current gear position of the ignition key, the current voltage of the accelerator pedal, the power supply voltage of the voltage sensor and the current position of the accelerator pedal;

The acquisition of vehicle state data and judging whether the vehicle state data satisfies pedal adaptive conditions include:

If the current gear of the ignition key is the ON gear, the current voltage of the accelerator pedal is normal, the power supply voltage of the voltage sensor is normal, and the current position of the accelerator pedal is at the initial zero position, then the vehicle state data meets the pedal adaptive condition;

If at least one of the current gear of the ignition key is not ON, the current voltage of the accelerator pedal is abnormal, the power supply voltage of the voltage sensor is abnormal, and the current position of the accelerator pedal is not at the initial zero position, the vehicle state data does not meet the requirements of the pedal. Adaptive conditions.

Further, the real-time acquisition of the measured voltage value at the current position of the accelerator pedal includes:

When the accelerator pedal is depressed to the current position, obtain the initial voltage value collected by the voltage sensor in real time within the preset calibration time;

The initial voltage value is filtered and averaged to obtain the measured voltage value at the current position of the accelerator pedal.

Further, the step of calculating the deviation between the measured voltage value and the calibrated voltage value, obtaining a voltage deviation value, performing reasonable verification on the voltage deviation, and obtaining a voltage deviation verification result includes:

Determining the absolute value of the voltage difference between the measured voltage value and the calibrated voltage value as the voltage deviation value;

If the voltage deviation value is greater than a preset deviation value, an unreasonable voltage deviation verification result is obtained;

If the voltage deviation value is not greater than the preset deviation value, a reasonable voltage deviation verification result is obtained.

Further, the obtaining the real-time offset according to the voltage deviation value, performing a reasonable check on the real-time offset, and obtaining the offset check result include:

Based on the preset weight and preset calculation cycle, the weighted calculation is performed on the voltage deviation value and the historical offset to obtain the real-time offset;

Based on the preset offset threshold, a reasonable check is performed on the real-time offset to obtain an offset check result.

Further, the acquiring a target voltage value according to the measured voltage value and the target offset, and determining the stroke opening of the accelerator pedal according to the target voltage value include:

determining the difference between the measured voltage value and the target offset as the target voltage value;

According to the target voltage value and the standard voltage mapping table, the stroke opening of the accelerator pedal is determined.

A vehicle-mounted controller, comprising a memory, a processor, and an adaptive program stored in the memory and operable on the processor, when the processor executes the adaptive program, the above accelerator pedal adaptive method is realized .

An automobile includes the above-mentioned on-board controller, and the above-mentioned on-board controller implements the above-mentioned acceleration pedal adaptive method when the automobile is running.

A computer-readable storage medium stores an adaptive program, and when the adaptive program is executed by a processor, the above accelerator pedal adaptive method is realized.

The above accelerator pedal adaptive method, on-board controller, vehicle and storage medium, the on-board controller judges whether the vehicle state data meets the pedal adaptive conditions, performs reasonable check on the voltage deviation value and corrects the real-time offset In the process of adjusting the accelerator pedal stroke opening, the reliability of the adjusted accelerator pedal stroke opening is improved through multiple verifications of the vehicle state data, voltage deviation value and real-time offset. Safety and authenticity, improve the driver's driving safety.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention , for those skilled in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is a flowchart of an accelerator pedal adaptive method in an embodiment of the present invention;

Fig. 2 is another flowchart of an accelerator pedal adaptive method in an embodiment of the present invention;

Fig. 3 is another flowchart of an accelerator pedal adaptive method in an embodiment of the present invention;

Fig. 4 is another flowchart of an accelerator pedal adaptive method in an embodiment of the present invention;

Fig. 5 is another flowchart of an accelerator pedal adaptive method in an embodiment of the present invention;

Fig. 6 is another flowchart of an accelerator pedal adaptive method in an embodiment of the present invention;

FIG. 7 is a schematic diagram of an on-board controller in an embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

This embodiment provides an accelerator pedal self-adaptive method, which can be applied to a vehicle-mounted controller. The vehicle-mounted controller performs a reasonable checksum on the voltage deviation value by judging whether the vehicle state data satisfies the pedal self-adaptation condition. Perform a reasonable check on the real-time offset. In the process of adjusting the stroke opening of the accelerator pedal, after multiple checks on the vehicle state data, voltage deviation value and real-time offset, the adjusted acceleration is improved. The reliability and authenticity of the pedal stroke opening can improve the driving safety of the driver.

