CN115949511B - Vehicle control method, device and vehicle - Google Patents
Vehicle control method, device and vehicle Download PDFInfo
- Publication number
- CN115949511B CN115949511B CN202310021040.3A CN202310021040A CN115949511B CN 115949511 B CN115949511 B CN 115949511B CN 202310021040 A CN202310021040 A CN 202310021040A CN 115949511 B CN115949511 B CN 115949511B
- Authority
- CN
- China
- Prior art keywords
- target
- accelerator
- accelerator opening
- vehicle
- throttle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
本申请提供一种车辆控制方法、装置及车辆，涉及车辆控制技术领域，该方法包括：在车辆运行的过程中，获取初始油门开度以及车辆的油门变化速率；根据油门变化速率以及初始油门开度，确定油门的目标滤波系数；根据目标滤波系数对初始油门开度进行信号滤波得到目标油门开度；其中，目标滤波系数与油门变化速率的绝对值负相关；目标滤波系数与初始油门开度负相关。本申请提供的车辆控制方法、装置及车辆，能够根据不同的油门开度动态调整滤波参数，使得控制系统的反应更加及时和准确，确保了不同车辆操控的一致性。
The present application provides a vehicle control method, device and vehicle, which relates to the field of vehicle control technology. The method includes: during the operation of the vehicle, obtaining the initial throttle opening and the throttle change rate of the vehicle; determining the target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening; filtering the initial throttle opening according to the target filter coefficient to obtain the target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening. The vehicle control method, device and vehicle provided in the present application can dynamically adjust the filter parameters according to different throttle openings, so that the control system responds more promptly and accurately, ensuring the consistency of different vehicle operations.
Description
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method and apparatus, and a vehicle.
Background
With the development of vehicle control technology, an electric control engine is mostly used for braking and controlling a vehicle in the market at present, and the acceleration and deceleration operations of a driver are performed by stepping on an accelerator in different degrees, so that the position of the accelerator pedal is converted into a voltage signal, the voltage signal is converted into an accelerator opening, and the expected torque is calculated based on the accelerator opening.
In the related art, the electronic accelerator itself has characteristics of light structure, small resistance and sensitive response, but too sensitive accelerator characteristics may also have adverse effects. For example, the torque output of the engine may be unstable, especially in some bumpy road conditions, high-frequency accelerator fluctuation may be caused, and further problems of serious torque output fluctuation, large vibration noise and high oil consumption may be caused.
In order to alleviate adverse effects caused by accelerator fluctuation, sectional filtering based on accelerator opening is generally set in the prior art, however, because the filtering constant after grouping setting confirmation is fixed and cannot be adjusted along with the accelerator fluctuation condition, responsiveness of acceleration and deceleration cannot be met, and use requirements of different scenes cannot be considered.
Disclosure of Invention
The application aims to provide a vehicle control method and device and a vehicle, which can dynamically adjust filtering parameters according to different throttle openings, so that the response of a control system is more timely and accurate, and the control consistency of different vehicles is ensured.
The application provides a vehicle control method, comprising the following steps:
The method comprises the steps of obtaining an initial accelerator opening and an accelerator change rate of a vehicle in the running process of the vehicle, determining a target filter coefficient of the accelerator according to the accelerator change rate and the initial accelerator opening, and carrying out signal filtering on the initial accelerator opening according to the target filter coefficient to obtain the target accelerator opening, wherein the target filter coefficient is inversely related to an absolute value of the accelerator change rate, and the target filter coefficient is inversely related to the initial accelerator opening.
The method comprises the steps of obtaining throttle change rates, wherein the throttle change rates comprise the steps of sampling throttle openings according to a preset period to obtain a plurality of throttle openings, calculating a target difference value according to the difference between a first throttle opening obtained by the last sampling in the plurality of throttle openings and a second throttle opening obtained by the earliest sampling in the plurality of throttle openings, calculating a target duration according to the product of sampling interval time and the preset quantity, and determining the quotient of the target difference value and the target duration as the throttle change rate.