In one embodiment, as shown in FIG. 1 , an accelerator pedal adaptive method is provided, which is described by taking the method applied to the vehicle-mounted controller in FIG. 7 as an example, including the following steps:

S10: Acquiring vehicle state data, and judging whether the vehicle state data meets the pedal adaptive condition.

Wherein, the vehicle state data is data reflecting the current state of the vehicle. As an example, the vehicle state data includes the current gear position of the ignition key, the current voltage of the accelerator pedal, the supply voltage of the voltage sensor, and the current position of the accelerator pedal.

Wherein, the pedal adaptive condition is a custom-set condition, and is used to judge whether the vehicle state data satisfies the condition for adaptive adjustment of the accelerator pedal stroke opening. Accelerator pedal stroke opening is the distance between the current position of the accelerator pedal and the initial zero position of the accelerator pedal when the driver depresses the accelerator pedal when the vehicle is started. The initial zero position is the position of the accelerator pedal when the vehicle is not started. As an example, pedal adaptation conditions can be understood as evaluating vehicle state data

In this example, the vehicle state data such as the current gear of the ignition key, the current voltage of the accelerator pedal, the power supply voltage of the voltage sensor, and the current position of the accelerator pedal are all related to the stroke opening of the accelerator pedal. If the current gear of the ignition key, the current voltage of the accelerator pedal, and the voltage If the vehicle state data such as the sensor power supply voltage and the current position of the accelerator pedal do not meet the pre-set pedal adaptive conditions, it means that the collected vehicle state data is likely to lead to inaccurate accelerator pedal stroke opening finally calculated by the on-board controller. , when the vehicle is controlled based on inaccurate accelerator pedal stroke opening, safety accidents are prone to occur. Therefore, the on-board controller needs to judge whether the vehicle state data meets the pedal adaptive conditions according to the real-time collected vehicle state data, so as to carry out self-adaptation Adjustment to improve the reliability and authenticity of the adjusted accelerator pedal stroke opening, and improve the safety of the driver during driving.

S20: If the vehicle state data satisfies the pedal adaptive condition, collect the measured voltage value at the current position of the accelerator pedal in real time.

Wherein, the measured voltage value is the voltage at the current position of the accelerator pedal collected in real time by the voltage sensor arranged on the accelerator pedal.

Specifically, when the vehicle state data satisfies the pedal adaptive condition, the on-board controller obtains the voltage sensor to collect the measured voltage value at the current position of the accelerator pedal in real time, so as to adaptively adjust the accuracy of the determined accelerator pedal stroke opening according to the measured voltage value. High reliability can guarantee its driving safety. Understandably, on the basis that the vehicle state data satisfies the pedal adaptive condition, the measured voltage value at the current position of the accelerator pedal is collected, so as to adaptively adjust the stroke opening of the accelerator pedal according to the measured voltage value at the current position of the accelerator pedal, Improve the reliability and authenticity of the adaptive adjustment of the accelerator pedal stroke opening.

S30: Calculate the deviation between the measured voltage value and the calibrated voltage value, obtain a voltage deviation value Pg, perform reasonable verification on the voltage deviation value, and obtain a voltage deviation verification result.

Wherein, the calibration voltage value is a user-defined voltage value, that is, a theoretical voltage value corresponding to the initial zero position preset by the user, and is used for deviation calculation with the measured voltage value P1 to obtain a voltage deviation value Pg. The voltage deviation value Pg is a value obtained by calculating the deviation between the measured voltage value P1 and the calibrated voltage value P0 by the on-board controller. In this example, the deviation calculation is performed between the measured voltage value P1 and the calibrated voltage value P0. Specifically, the difference between the measured voltage value P1 and the calibrated voltage value P0 can be calculated, and the absolute value of the difference between the two is taken to obtain the voltage deviation value Pg , that is, Pg=|P1-P0|. The voltage deviation verification result is the result obtained after a reasonable verification of the voltage deviation value Pg.

Further, the on-board controller can obtain a voltage deviation verification result by performing a reasonable verification on the voltage deviation value Pg, so as to further adjust the stroke opening of the accelerator pedal according to the voltage deviation verification result. As an example, the specific manner in which the vehicle-mounted controller performs reasonable verification of the voltage deviation value Pg may be to verify the voltage deviation value Pg by using a preset verification rule. As an example, the preset verification rule may be to use the first verification threshold to compare the voltage deviation value Pg, and judge whether the voltage deviation value Pg is reliable or reasonable according to the comparison result of the first verification threshold with the voltage deviation value Pg; or Use other parameters to standardize and weight the voltage deviation value Pg, and judge whether the voltage deviation value Pg is reliable or reasonable according to the results of the standardization and weighting treatment. Preferably, although the result of standardization and weighting processing to verify the voltage deviation value Pg is more accurate, the processing process of standardization and weighting processing is too complicated. Therefore, the preset verification rule can be to use the first verification threshold to verify the voltage deviation The value Pg is compared, and whether the voltage deviation value Pg is reliable or reasonable is judged according to the comparison result.

For example, the measured voltage value is P1 and the calibrated voltage value is P0, and the deviation calculation is performed on the measured voltage value P1 and the calibrated voltage value P0 to obtain a voltage deviation value Pg=|P1-P0|. When the voltage deviation value Pg=|P1-P0| is greater than the first verification threshold M, the voltage deviation verification result is unreasonable; when the voltage deviation value Pg=|P1-P0| The verification result is reasonable.

Understandably, in order to prevent the measured voltage value P1 from being unreliable or unreasonable, the on-board controller first calculates the deviation between the measured voltage value P1 and the calibrated voltage value P0 to obtain the voltage deviation value Pg; and then performs a reasonable verification on the voltage deviation value Pg, In order to adjust the stroke opening of the accelerator pedal according to the verification result of the voltage deviation, and improve the reliability and authenticity of adjusting the stroke opening of the accelerator pedal.

S40: If the voltage deviation verification result is reasonable, obtain a real-time offset according to the voltage deviation value, perform reasonable verification on the real-time offset, and obtain an offset verification result.

Wherein, the real-time offset Py is the voltage offset obtained from the voltage offset value Pg. The offset verification result is a result obtained by reasonably verifying the real-time offset Py.

Since the voltage deviation verification result is the result obtained after a reasonable verification of the voltage deviation value Pg, and the voltage deviation value Pg is a value obtained by calculating the deviation between the measured voltage value P1 and the calibrated voltage value P0, therefore, when the voltage deviation value is calibrated The experimental results are reasonable, and the measured voltage value P1 can truly reflect the voltage at the current position of the accelerator pedal.

As an example, when the voltage deviation verification result is reasonable, the vehicle-mounted controller obtains the real-time deviation Py according to the voltage deviation Pg, specifically, the voltage deviation Pg and the historical deviation Ph can be weighted to obtain the real-time deviation Py Shift Py. For example, since the voltage deviation value is obtained in real time, it can reflect the current offset of the accelerator pedal in real time. However, in order to consider the reliability of the obtained real-time offset, the historical offset needs to be considered at the same time. Therefore, the current period calculated The calculated voltage deviation value Pg has a larger weight, and the stored historical offset Ph has a smaller weight. For example, the voltage deviation value Pg multiplied by 85% of the weight and the historical offset Ph multiplied by 15% of the weight to obtain the real-time offset Quantity Py. Further, the real-time offset Py can also be weighted and accumulated through the set calculation cycle or calculation frequency, for example, a 10ms period, and the real-time offset calculation times can be updated in real time, and the calculation times of the real-time offset Py can be obtained by calculating The real-time offset of Py is saved into memory. Wherein, the historical offset Ph is an offset stored in the memory, specifically, it may be the latest calculated target offset Pt before the current time of the system.

Further, the specific manner for the vehicle-mounted controller to perform reasonable verification of the real-time offset Py may be to verify the real-time offset Py by using a preset verification rule. As an example, the preset verification rule may be to use the second verification threshold to compare the real-time offset Py, and judge whether the real-time offset Py is reliable or not according to the comparison result of the second verification threshold with the real-time offset Py. Reasonable; or use other parameters to standardize and weight the real-time offset Py, and judge whether the real-time offset Py is reliable or reasonable according to the results of the standardization and weighted processing. Preferably, although the results of the normalization and weighting processing for verifying the real-time offset Py are more accurate, the processing process of the standardization and weighting processing is too complicated. Therefore, the preset verification rule can be to use the second verification threshold to verify the real-time The offset Py is compared, and whether the real-time offset Py is reliable or reasonable is judged according to the comparison result. As another example, the specific method for the on-board controller to perform reasonable verification of the real-time offset may be to compare the real-time offset Py with the second verification threshold to obtain the offset verification result; when the real-time offset If the amount Py exceeds the second verification threshold, the offset verification result is unreasonable; when the real-time offset Py does not exceed the second verification threshold, the offset verification result is reasonable.