Optionally, after determining the target filter coefficient of the accelerator according to the accelerator change rate and the initial accelerator opening, the method further comprises the steps of filtering the accelerator opening according to the target filter coefficient to obtain a filtered accelerator opening and a fluctuation value of the accelerator opening, and determining the accelerator opening filtered at the current moment as a target static accelerator value when the running state of the vehicle meets a preset condition and continuously exceeds a preset duration, wherein the preset condition comprises that the current accelerator opening of the vehicle is smaller than a preset opening threshold, the current speed of the vehicle is smaller than a preset speed threshold, the fluctuation value of the accelerator opening is smaller than a threshold fluctuation threshold, and the target static accelerator value is used for indicating the accelerator opening of the vehicle under unmanned operation.
Optionally, the method further comprises the steps of storing the target static throttle value into a controller of the vehicle after determining the target static throttle value by determining the throttle opening after filtering at the current moment as the target static throttle value when the running state of the vehicle meets the preset condition and exceeds the preset duration, and updating the target static throttle value when the running state of the vehicle meets the preset condition and exceeds the preset duration.
Optionally, the step of performing signal filtering on the initial accelerator opening according to the target filter coefficient to obtain a target accelerator opening includes the steps of performing signal filtering on the initial accelerator opening according to the target filter coefficient to obtain a first target accelerator opening, correcting the first target accelerator opening based on the target static accelerator value to obtain a second accelerator opening, and determining the second accelerator opening as the target accelerator opening.
The present application also provides a vehicle control apparatus including:
The system comprises an acquisition module, a determination module, a filtering module and a filtering module, wherein the acquisition module is used for acquiring an initial accelerator opening and an accelerator change rate of a vehicle in the running process of the vehicle, the determination module is used for determining a target filter coefficient of an accelerator according to the accelerator change rate and the initial accelerator opening, the filtering module is used for carrying out signal filtering on the initial accelerator opening according to the target filter coefficient to obtain the target accelerator opening, the target filter coefficient is inversely related to an absolute value of the accelerator change rate, and the target filter coefficient is inversely related to the initial accelerator opening.
The system comprises an acquisition module, a determination module, a target difference value calculation module and a determination module, wherein the acquisition module is also used for sampling the accelerator opening according to a preset period to obtain a plurality of accelerator openings, the determination module is also used for calculating a target difference value according to the difference between a first accelerator opening obtained by the last sampling in the plurality of accelerator openings and a second accelerator opening obtained by the earliest sampling in the plurality of accelerator openings, and calculating a target duration according to the product of sampling interval time and the preset number, and the determination module is also used for determining the quotient of the target difference value and the target duration as the accelerator change rate.
The system comprises a filtering module, a determining module and a control module, wherein the filtering module is further used for filtering signals of the accelerator opening according to the target filtering coefficient to obtain the filtered accelerator opening and a fluctuation value of the accelerator opening, the determining module is further used for determining the accelerator opening filtered at the current moment as a target static accelerator value under the condition that the running state of the vehicle meets preset conditions and continuously exceeds preset duration, the preset conditions comprise that the current accelerator opening of the vehicle is smaller than a preset opening threshold value, the current speed of the vehicle is smaller than a preset speed threshold value, the fluctuation value of the accelerator opening is smaller than a threshold fluctuation threshold value, and the target static accelerator value is used for indicating the accelerator opening of the vehicle under unmanned operation.
Optionally, the device further comprises an updating module, wherein the updating module is used for storing the target static throttle value into a controller of the vehicle and updating the target static throttle value when the running state of the vehicle meets the preset condition and continuously exceeds the preset duration.
Optionally, the filtering module is specifically configured to perform signal filtering on the initial accelerator opening according to the target filtering coefficient to obtain a first target accelerator opening, and the determining module is further configured to correct the first target accelerator opening based on the target static accelerator value to obtain a second accelerator opening, and determine the second accelerator opening as the target accelerator opening.
The application also provides a computer program product comprising computer programs/instructions which when executed by a processor implement the steps of a vehicle control method as described in any one of the above.
The application also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the vehicle control method as described in any one of the above when executing the program.
The application also provides a vehicle comprising a computer program/instruction which, when executed by a processor, performs the steps of a vehicle control method as described in any one of the above.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a vehicle control method as described in any of the above.