It can be understood that the real-time offset Py can reflect the voltage offset between the current position of the accelerator pedal and the initial zero position corresponding to the calibrated voltage value, that is, the difference between the current position of the accelerator pedal and the initial zero position corresponding to the theoretical voltage. The opening offset between them; the real-time offset Py is reasonably verified to obtain the offset verification result, and the on-board controller can ensure that the current position of the accelerator pedal is relatively The offset between the initial zero positions corresponding to the theoretical voltage is reasonable to improve the reliability of the adjusted accelerator pedal stroke opening.

S50: If the offset verification result is reasonable, determine the real-time offset as the target offset, obtain the target voltage value according to the measured voltage value and the target offset, and determine the accelerator pedal stroke opening according to the target voltage value .

Wherein, the target offset Pt is the real-time offset Py or historical offset Ph determined for calculating the target voltage value P2 when the offset inspection result is reasonable. The target voltage value P2 is the actual voltage value corresponding to the initial zero position of the accelerator pedal, and is the voltage value used to calculate the stroke opening of the accelerator pedal after adaptive adjustment.

Specifically, when the offset verification result is reasonable, the real-time offset Py is determined as the target offset Pt, and the measured voltage value and the target offset Pt are processed to obtain the target voltage value P2. As an example, the measured voltage value P1 is subtracted from the target offset Pt to obtain the target voltage value P2=P1-Pt, and then the stroke opening of the accelerator pedal is determined according to the target voltage value P2. It can be understood that when the offset verification result is reasonable, the target voltage value P2 obtained through the measured voltage value P1 and the target offset Pt has high reliability and authenticity, therefore, it is determined according to the target voltage value P2 The stroke opening of the accelerator pedal ensures the reliability and authenticity of the stroke opening of the accelerator pedal.

In this embodiment, the on-board controller calculates the voltage deviation value Pg and the real-time offset Py and performs reasonable verification when the vehicle state data meets the pedal adaptive conditions, that is, the adaptive conditions are required, so as to ensure the adaptive adjustment The accuracy of the obtained target voltage value P2 further ensures the reliability and authenticity of determining the stroke opening of the accelerator pedal based on the target voltage value, thereby improving driving safety.

In one embodiment, the accelerator pedal adaptive method further includes: if the vehicle state data does not meet the pedal adaptive condition, the voltage deviation check result is unreasonable, or the offset check result is unreasonable, the historical offset The target offset is determined, the target voltage value is obtained according to the measured voltage value and the target offset, and the stroke opening of the accelerator pedal is determined according to the target voltage value.

As an example, if the vehicle state data does not satisfy the pedal adaptive condition, the historical offset Ph is determined as the target offset Pt, and the target voltage value P2 is obtained according to the measured voltage value P1 and the target offset Pt, and according to the target The voltage value P2 determines the accelerator pedal stroke opening.

As another example, if the voltage deviation verification result is unreasonable, then the historical offset Ph is determined as the target offset Pt, and the target voltage value P2 is obtained according to the measured voltage value P1 and the target offset Pt, and according to the target The voltage value P2 determines the accelerator pedal stroke opening.

As another example, if the offset verification result is unreasonable, the historical offset Ph is determined as the target offset Pt, and the target voltage value P2 is obtained according to the measured voltage value P1 and the target offset Pt, according to The target voltage value P2 determines the stroke opening of the accelerator pedal.

Understandably, when the vehicle state data does not satisfy the pedal adaptive condition, the voltage deviation check result is unreasonable, or the offset check result is unreasonable, the historical offset Ph is used to confirm the target offset Pt, and avoid using The unreasonable measured voltage value calculated at the current moment is used to calculate the target offset Pt, which can improve the reliability of determining the target offset Pt, so that the final accelerator pedal stroke opening is more authentic and accurate.

In this embodiment, when the vehicle state data does not satisfy the pedal adaptive condition, the voltage deviation check result is unreasonable, or the offset check result is unreasonable, the vehicle controller determines the target offset through the historical offset Ph Pt, to avoid using unreasonable measured voltage values to calculate the target offset Pt, can improve the reliability of determining the target offset Pt, so that the final accelerator pedal stroke opening is more authentic and accurate, ensuring Drive safely.

In one embodiment, as shown in FIG. 2, in step S10, the vehicle state data includes the current gear position of the ignition key, the current voltage of the accelerator pedal, the power supply voltage of the voltage sensor, and the current position of the accelerator pedal; obtain the vehicle state data, and judge the vehicle state data Whether the pedal adaptive conditions are met, including:

S11: If the current gear of the ignition key is ON, the current voltage of the accelerator pedal is normal, the power supply voltage of the voltage sensor is normal, and the current position of the accelerator pedal is at the initial zero position, the vehicle state data meets the pedal adaptive conditions.

Specifically, when the current gear of the ignition key is ON, the vehicle is in the starting state; the current position of the accelerator pedal is at the initial zero position, indicating that the driver has not stepped on the accelerator pedal; the current voltage of the accelerator pedal is normal or fault-free and the voltage sensor power supply voltage Normal, at this time the vehicle status data meets the pedal adaptive conditions. When the driver depresses the accelerator pedal, the on-board controller starts to obtain the measured voltage value in real time, which can improve the reliability of the measured voltage value obtained by the on-board controller.

S12: If at least one of the current gear of the ignition key is not ON, the current voltage of the accelerator pedal is abnormal, the power supply voltage of the voltage sensor is abnormal, and the current position of the accelerator pedal is not at the initial zero position, the vehicle state data does not meet the requirements of the pedal. Adaptive conditions.

Specifically, when the current gear of the ignition key is not ON, that is, the vehicle is not started; or, the current voltage of the accelerator pedal is abnormal, that is, the accelerator pedal is faulty; or, the power supply voltage of the voltage sensor is abnormal; or, the current position of the accelerator pedal is not in the initial zero position; that is, when at least one of the above situations occurs, the vehicle state data does not meet the pedal adaptive condition. High accuracy, easy to affect driving safety.

In this embodiment, the on-board controller determines whether the vehicle state data is by judging whether the ignition key gear is ON, whether the current voltage of the accelerator pedal is normal, whether the power supply voltage of the voltage sensor is normal, and whether the current position of the accelerator pedal is at the initial zero position. The pedal adaptation condition is met. When the vehicle state data meets the pedal adaptive condition, the on-board controller starts to obtain the measured voltage value in real time, which can improve the reliability of the measured voltage value obtained by the on-board controller.

In one embodiment, as shown in FIG. 3, in step S20, real-time acquisition of the measured voltage value at the current position of the accelerator pedal includes:

S21: When the accelerator pedal is depressed to the current position, obtain the initial voltage value collected by the voltage sensor in real time within the preset calibration time.

Wherein, the preset calibration time is a custom-set time, which is set independently according to the historical number of adjustments to the stroke opening of the accelerator pedal by the on-board controller. The initial voltage value is an unprocessed voltage at the current position of the accelerator pedal collected in real time by the voltage sensor set on the accelerator pedal.

Specifically, when the accelerator pedal is depressed to the current position, the on-board controller acquires the initial voltage value collected by the voltage sensor in real time according to the preset voltage acquisition rule within the preset calibration time. Wherein, the preset voltage acquisition rule may be acquired in real time, or acquired according to a preset acquisition frequency. For example, when the accelerator pedal is depressed to the current position, the on-board controller acquires the initial voltage value collected by the voltage sensor in real time within the preset calibration time T in real time. For another example, when the accelerator pedal is depressed to the current position, the on-board controller acquires the initial voltage value collected by the voltage sensor in real time in a period of 10 ms within the preset calibration time T.

S22: Filter and average the initial voltage value to obtain the measured voltage value at the current position of the accelerator pedal.

Specifically, the initial voltage value is filtered and averaged, and the measured voltage value at the current position of the accelerator pedal is obtained to ensure the reliability and stability of the obtained measured voltage value.

As an example, the vehicle-mounted controller obtains the initial voltage value V1, the initial voltage value V2, and the initial voltage value Vn within the preset calibration time T, and performs low-pass on the initial voltage value V1, the initial voltage value V2, and the initial voltage value Vn respectively. After filtering, average value processing is performed to obtain the measured voltage value P1=(V1+V2+...+Vn)/n.

In this embodiment, when the accelerator pedal is depressed to the current position, the initial voltage value collected by the voltage sensor in real time within the preset calibration time is obtained, and the initial voltage value is filtered and averaged to obtain the actual measured value at the current position of the accelerator pedal. Voltage value, to ensure the reliability and stability of the obtained measured voltage value.