The vehicle control method, the vehicle control device and the vehicle are characterized in that an initial accelerator opening and an accelerator change rate of the vehicle are firstly obtained in the running process of the vehicle, then a target filter coefficient of an accelerator is determined according to the accelerator change rate and the initial accelerator opening, finally the initial accelerator opening is subjected to signal filtering according to the target filter coefficient to obtain the target accelerator opening, wherein the target filter coefficient is inversely related to an absolute value of the accelerator change rate, and the target filter coefficient is inversely related to the initial accelerator opening. Therefore, the vehicle can dynamically adjust the filtering parameters according to different throttle opening degrees, so that the response of the control system is more timely and accurate, the timeliness of acceleration and deceleration responses of various road sections can be met, the control consistency of different vehicles is ensured, and the use requirements of different scenes can be met.
Drawings
In order to more clearly illustrate the application or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a vehicle control method according to the present application;
FIG. 2 is a schematic diagram showing the relationship between the filter coefficient and the throttle change rate and the throttle opening provided by the application;
FIG. 3 is a second flow chart of the vehicle control method according to the present application;
FIG. 4 is a schematic view of a vehicle control apparatus according to the present application;
fig. 5 is a schematic structural diagram of an electronic device provided by the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
In the related art, the electronic accelerator has the following technical problems that 1, an original signal noise signal output by the electronic accelerator is large, filtering processing is needed, otherwise, torque output of an engine is influenced, and drivability and vehicle oil consumption are further influenced, but if a large filtering coefficient is adopted, stability under the stable condition of the accelerator is met, and rapid acceleration or rapid deceleration is caused, so that untimely reaction is caused. 2. The driver wants to control the vehicle as stably as possible at a small throttle, and the driver needs to avoid the severe fluctuation of the throttle, but the driver in a large throttle state wants the response of the throttle to be timely, such as a typical working condition of overtaking midway. 3. Because the initial throttle state of the vehicle in the free state is different due to the system error, the difference needs to be processed, and the follow-up fine control is convenient.
Aiming at the technical problems in the related art, the embodiment of the application provides a vehicle control method which can dynamically adjust the filtering parameters according to the opening degree and the opening degree change rate of an accelerator, so that the system response is more timely and accurate, and is more flexible and effective than the traditional stage filtering mode. Meanwhile, the reaction speed and stability of the accelerator are considered, the accelerator is in line with the intention of a driver, the manual teaching work of the system is avoided by the way of self-learning of the accelerator, and the control consistency of different vehicles is ensured.
The vehicle control method provided by the embodiment of the application is described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.
As shown in fig. 1, a vehicle control method provided in an embodiment of the present application may include the following steps 101 to 103:
step 101, acquiring an initial accelerator opening and an accelerator change rate of the vehicle in the running process of the vehicle.
For example, in the running process of the vehicle, the accelerator signal generated by the electronic accelerator, that is, the initial accelerator opening degree, may be obtained in real time.
For example, the throttle change rate of a vehicle can reflect to some extent how hard the driver is driving the vehicle. According to the throttle change rate, the filter coefficient of the throttle signal can be dynamically adjusted so as to enable the vehicle to adapt to different driving scenes.
Specifically, in the step 101, the step of acquiring the accelerator change rate of the vehicle may include the following steps 101a1 to 101a3:
step 101a1, sampling the accelerator opening according to a preset period to obtain a plurality of accelerator openings.
Step 101a2, calculating to obtain a target difference value according to a difference between a first accelerator opening obtained by the last sampling in the plurality of accelerator openings and a second accelerator opening obtained by the earliest sampling in the plurality of accelerator openings, and calculating to obtain a target duration according to a product of a sampling interval time and the preset number.
Step 101a3, determining the quotient of the target difference value and the target duration as the throttle change rate.
For example, during operation of the vehicle, the controller of the vehicle may periodically sample the accelerator opening of the vehicle, that is, the accelerator opening is sampled once at intervals (for example, 0.01 seconds), to obtain a plurality of accelerator openings.
For example, after obtaining a plurality of accelerator opening degrees, the accelerator change rate may be calculated based on the following formula one:
wherein alpha is the throttle change rate, f (a) t is the throttle opening at the time t, a is the number of sampling interval periods, and dt is the sampling period.
For example, based on the above formula one, the throttle change rate at the current time may be calculated in real time.
And 102, determining a target filter coefficient of the accelerator according to the accelerator change rate and the initial accelerator opening.