In one embodiment, as shown in FIG. 4, in step S30, the deviation calculation is performed on the measured voltage value and the calibrated voltage value, the voltage deviation value is obtained, the voltage deviation is reasonably verified, and the voltage deviation verification result is obtained, including:

S31: Determine the absolute value of the voltage difference between the measured voltage value and the calibrated voltage value as a voltage deviation value.

Specifically, since the voltage deviation value Pg can reflect the deviation between the current position of the accelerator pedal and the initial zero position of the accelerator pedal, when performing a reasonable check on the voltage deviation value Pg, only the value of the voltage deviation value Pg is compared, and the value is not Compare the positive and negative meanings. Therefore, the on-board controller determines the absolute value of the voltage difference between the measured voltage value P1 and the calibrated voltage value P0 as the voltage deviation value Pg.

S32: If the voltage deviation value is greater than the preset deviation value, obtain an unreasonable voltage deviation verification result.

S33: If the voltage deviation value is not greater than the preset deviation value, obtain a reasonable voltage deviation verification result.

Wherein, the preset deviation value is a user-defined threshold value, which is used to check whether the voltage deviation value Pg is reasonable. As an example, the vehicle-mounted controller may perform reasonable verification on the voltage deviation value Pg=|P1-P0| according to the preset deviation value to obtain a voltage deviation verification result. For example, when the voltage deviation value Pg=|P1-P0| exceeds the preset deviation value, the voltage deviation verification result is unreasonable; when the voltage deviation value Pg=|P1-P0| does not exceed the preset deviation value, the voltage deviation verification The result is reasonable. Understandably, in order to prevent the measured voltage value from being unreliable or unreasonable, the on-board controller performs a reasonable check on the voltage deviation value Pg, so as to adjust the accelerator pedal stroke opening according to the voltage deviation check result, and improve the accuracy of the accelerator pedal stroke. The opening is adjusted for reliability and authenticity.

In this embodiment, in order to prevent the measured voltage value from being unreliable or unreasonable, the vehicle-mounted controller conducts a reasonable check on the voltage deviation value Pg, so as to adjust the stroke opening of the accelerator pedal according to the voltage deviation check result, and improve the accuracy of acceleration. The pedal stroke opening is adjusted for reliability and authenticity.

In one embodiment, as shown in FIG. 5, in step S40, the real-time offset is obtained according to the voltage deviation value, a reasonable check is performed on the real-time offset, and the offset check result is obtained, including:

S41: Based on the preset weight and the preset calculation period, weighted calculation is performed on the voltage deviation value and the historical offset to obtain the real-time offset.

Wherein, the preset weight is a custom-set weight, including a voltage deviation weight Wg and a historical deviation weight Wh, and the voltage deviation weight Wg is greater than the historical deviation weight Wh. The preset calculation cycle is a custom-set cycle used for calculating the real-time offset Py. It should be noted that the historical offset Ph may be an offset stored in a memory, and may be a real-time offset Py calculated in a previous preset calculation period.

As an example, it is assumed that the preset calculation cycle is calculated every 10 ms, the voltage deviation weight Wg=75%, and the history deviation weight Wh=25%. Obtain the voltage deviation value Pg and the historical offset Ph in a certain preset calculation period, carry out weighted calculation on the voltage deviation value Pg and the historical offset Ph, and obtain the real-time offset Py=75%*Pg+25%*Ph .

Further, the weighted calculation is performed on the voltage deviation value Pg and the historical offset Ph corresponding to multiple preset calculation periods, and the real-time offset Py obtained in each preset calculation period is stored in the memory.

It can be understood that the on-board controller performs weighted calculations on the voltage deviation Pg and the historical offset Ph based on the preset weight and preset calculation period to obtain the real-time offset Py, which can improve the stability of the real-time offset Py.

S42: Perform a reasonable check on the real-time offset based on the preset offset threshold, and obtain an offset check result.

Wherein, the preset offset threshold is a custom-set threshold, which is used for reasonable verification of the real-time offset Py.

As an example, the real-time offset Py is verified. When the real-time offset Py exceeds the preset offset threshold, the offset verification result is unreasonable; when the real-time offset Py does not exceed the preset offset threshold, and the offset verification result is reasonable. It can be understood that the on-board controller performs a reasonable check on the real-time offset Py, which can improve the reliability of the real-time offset Py.

In this embodiment, the on-board controller performs weighted calculations on the voltage deviation value Pg and the historical offset Ph based on the preset weight and preset calculation cycle to obtain the real-time offset Py, which can improve the stability of the real-time offset Py Reliability; a reasonable verification of the real-time offset Py can improve the reliability of the real-time offset Py.

In one embodiment, as shown in FIG. 6, in step S50, the target voltage value is obtained according to the measured voltage value and the target offset, and the stroke opening of the accelerator pedal is determined according to the target voltage value, including:

S51: Determine the difference between the measured voltage value and the target offset as the target voltage value.

Specifically, the on-board controller determines the difference between the measured voltage value P1 and the target offset Pt as the target voltage value P2. At this time, the target offset is the offset between the measured voltage value and the target voltage value. Therefore, the on-board controller determines the difference between the measured voltage value P1 and the target offset Pt as the target voltage value P2, and the target voltage value P2 can reflect the actual initial zero position of the accelerator pedal corresponding to the actual travel opening of the accelerator pedal. Voltage value.

S52: Determine the stroke opening of the accelerator pedal according to the target voltage value and the standard voltage mapping table.

Wherein, the standard voltage mapping table is a mapping table in which the voltage value corresponding to the initial zero position of the accelerator pedal is mapped to the stroke opening of the accelerator pedal when there is no deviation in the stroke opening of the accelerator pedal. In this embodiment, the accelerator pedal stroke opening corresponding to the target voltage value P2 can be determined from the standard voltage mapping table according to the target voltage value P2.

In this embodiment, the on-board controller determines the difference between the measured voltage value and the target offset Pt as the target voltage value P2, which can reflect the accelerator pedal voltage value corresponding to the actual stroke opening of the accelerator pedal, and the target voltage value P2 has undergone multiple reasonable checks, which helps to ensure the accuracy and reliability of the target voltage value; then, according to the target voltage value P2 and the standard voltage mapping table, the accelerator pedal stroke opening is determined, and the automatic adjustment of the accelerator pedal stroke opening is improved. Adapt to the authenticity of adjustments to ensure driving safety.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present invention.

In one embodiment, a vehicle-mounted controller is provided. The vehicle-mounted controller may be a server, and its internal structure may be as shown in FIG. 7 . The onboard controller includes a processor, a memory, a network interface and a database connected through a system bus. Wherein, the processor of the on-board controller is used to provide calculation and control capabilities. The memory of the vehicle controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, an adaptive program and a database. The internal memory provides an environment for the operation of the operating system and adaptive programs in the non-volatile storage medium. The on-board controller's database is used for adaptive adaptation of the accelerator pedal. The network interface of the vehicle-mounted controller is used to communicate with an external terminal through a network connection. When the adaptive program is executed by the processor, an accelerator pedal adaptive method is realized.

In one embodiment, a vehicle-mounted controller is provided, including a memory, a processor, and an adaptive program stored on the memory and operable on the processor. When the processor executes the adaptive program, the accelerator pedal in the above-mentioned embodiment is implemented. The adaptive method, such as step S10 to step S50, is not repeated here to avoid repetition.

In one embodiment, a car is provided, including the vehicle-mounted controller in the above-mentioned embodiment, the vehicle-mounted controller implements the accelerator pedal adaptive method in the above-mentioned embodiment when the car is running, for example, step S10 to step S50, in order to avoid repetition, no more details are given here.

In one embodiment, a computer-readable storage medium is provided, and an adaptive program is stored on the computer-readable storage medium. When the adaptive program is executed by a processor, the accelerator pedal adaptive method in the above-mentioned embodiments is implemented, such as step S10 To step S50, in order to avoid repetition, details will not be repeated here.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing related hardware through an adaptive program, and the adaptive program can be stored in a non-volatile computer-readable When the adaptive program is executed, the adaptive program may include the processes of the embodiments of the above-mentioned methods. Wherein, any references to memory, storage, database or other media used in the various embodiments provided in the present application may include non-volatile and/or volatile memory. Nonvolatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above.

The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still carry out the foregoing embodiments Modifications to the technical solutions recorded in the examples, or equivalent replacement of some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should be included in within the protection scope of the present invention.