The target filter coefficient is inversely related to the absolute value of the throttle change rate, and the target filter coefficient is inversely related to the initial throttle opening.
For example, the target filter coefficient of the accelerator may be determined based on the accelerator change rate calculated in the above step and the accelerator opening at the current time (i.e., the above initial accelerator opening).
Specifically, in the embodiment of the application, the thought of setting the filter coefficient is to ensure the throttle change sensitivity and the stability of the throttle in a static state preferentially, so that the filter coefficient is obviously smaller in a larger absolute value throttle change rate than in a smaller throttle change rate. Meanwhile, the influence of the throttle opening is considered, and the filter coefficient corresponding to the smaller throttle opening is larger than that corresponding to the larger throttle opening.
Illustratively, as shown in fig. 2, based on the above-described setting concept, the accelerator filter coefficient is maximum when the absolute value of the accelerator change rate is small and the accelerator opening degree is small, the accelerator filter coefficient is small when the absolute value of the accelerator change rate is large and the accelerator opening degree is small, the accelerator filter coefficient is minimum when the absolute value of the accelerator change rate is large and the accelerator opening degree is large, and the accelerator filter coefficient is large when the absolute value of the accelerator change rate is small and the accelerator opening degree is large. As can be seen from fig. 2, the influence of the accelerator opening on the accelerator filter system is smaller than the influence of the accelerator change rate on the accelerator filter coefficient.
And 103, carrying out signal filtering on the initial accelerator opening according to the target filter coefficient to obtain a target accelerator opening.
For example, after determining the target filter coefficient in real time according to the accelerator change rate and the accelerator opening, the signal filtering processing may be performed on the accelerator opening based on the target filter coefficient, to obtain the processed target accelerator opening.
Illustratively, controlling the vehicle based on the target accelerator opening may make the vehicle react to the accelerator more quickly and stably.
Optionally, in the embodiment of the present application, the initial accelerator opening of the vehicle in the free state is different due to the systematic error, so that the difference needs to be processed, so that the subsequent fine control is convenient.
Specifically, after the step 102, the vehicle control method provided in the embodiment of the present application may further include the following steps 102a1 and 102a2:
step 102a1, performing signal filtering on the accelerator opening according to the target filter coefficient to obtain the accelerator opening after filtering and a fluctuation value of the accelerator opening.
Illustratively, after the signal filtering process is performed on the accelerator opening based on the above-described target filter coefficient, the fluctuation value of the accelerator opening is close to zero in the unmanned operation state of the vehicle. Based on this, it is possible to determine whether the accelerator of the vehicle is in a free state based on the fluctuation value of the accelerator opening.
Step 102a2, determining the accelerator opening after filtering at the current moment as a target static accelerator value and determining the target static accelerator value under the condition that the running state of the vehicle meets the preset condition and continuously exceeds the preset duration.
The preset conditions comprise that the current accelerator opening of the vehicle is smaller than a preset opening threshold, the current speed of the vehicle is smaller than a preset speed threshold, the fluctuation value of the accelerator opening is smaller than a threshold fluctuation threshold, and the static accelerator value is used for indicating the accelerator opening of the vehicle under unmanned operation.
It is understood that the filtered throttle opening does not have any fluctuation in value in the case where the throttle of the vehicle is in a free state.
For example, when it is determined that the throttle of the vehicle is in a free state, the throttle opening at that time may be recorded, and the throttle opening may be determined as a static throttle value.
For example, the static throttle value may be stored in the controller, so that the controller can call the static throttle value at any time.
Illustratively, after the step 102a3, the vehicle control method provided in the embodiment of the present application may further include the following step 102a4:
Step 102a4, storing the static throttle value into a controller of the vehicle, and updating the static throttle value when the running state of the vehicle meets the preset condition and exceeds the preset duration.
For example, after the vehicle is powered on each time, the stored static throttle value can be read from the controller, and meanwhile, the read throttle value is calculated according to the following formula II, so as to obtain the throttle opening after processing:
Wherein B is the throttle opening after eliminating the static error, namely the target throttle opening, B is the throttle opening after filtering, and B 0 is the static throttle opening to be updated stored in the controller.
Specifically, the step 103 may include the following steps 103a1 and 103a2:
Step 103a1, performing signal filtering on the initial accelerator opening according to the target filter coefficient to obtain a first target accelerator opening.
Step 103a2, correcting the first target accelerator opening based on the target static accelerator value to obtain a second accelerator opening, and determining the second accelerator opening as the target accelerator opening.
Illustratively, as shown in fig. 3, after the vehicle starts running, the throttle signal (i.e., the throttle opening) is sampled, and the throttle change rate is calculated. Then, a filter coefficient (i.e., the target filter coefficient) is determined according to the change rate of the accelerator and the accelerator opening. Based on the filter coefficients, the static throttle value may be updated when it is identified that the throttle is in a free state. And finally, filtering the accelerator signal based on the filter coefficient, correcting the filtered accelerator signal based on the static accelerator value, and outputting a final accelerator signal.
The vehicle control method comprises the steps of firstly obtaining an initial accelerator opening and an accelerator change rate of a vehicle in the running process of the vehicle, then determining a target filter coefficient of an accelerator according to the accelerator change rate and the initial accelerator opening, and finally carrying out signal filtering on the initial accelerator opening according to the target filter coefficient to obtain the target accelerator opening, wherein the target filter coefficient is inversely related to the absolute value of the accelerator change rate, and the target filter coefficient is inversely related to the initial accelerator opening. Therefore, the vehicle can dynamically adjust the filtering parameters according to different throttle opening degrees, so that the response of the control system is more timely and accurate, the timeliness of the acceleration and deceleration response of various road sections can be met, the control consistency of different vehicles is ensured, and the use requirements of different scenes can be met.
It should be noted that, in the vehicle control method provided in the embodiment of the present application, the execution body may be a vehicle control device, or a control module in the vehicle control device for executing the vehicle control method. In the embodiment of the present application, a vehicle control device executes a vehicle control method as an example, and the vehicle control device provided in the embodiment of the present application is described.
In the embodiment of the present application, the method is shown in the drawings. The vehicle control methods are each exemplified by one of the drawings in combination with the embodiment of the present application. In specific implementation, the vehicle control method shown in the above method drawings may also be implemented in combination with any other drawing that may be combined and is illustrated in the above embodiment, and will not be described herein.
The vehicle control apparatus provided by the present application will be described below, and the vehicle control method described below and the vehicle control method described above may be referred to in correspondence with each other.
Fig. 4 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application, as shown in fig. 4, specifically including:
The system comprises an acquisition module 401, a determination module 402, a filtering module 403 and a control module, wherein the acquisition module is used for acquiring an initial accelerator opening and an accelerator change rate of a vehicle in the running process of the vehicle, the determination module 402 is used for determining a target filter coefficient of an accelerator according to the accelerator change rate and the initial accelerator opening, the filtering module 403 is used for carrying out signal filtering on the initial accelerator opening according to the target filter coefficient to obtain the target accelerator opening, the target filter coefficient is inversely related to an absolute value of the accelerator change rate, and the target filter coefficient is inversely related to the initial accelerator opening.
Optionally, the obtaining module 401 is further configured to sample the accelerator openings according to a preset period to obtain a plurality of accelerator openings, the determining module 402 is further configured to calculate a target difference value according to a difference between a first accelerator opening obtained by a last sampling in the plurality of accelerator openings and a second accelerator opening obtained by an earliest sampling in the plurality of accelerator openings, and calculate a target duration according to a product of a sampling interval time and the preset number, and the determining module 402 is further configured to determine a quotient of the target difference value and the target duration as the accelerator change rate.
Optionally, the filtering module 403 is further configured to perform signal filtering on the accelerator opening according to the target filtering coefficient to obtain a filtered accelerator opening and a fluctuation value of the accelerator opening, and the determining module 402 is further configured to determine, when an operation state of the vehicle meets a preset condition and continuously exceeds a preset duration, the accelerator opening filtered at the current moment as a target static accelerator value, where the preset condition includes that a current accelerator opening of the vehicle is less than a preset opening threshold, a current speed of the vehicle is less than a preset speed threshold, and the fluctuation value of the accelerator opening is less than a threshold fluctuation threshold, and the target static accelerator value is used to indicate the accelerator opening of the vehicle under unmanned operation.