Claims (10)

1. An accelerator pedal adaptive method, characterized in that, comprising: Acquiring vehicle state data, and judging whether the vehicle state data satisfies the pedal adaptive condition; If the vehicle state data satisfies the pedal adaptive condition, then collect the measured voltage value at the current position of the accelerator pedal in real time; Perform deviation calculation on the measured voltage value and the calibrated voltage value to obtain a voltage deviation value, perform reasonable verification on the voltage deviation value, and obtain a voltage deviation verification result; If the voltage deviation verification result is reasonable, then obtain a real-time offset according to the voltage deviation value, perform a reasonable verification on the real-time offset, and obtain an offset verification result; If the offset verification result is reasonable, then determine the real-time offset as a target offset, obtain a target voltage value according to the measured voltage value and the target offset, and obtain a target voltage value according to the target The voltage value determines the accelerator pedal travel opening. 2. The accelerator pedal adaptive method according to claim 1, characterized in that, the accelerator pedal adaptive method further comprises: If the vehicle state data does not satisfy the pedal adaptive condition, the voltage deviation check result is unreasonable or the offset check result is unreasonable, then determine the historical offset as the target offset, according to The measured voltage value and the target offset are used to obtain a target voltage value, and an accelerator pedal stroke opening is determined according to the target voltage value. 3. The accelerator pedal adaptive method according to claim 1, wherein the vehicle state data includes the current gear of the ignition key, the current voltage of the accelerator pedal, the supply voltage of the voltage sensor and the current position of the accelerator pedal; The acquisition of vehicle state data and judging whether the vehicle state data satisfies pedal adaptive conditions include: If the current gear of the ignition key is the ON gear, the current voltage of the accelerator pedal is normal, the power supply voltage of the voltage sensor is normal, and the current position of the accelerator pedal is at the initial zero position, then the vehicle state data meets the pedal adaptive condition; If at least one of the current gear of the ignition key is not ON, the current voltage of the accelerator pedal is abnormal, the power supply voltage of the voltage sensor is abnormal, and the current position of the accelerator pedal is not at the initial zero position, the vehicle state data does not meet the requirements of the pedal. Adaptive conditions. 4. The accelerator pedal adaptive method according to claim 1, wherein the real-time acquisition of the measured voltage value at the current position of the accelerator pedal comprises: When the accelerator pedal is depressed to the current position, obtain the initial voltage value collected by the voltage sensor in real time within the preset calibration time; The initial voltage value is filtered and averaged to obtain the measured voltage value at the current position of the accelerator pedal. 5. The accelerator pedal self-adaptive method according to claim 1, characterized in that, performing deviation calculation on the measured voltage value and the calibrated voltage value, obtaining a voltage deviation value, and performing a reasonable check on the voltage deviation, Obtain the voltage deviation verification results, including: Determining the absolute value of the voltage difference between the measured voltage value and the calibrated voltage value as the voltage deviation value; If the voltage deviation value is greater than a preset deviation value, an unreasonable voltage deviation verification result is obtained; If the voltage deviation value is not greater than the preset deviation value, a reasonable voltage deviation verification result is obtained. 6. The accelerator pedal self-adaptive method according to claim 1, wherein the real-time offset is obtained according to the voltage deviation value, a reasonable check is performed on the real-time offset, and the offset correction is obtained. test results, including: Based on the preset weight and preset calculation cycle, the weighted calculation is performed on the voltage deviation value and the historical offset to obtain the real-time offset; Based on the preset offset threshold, a reasonable check is performed on the real-time offset to obtain an offset check result. 7. The accelerator pedal adaptive method according to claim 1, wherein the target voltage value is obtained according to the measured voltage value and the target offset, and the accelerator pedal stroke is determined according to the target voltage value opening, including: determining the difference between the measured voltage value and the target offset as the target voltage value; According to the target voltage value and the standard voltage mapping table, the stroke opening of the accelerator pedal is determined. 8. A vehicle-mounted controller, comprising a memory, a processor and an adaptive program stored in the memory and operable on the processor, characterized in that, when the processor executes the adaptive program, it realizes The accelerator pedal adaptive method according to any one of claims 1-7. 9. An automobile, characterized in that it comprises the on-board controller according to claim 8, and the on-board controller implements the accelerator pedal adaptive method according to any one of claims 1 to 7 when the automobile is running. 10. A computer-readable storage medium, the computer-readable storage medium stores an adaptive program, characterized in that, when the adaptive program is executed by a processor, the acceleration described in any one of claims 1 to 7 is realized Pedal adaptation method.