Optionally, the device further comprises an updating module, wherein the updating module is used for storing the target static throttle value into a controller of the vehicle and updating the target static throttle value when the running state of the vehicle meets the preset condition and continuously exceeds the preset duration.
Optionally, the filtering module 403 is specifically configured to perform signal filtering on the initial accelerator opening according to the target filter coefficient to obtain a first target accelerator opening, and the determining module 402 is further configured to correct the first target accelerator opening based on the target static accelerator value to obtain a second accelerator opening, and determine the second accelerator opening as the target accelerator opening.
The vehicle control device comprises a first step of acquiring an initial accelerator opening and an accelerator change rate of a vehicle in the running process of the vehicle, a second step of determining a target filter coefficient of an accelerator according to the accelerator change rate and the initial accelerator opening, and a third step of performing signal filtering on the initial accelerator opening according to the target filter coefficient to obtain the target accelerator opening, wherein the target filter coefficient is inversely related to an absolute value of the accelerator change rate, and the target filter coefficient is inversely related to the initial accelerator opening. Therefore, the vehicle can dynamically adjust the filtering parameters according to different throttle opening degrees, so that the response of the control system is more timely and accurate, the timeliness of the acceleration and deceleration response of various road sections can be met, the control consistency of different vehicles is ensured, and the use requirements of different scenes can be met.
Fig. 5 illustrates a physical schematic diagram of an electronic device, which may include a processor (processor) 510, a communication interface (Communications Interface) 520, a memory (memory) 430, and a communication bus 540, where the processor 510, the communication interface 520, and the memory 530 perform communication with each other through the communication bus 540, as shown in fig. 5. The processor 510 may invoke logic instructions in the memory 530 to execute a vehicle control method, where the method includes acquiring an initial accelerator opening and a change rate of the accelerator of the vehicle during running of the vehicle, determining a target filter coefficient of the accelerator according to the change rate of the accelerator and the initial accelerator opening, and performing signal filtering on the initial accelerator opening according to the target filter coefficient to obtain a target accelerator opening, where the target filter coefficient is inversely related to an absolute value of the change rate of the accelerator, and the target filter coefficient is inversely related to the initial accelerator opening.
Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.
In another aspect, the application further provides a computer program product, the computer program product comprises a computer program stored on a computer readable storage medium, the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute the vehicle control method provided by the methods, the method comprises the steps of acquiring an initial accelerator opening and an accelerator change rate of the vehicle in the running process of the vehicle, determining a target filter coefficient of an accelerator according to the accelerator change rate and the initial accelerator opening, and carrying out signal filtering on the initial accelerator opening according to the target filter coefficient to obtain the target accelerator opening, wherein the target filter coefficient is inversely related to the absolute value of the accelerator change rate, and the target filter coefficient is inversely related to the initial accelerator opening.
In still another aspect, the present application further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, is implemented to perform the vehicle control method provided by the above, where the method includes acquiring an initial accelerator opening and a change rate of the accelerator of the vehicle during running of the vehicle, determining a target filter coefficient of the accelerator according to the change rate of the accelerator and the initial accelerator opening, and performing signal filtering on the initial accelerator opening according to the target filter coefficient to obtain a target accelerator opening, where the target filter coefficient is inversely related to an absolute value of the change rate of the accelerator, and the target filter coefficient is inversely related to the initial accelerator opening.
In still another aspect, the application further provides a vehicle, which comprises a computer program/instruction, wherein the computer program/instruction is executed by a processor according to the steps of any vehicle control method, and the method comprises the steps of acquiring an initial accelerator opening and an accelerator change rate of the vehicle in the running process of the vehicle, determining a target filter coefficient of an accelerator according to the accelerator change rate and the initial accelerator opening, and carrying out signal filtering on the initial accelerator opening according to the target filter coefficient to obtain the target accelerator opening, wherein the target filter coefficient is inversely related to the absolute value of the accelerator change rate, and the target filter coefficient is inversely related to the initial accelerator opening.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same, and although the present application has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present application.
Claims (7)
1.A vehicle control method characterized by comprising:
Acquiring an initial accelerator opening and an accelerator change rate of the vehicle in the running process of the vehicle;
Determining a target filter coefficient of the accelerator according to the accelerator change rate and the initial accelerator opening;
performing signal filtering on the initial accelerator opening according to the target filter coefficient to obtain a target accelerator opening;
The target filter coefficient is inversely related to the absolute value of the throttle change rate;
After determining the target filter coefficient of the accelerator according to the accelerator change rate and the initial accelerator opening, the method further comprises:
Performing signal filtering on the accelerator opening according to the target filtering coefficient to obtain the accelerator opening after filtering and a fluctuation value of the accelerator opening;
under the condition that the running state of the vehicle meets the preset condition and continuously exceeds the preset duration, determining the throttle opening after the current time filtering as a target static throttle value;
the preset condition comprises that the current accelerator opening of the vehicle is smaller than a preset opening threshold, the current speed of the vehicle is smaller than a preset speed threshold, and the fluctuation value of the accelerator opening is smaller than a threshold fluctuation threshold;
the step of performing signal filtering on the initial throttle opening according to the target filter coefficient to obtain a target throttle opening comprises the following steps:
the initial throttle opening is subjected to signal filtering according to the target filter coefficient to obtain a first target throttle opening;
And correcting the first target accelerator opening based on the target static accelerator value to obtain a second accelerator opening, and determining the second accelerator opening as the target accelerator opening.
2. The method of claim 1, wherein obtaining a throttle change rate comprises:
Sampling the throttle opening according to a preset period to obtain a plurality of throttle openings;
Calculating a target difference value according to the difference between a first accelerator opening obtained by the last sampling in the plurality of accelerator openings and a second accelerator opening obtained by the earliest sampling in the plurality of accelerator openings, and calculating a target duration according to the product of the sampling interval time and the preset number;
and determining the quotient of the target difference value and the target duration as the throttle change rate.
3. The method according to claim 1, wherein in a case where the running state of the vehicle satisfies a preset condition and continues for more than a preset duration, determining the accelerator opening after the current time filtering as the target static accelerator value, and after determining the target static accelerator value, the method further includes:
And storing the target static throttle value into a controller of the vehicle, and updating the target static throttle value when the running state of the vehicle meets the preset condition and continuously exceeds the preset duration.
4. A vehicle control apparatus, characterized in that the apparatus comprises:
The acquisition module is used for acquiring the initial accelerator opening and the accelerator change rate of the vehicle in the running process of the vehicle;
The determining module is used for determining a target filter coefficient of the accelerator according to the accelerator change rate and the initial accelerator opening;
the filtering module is used for carrying out signal filtering on the initial throttle opening according to the target filtering coefficient to obtain a target throttle opening;
The target filter coefficient is inversely related to the absolute value of the throttle change rate;
The filtering module is further used for carrying out signal filtering on the accelerator opening according to the target filtering coefficient to obtain the accelerator opening after filtering and a fluctuation value of the accelerator opening;
The determining module is further configured to determine, when the running state of the vehicle meets a preset condition and continues to exceed a preset duration, the accelerator opening after filtering at the current moment as a target static accelerator value;
the preset condition comprises that the current accelerator opening of the vehicle is smaller than a preset opening threshold, the current speed of the vehicle is smaller than a preset speed threshold, and the fluctuation value of the accelerator opening is smaller than a threshold fluctuation threshold;
the filtering module is specifically configured to obtain a first target accelerator opening after performing signal filtering on the initial accelerator opening according to the target filtering coefficient;
and the determining module is used for correcting the first target accelerator opening based on the target static accelerator value to obtain a second accelerator opening, and determining the second accelerator opening as the target accelerator opening.
5. The apparatus of claim 4, wherein the device comprises a plurality of sensors,
The acquisition module is further used for sampling the accelerator opening according to a preset period to obtain a plurality of accelerator openings;
the determining module is further configured to calculate a target difference value according to a difference between a first accelerator opening obtained by last sampling in the plurality of accelerator openings and a second accelerator opening obtained by earliest sampling in the plurality of accelerator openings, and calculate a target duration according to a product of a sampling interval time and a preset number;
the determining module is further configured to determine, as the throttle change rate, a quotient of the target difference value and the target duration.
6. The apparatus of claim 4, further comprising an update module;
the updating module is used for storing the target static throttle value into a controller of the vehicle, and updating the target static throttle value when the running state of the vehicle meets the preset condition and continuously exceeds the preset duration.
7. A vehicle comprising a computer program/instruction which, when executed by a processor, performs the steps of the vehicle control method as claimed in any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310021040.3A CN115949511B (en) | 2023-01-06 | 2023-01-06 | Vehicle control method, device and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310021040.3A CN115949511B (en) | 2023-01-06 | 2023-01-06 | Vehicle control method, device and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115949511A CN115949511A (en) | 2023-04-11 |
| CN115949511B true CN115949511B (en) | 2025-03-25 |
Family
ID=87282279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310021040.3A Active CN115949511B (en) | 2023-01-06 | 2023-01-06 | Vehicle control method, device and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115949511B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347125A (en) * | 2016-11-23 | 2017-01-25 | 潍柴动力股份有限公司 | Method and system for filtering signal of opening degree of accelerator pedal |
| CN109339963A (en) * | 2018-09-26 | 2019-02-15 | 潍柴动力股份有限公司 | A kind of accelerator pedal filtering method and device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4539764B2 (en) * | 2008-06-19 | 2010-09-08 | トヨタ自動車株式会社 | Control device for internal combustion engine |
| CN112879173B (en) * | 2021-01-08 | 2022-07-15 | 广西玉柴机器股份有限公司 | Method for controlling throttle filtering and related device |
| CN113715616B (en) * | 2021-08-16 | 2023-04-25 | 江铃汽车股份有限公司 | Control method and control system for jitter filtering of accelerator pedal |
| CN114508438B (en) * | 2022-04-21 | 2022-08-05 | 潍柴动力股份有限公司 | Throttle processing method, device, equipment and medium |
-
2023
- 2023-01-06 CN CN202310021040.3A patent/CN115949511B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347125A (en) * | 2016-11-23 | 2017-01-25 | 潍柴动力股份有限公司 | Method and system for filtering signal of opening degree of accelerator pedal |
| CN109339963A (en) * | 2018-09-26 | 2019-02-15 | 潍柴动力股份有限公司 | A kind of accelerator pedal filtering method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115949511A (en) | 2023-04-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109799699B (en) | Automatic driving system control parameter processing method, device, equipment and storage medium | |
| JP2013525910A (en) | Control device and method for calculating output variables for control | |
| CN111703435A (en) | A vehicle speed control method, device, device and medium in an automatic driving mode | |
| CN112693458B (en) | Cruise control method and device, vehicle and storage medium | |
| CN112904852B (en) | Automatic driving control method and device and electronic equipment | |
| CN116025581B (en) | Fan control method, device, electronic device and storage medium | |
| CN114523966A (en) | Vehicle speed control method and device, electronic equipment and readable storage medium | |
| CN114962631A (en) | Retarder electromagnetic valve control method, device, equipment and medium | |
| CN110341710A (en) | A kind of self-adapting cruise control method, device and equipment | |
| CN115949511B (en) | Vehicle control method, device and vehicle | |
| CN114987468A (en) | Method and device for controlling vehicle target speed, electronic equipment and storage medium | |
| JP4069481B2 (en) | Vehicle behavior estimation device | |
| CN114074661A (en) | Vehicle speed control method and device | |
| CN115219249B (en) | Vehicle steering system aging detection method, device and vehicle | |
| CN115123296A (en) | Steering wheel release detection method, vehicle, and storage medium | |
| CN113946555A (en) | Method, device and equipment for uploading vehicle log and storage medium | |
| CN114735014A (en) | Vehicle acceleration determination method and device, electronic equipment and storage medium | |
| CN114763175A (en) | Electric power steering system and deviation compensation method thereof | |
| CN114013447B (en) | Vehicle load determination methods, devices, equipment and storage media | |
| CN118144798A (en) | Yaw rate self-learning correction method, device, vehicle and storage medium | |
| CN117533074B (en) | Suspension control method and system based on chassis domain controller | |
| WO2021006332A1 (en) | Information processing device, program, and calculation method | |
| CN113671838A (en) | A Train Tracking Method Based on Iterative Sliding Mode Control | |
| WO2020246531A1 (en) | Information processing device, program, and calculation method | |
| CN117572764A (en) | Vehicle trajectory tracking controller parameter self-learning method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |