CN106364365B - The treating method and apparatus of two-way accelerator pedal signal - Google Patents
The treating method and apparatus of two-way accelerator pedal signal Download PDFInfo
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- CN106364365B CN106364365B CN201610816589.1A CN201610816589A CN106364365B CN 106364365 B CN106364365 B CN 106364365B CN 201610816589 A CN201610816589 A CN 201610816589A CN 106364365 B CN106364365 B CN 106364365B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
Abstract
The present invention proposes that a kind for the treatment of method and apparatus of two-way accelerator pedal signal, the processing method of the two-way accelerator pedal signal include acquiring the simple two-way signal of two-way accelerator pedal output, wherein simple two-way signal includes the first signal and the second signal；The second aperture is obtained according to first the first aperture of signal acquisition, and according to second signal；The first aperture and the second aperture are judged respectively whether within preset threshold range, to obtain judging result；The second weight of the first weight and the second aperture of the first aperture is read according to judging result；It is weighted summation according to the first weight and second the first aperture of weight pair and the second aperture, calculates effective aperture of two-way accelerator pedal.It can ensure the normally travel of the vehicle in the case where signal breaks down all the way through the invention, improve the safety of vehicle operation, and controller is integrated can not only reduce vehicle manufacture cost, and, due to reducing the physical connection between controller, the reliability and stability of system is effectively improved.
Description
Technical field
The present invention relates to pure electric automobile technical field more particularly to a kind of processing method of two-way accelerator pedal signal and
Device.
Background technology
In face of increasingly severe energy and environment problem, the energy saving heat for just becoming the research of current various countries with new-energy automobile
Point.As energy saving and new-energy automobile one kind, pure electric automobile has emission-free discharge, energy efficiency in the process of moving
High, noise is low and the multiple advantages such as recoverable energy, therefore greatly develops pure electric automobile to energy security and environment
Protection is of great significance.
With the fast development of pure electric automobile, integrated control becomes the trend of pure electric automobile current development.Integrated control
System relies on the powerful computing capability of microprocessor, abundant function and external resource at this stage, will be responsible for difference as its name suggests
The effective together as one of separate controller of function, by common hardware resource, realization was originally completed by multiple independent controls
Institute it is functional.Integrated control can not only save hardware resource and reduce controller cost, and since system is integrated,
The stability of system entirety can be improved.The accelerator pedal of vehicle is one of three big windows that driver interacts with vehicle
(three big windows are steering, throttle respectively, and braking), for pure electric automobile, driver is by accelerator pedal to vehicle
Driving information is transmitted, controller carries out dissection process to accelerator pedal signal later, is eventually converted into Motor torque, drives vehicle
Traveling.
It can be seen that accelerator pedal signal processing is good and bad huge for vehicle performance and the influence of driver's driving experience
Greatly.
Invention content
The present invention provides a kind of integrated suitable for equipment for the integrated development trend of current controller for pure electric automobile
The pure electric automobile two-way acceleration of controller (integrating whole automobile controller, electric machine controller and battery management system function) is stepped on
The treating method and apparatus of partitioned signal.
For this purpose, an object of the present invention is to provide a kind of processing method of two-way accelerator pedal signal, can ensure
The normally travel of vehicle in the case where signal breaks down all the way improves the safety of vehicle operation, improves the driving of user
Impression, and controller is integrated can not only reduce vehicle manufacture cost, moreover, because the physics between reducing controller connects
It connects, effectively improves the reliability and stability of system.
It is another object of the present invention to propose a kind of processing unit of two-way accelerator pedal signal.
In order to achieve the above objectives, the processing method for the two-way accelerator pedal signal that first aspect present invention embodiment proposes,
Including：Acquire the simple two-way signal of two-way accelerator pedal output, wherein the simple two-way signal includes the first signal and the second signal；
The second aperture is obtained according to first aperture of the first signal acquisition, and according to the second signal；Described first is judged respectively
Whether aperture and second aperture are within preset threshold range, to obtain judging result；It is read according to the judging result
Second weight of the first weight of first aperture and second aperture；According to first weight and second weight
Summation is weighted to first aperture and second aperture, calculates effective aperture of the two-way accelerator pedal.
The processing method for the two-way accelerator pedal signal that first aspect present invention embodiment proposes is accelerated by acquiring two-way
The simple two-way signal of pedal output, wherein simple two-way signal includes the first signal and the second signal, is opened according to the first signal acquisition first
Degree, and the second aperture is obtained according to second signal, judge respectively the first aperture and the second aperture whether preset threshold range it
It is interior, to obtain judging result；The second weight of the first weight and the second aperture of the first aperture is read according to judging result；According to
First weight and second the first aperture of weight pair and the second aperture are weighted summation, calculate effectively opening for two-way accelerator pedal
Degree can ensure the normally travel of the vehicle in the case where signal breaks down all the way, improve the safety of vehicle operation, improve
The driving of user is experienced, and controller is integrated can not only reduce vehicle manufacture cost, moreover, because reduce controller it
Between physical connection, effectively improve the reliability and stability of system.
In order to achieve the above objectives, the processing unit for the two-way accelerator pedal signal that second aspect of the present invention embodiment proposes,
Including：Acquisition module, the simple two-way signal for acquiring the output of two-way accelerator pedal, wherein the simple two-way signal includes the first letter
Number and second signal；Acquisition module, for being obtained according to first aperture of the first signal acquisition, and according to the second signal
Second aperture；First judgment module, for judging first aperture and second aperture whether in predetermined threshold value model respectively
Within enclosing, to obtain judging result；Read module, the first weight for reading first aperture according to the judging result
With the second weight of second aperture；Weighted sum module is used for according to first weight and second weight to institute
It states the first aperture and second aperture is weighted summation, calculate effective aperture of the two-way accelerator pedal.
The processing unit for the two-way accelerator pedal signal that second aspect of the present invention embodiment proposes is accelerated by acquiring two-way
The simple two-way signal of pedal output, wherein simple two-way signal includes the first signal and the second signal, is opened according to the first signal acquisition first
Degree, and the second aperture is obtained according to second signal, judge respectively the first aperture and the second aperture whether preset threshold range it
It is interior, to obtain judging result；The second weight of the first weight and the second aperture of the first aperture is read according to judging result；According to
First weight and second the first aperture of weight pair and the second aperture are weighted summation, calculate effectively opening for two-way accelerator pedal
Degree can ensure the normally travel of the vehicle in the case where signal breaks down all the way, improve the safety of vehicle operation, improve
The driving of user is experienced, and controller is integrated can not only reduce vehicle manufacture cost, moreover, because reduce controller it
Between physical connection, effectively improve the reliability and stability of system.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the flow diagram of the processing method for the two-way accelerator pedal signal that one embodiment of the invention proposes；
Fig. 2 is the flow diagram of the processing method for the two-way accelerator pedal signal that another embodiment of the present invention proposes；
Fig. 3 is the flow diagram of the processing method for the two-way accelerator pedal signal that another embodiment of the present invention proposes；
Fig. 4 is the flow diagram of the processing method for the two-way accelerator pedal signal that another embodiment of the present invention proposes；
Fig. 5 is the flow diagram of the zero correction of two-way accelerator pedal signal in the embodiment of the present invention；
Fig. 6 is the flow diagram of the stagnant ring processing in dead zone of accelerator pedal signal in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of the processing unit for the two-way accelerator pedal signal that one embodiment of the invention proposes；
Fig. 8 is the structural schematic diagram of the processing unit for the two-way accelerator pedal signal that another embodiment of the present invention proposes.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.On the contrary, this
The embodiment of invention includes all changes fallen within the scope of the spiritual and intension of attached claims, modification and is equal
Object.
Fig. 1 is the flow diagram of the processing method for the two-way accelerator pedal signal that one embodiment of the invention proposes.
Processing method referring to Fig. 1, the two-way accelerator pedal signal includes：
S11：Acquire the simple two-way signal of two-way accelerator pedal output, wherein simple two-way signal includes the first signal and the second letter
Number.
In an embodiment of the present invention, the simple two-way signal of two-way accelerator pedal output can be acquired by integrated manipulator.
In this step, the simple two-way signal of two-way accelerator pedal output is acquired by integrated manipulator, controller is integrated not
Can only be shared by hardware resource reduces vehicle manufacture cost, moreover, because the physical connection between reducing controller, energy
Enough improve the reliability and stability of system.
S12：The second aperture is obtained according to first the first aperture of signal acquisition, and according to second signal.
In an embodiment of the present invention, the first voltage of the first signal can be obtained, and obtains the second electricity of second signal
Pressure；The first aperture of the first signal is calculated according to first voltage, and the second aperture of second signal is calculated according to second voltage.
In some embodiments, referring to Fig. 2, step S12 is specifically included：
S21：The first voltage of the first signal is obtained, and obtains the second voltage of second signal.
In an embodiment of the present invention, the simple two-way signal of two-way accelerator pedal output, two-way are acquired by integrated manipulator
Signal is sampled by ADC, since the simple two-way signal after sampling can not be applied directly, it is therefore possible to use filtering algorithm point
The other the first signal and the second signal to after sampling are filtered, and obtain the first electricity after being filtered to the first signal
Pressure, and the second voltage after being filtered to second signal.
Wherein, the formula of filtering algorithm is as follows：
Wherein, APS1voltBe it is filtered after first voltage, APS2voltBe it is filtered after first voltage, k be plus
Weight factor, APS1newFor the voltage value for the first signal that this periodic sampling obtains, APS1oldIndicate what a upper periodic sampling obtained
The voltage value of first signal, APS2newFor the voltage value for the second signal that this periodic sampling obtains, APS2oldIndicated a upper period
The voltage value of obtained second signal is sampled, k is weighted factor, and calculation formula is as follows：
K=1-e-(Sample/TC) (2)
Wherein, Sample indicates that sampling interval, TC indicate time constant.
S22：The first aperture of the first signal is calculated according to first voltage, and calculates the of second signal according to second voltage
Two apertures.
Optionally, it after the filtered processing of simple two-way signal of the two-way accelerator pedal of acquisition output, needs at filtering
Simple two-way signal after reason is normalized, and during normalized, needs to calculate two-way letter according to simple two-way signal respectively
Number corresponding aperture.
Specifically, simple two-way signal normalization calculation formula is as follows：
Wherein, APS1intIndicate that the first aperture of the first signal after normalization, open range are 0~100, APS2intTable
Show that the second aperture of the second signal after normalization, open range are 0~100, APS1voltWith APS2voltIt is indicated respectively through filtering
First voltage after wave and second voltage, ReVolt indicates normalized voltage reference value, under the conditions of same aperture, the first letter
Number first voltage and second signal second voltage be in multiple proportion, therefore, NormScale indicate two signals between times
Number.
In the present embodiment, by calculating the first aperture of the first signal according to first voltage, and calculated according to second voltage
Second aperture of second signal can be convenient for the calculating of effective aperture of follow-up two-way accelerator pedal, improve the peace of vehicle operation
Quan Xing.
In some embodiments, referring to Fig. 3, after step s 12, further include：
S31：It is poor that first aperture and the second aperture are made, and obtains aperture difference.
Optionally, the first aperture APS1 that will be calculated in step S22intWith the second aperture APS2intIt is poor to make, and is opened
Spend difference | APS2int-APS1int|。
S32：Judge whether aperture difference is more than or equal to predetermined threshold value.
In an embodiment of the present invention, predetermined threshold value can be preset by the plug-in of pure electric automobile, alternatively, in advance
If threshold value can also be configured by driver, this is not restricted.
Optionally, it is assumed that predetermined threshold value APSmax, judge whether aperture difference is more than or equal to predetermined threshold value, it can be with
Obtain | APS2int-APS1int|≥APSmax, alternatively, | APS2int-APS1int|<APSmaxJudging result.
It is understood that | APS2int-APS1int|≥APSmaxWhen, show simple two-way signal there are fault message, |
APS2int-APS1int|<APSmaxWhen, show that system is working properly.
S33：If aperture difference is more than or equal to predetermined threshold value, the letter for identifying simple two-way signal failure is generated
Breath, and user is prompted according to information.
Optionally, when aperture difference is more than or equal to predetermined threshold value, i.e., | APS2int-APS1int|≥APSmax, generate
Information for identifying simple two-way signal failure, and user being prompted according to information, can when failure occurs to user into
Row prompt, effectively improves the riding experience of user, improves the safety of vehicle operation.
In the present embodiment, by when the difference of the first aperture and the second aperture is more than or equal to predetermined threshold value, generating
Information for identifying simple two-way signal failure, and user is prompted to carry out user when failure occurs according to information
Prompt effectively improves the riding experience of user, improves the safety of vehicle operation.
S13：The first aperture and the second aperture are judged respectively whether within preset threshold range, to obtain judging result.
In an embodiment of the present invention, preset threshold range can be preset by the plug-in of pure electric automobile, or
Person, preset threshold range can also be configured by driver, be not restricted to this.
Optionally, judge that the first aperture and the second aperture whether within preset threshold range, can obtain first respectively
The judging result of aperture and the second aperture within preset threshold range, alternatively, the first aperture and the second aperture be not pre-
If the judging result within threshold range, alternatively, the first aperture is within preset threshold range, and the second aperture is not in default threshold
Judging result within the scope of value, alternatively, the first aperture is within preset threshold range, and the second aperture is in predetermined threshold value model
Judging result within enclosing.
S14：The second weight of the first weight and the second aperture of the first aperture is read according to judging result.
In an embodiment of the present invention, the first power of the first aperture can be read from default weight table according to judging result
Second weight of weight and the second aperture, wherein default weight table is as shown in table 1.
Table 1
It is understood that when the first aperture is not within preset threshold range, show that the first signal has event of transfiniting
Hinder information, when the second aperture is not within preset threshold range, shows that second signal has the fault message that transfinites, it can basis
Fault message distributes the second weight of the first weight and the second aperture of the first aperture.
S15：It is weighted summation according to the first weight and second the first aperture of weight pair and the second aperture, calculates two-way
Effective aperture of accelerator pedal.
In an embodiment of the present invention, the first aperture of following formula pair may be used and the second aperture is weighted summation,
Calculate effective aperture of two-way accelerator pedal：
APSpct=(kAPS1·APS1int+kAPS2·APS2int)·kAPS (4)
Wherein, APSpctIndicate effective aperture of two-way accelerator pedal, kAPS1Indicate the first weight of the first aperture, kAPS2Table
Show the second weight of the second aperture, kAPSIndicate penalty coefficient, the penalty coefficient is by effective aperture APS of two-way accelerator pedalpct
It is limited in 0~100.When the first aperture and the second aperture are without event of transfiniting it can be seen from table 1 and formula (4) in step S14
When barrier, per the weight coefficient of road signal averaging distribution 0.5；When wherein all the way signal occur transfiniting failure when, using not surpassing
The aperture for limiting that signal all the way of failure calculates effective aperture；If the failure that transfinites occurs in two paths of signals, finally it is calculated
Two-way accelerator pedal effective aperture be 0, can effectively ensure that traffic safety.
In some fact Examples, the processing method referring to Fig. 4, the two-way accelerator pedal signal further includes：
S41：The zero of two-way accelerator pedal signal is corrected according to effective aperture.
It should be noted that in normal driving, right crus of diaphragm should leave accelerator pedal when driver actuation, simultaneously
Effective aperture of two-way accelerator pedal should be 0；But in some cases, foot does not leave acceleration and steps on when driver actuation
Plate, such as effective aperture of two-way accelerator pedal is 30 at this time, if not handling such case, when vehicle powers on completion
When, if driver is linked into advance or falls back gear, vehicle will will appear unexpected advance or retroversion, to cause safety
Harm.On the other hand, along with the increase of vehicle drive time, the mechanical structure of accelerator pedal is likely to occur slight change,
For example, driver does not step on brake pedal, but effective aperture of the two-way accelerator pedal parsed at this time is more than 0, for this purpose,
Each vehicle after the power is turned on, is corrected the zero of two-way accelerator pedal signal.
It is the flow diagram of the zero correction of two-way accelerator pedal signal in the embodiment of the present invention referring to Fig. 5, Fig. 5,
Vehicle after the power is turned on, first determines whether effective aperture of two-way accelerator pedal is more than 0, if so, effective aperture at this time is set
It is set to zero k0, if not, then it is assumed that effective aperture of two-way accelerator pedal is 0 at this time, does not have to reset zero k0, directly tie
Beam, at this time driver must be further continued for deep stepping on accelerator pedal to advance or moving backward, can just obtain advance torque；Judge later double
Whether effective aperture of road accelerator pedal is less than k0, if so, effective aperture at this time is set as zero, update k0；Next
Judge whether effective aperture of two-way accelerator pedal is equal to 0 again, if so, effective aperture at this time is set as zero, weight
New update zero k0And terminate, add whether effective aperture of two-way accelerator pedal is less than k if it is not, then rejudging0, until two-way
Until effective aperture of accelerator pedal is equal to 0.
By being corrected to the zero of two-way accelerator pedal signal according to effective aperture, can ensure automobile after the power is turned on
Driver's stepping on accelerator pedal, vehicle are exported without unexpected torque, and only further deep stepping on accelerator pedal can enable vehicle to driver
Output torque, ensure that traffic safety, and after driver's release the accelerator pedal, zero can re-calibrate, and ensure driver again
Power demand when secondary stepping on accelerator pedal promotes the driving experience of user.
It should be noted that accelerator pedal inevitably has dead zone as a mechanical system, therefore, calculating
When effective aperture of two-way accelerator pedal, it is necessary to consider the influence in dead zone, on the other hand, mistake of the driver in stepping on accelerator pedal
Inevitably there is jitter phenomenon in journey, if not handling accelerator pedal shake, which can be passed to driving system
System, in turn results in the shake of motor output torque, influences driving experience.
The problem of for above-mentioned dead zone and jitter phenomenon, the embodiment of the present invention are solved using mode as shown in FIG. 6,
Referring to Fig. 6, Fig. 6 is the flow diagram of the stagnant ring processing in dead zone of accelerator pedal signal in the embodiment of the present invention, wherein APS (n-
1) indicate that the effective aperture for the two-way accelerator pedal that a upper controlling cycle is determined through zero crossing, APS (n) indicate the two-way in this period
Effective aperture of accelerator pedal, Kd indicate that deadzone parameter, Kh indicate that stagnant ring parameter, APS indicate defeated after the stagnant ring processing in dead zone
Effective aperture of the two-way accelerator pedal gone out.Consider the dead-time problem of accelerator pedal, while when in order to weaken driver's pedal
Slight jitter influenced caused by driving, if shake caused by accelerator pedal signal opening value variation be not higher than Kh, should
Shake can be filtered.Behind dead zone and the processing of stagnant ring, effective aperture of final two-way accelerator pedal is obtained, and be used for
The Motor torque for calculating vehicle, controls vehicle.
S42：The Motor torque of vehicle is calculated according to effective aperture, and vehicle is controlled according to Motor torque.
In an embodiment of the present invention, the algorithm that may be used in the related technology calculates Motor torque, and details are not described herein.
Optionally, the Motor torque that vehicle is calculated according to effective aperture, can ensure that the operation conditions of vehicle meets driving
The driving intention of member.
In the present embodiment, by being corrected to the zero of two-way accelerator pedal signal according to effective aperture, according to effective
Aperture calculates the Motor torque of vehicle, and is controlled vehicle according to Motor torque, can ensure to drive after the power is turned in automobile
Member's stepping on accelerator pedal, vehicle are exported without unexpected torque, improve the safety of vehicle operation, ensure that driver steps on acceleration and steps on again
Power demand when plate, and influence of shake when weakening driver's stepping on accelerator pedal to driving, ensure the operation shape of vehicle
Condition meets the driving intention of driver, promotes the driving experience of user.
In the present embodiment, by the simple two-way signal for acquiring the output of two-way accelerator pedal, wherein simple two-way signal includes the first letter
Number and second signal, according to first the first aperture of signal acquisition, and according to second signal obtain the second aperture, judge first respectively
Whether aperture and the second aperture are within preset threshold range, to obtain judging result；The first aperture is read according to judging result
The first weight and the second aperture the second weight；It is carried out according to the first weight and second the first aperture of weight pair and the second aperture
Weighted sum calculates effective aperture of two-way accelerator pedal, can ensure the vehicle in the case where signal breaks down all the way
Normally travel, improve the driving impression of user, improve the safety of vehicle operation, and controller is integrated can not only reduce
Vehicle manufacture cost, moreover, because the physical connection between reducing controller, effectively improves the reliability and stabilization of system
Property.
Fig. 7 is the structural schematic diagram of the processing unit for the two-way accelerator pedal signal that one embodiment of the invention proposes.
Referring to Fig. 7, the processing unit 70 of the two-way accelerator pedal signal includes：Acquisition module 701, acquisition module 702,
One judgment module 703, read module 704 and weighted sum module 705.Wherein,
Acquisition module 701, the simple two-way signal for acquiring the output of two-way accelerator pedal, wherein simple two-way signal includes first
Signal and second signal.
Acquisition module 702, for obtaining the second aperture according to first the first aperture of signal acquisition, and according to second signal.
First judgment module 703, for judging the first aperture and the second aperture respectively whether within preset threshold range,
To obtain judging result.
Read module 704, the second power of the first weight and the second aperture for reading the first aperture according to judging result
Weight.
Weighted sum module 705, for being added according to the first weight and second the first aperture of weight pair and the second aperture
Power summation, calculates effective aperture of two-way accelerator pedal.
In some embodiments, referring to Fig. 8, the processing unit 70 of the two-way accelerator pedal signal further includes：
Computing module 706, for according to effective aperture calculate vehicle Motor torque, and according to Motor torque to vehicle into
Row control.
Optionally, acquisition module 702 includes：
Acquisition submodule 7021, the first voltage for obtaining the first signal, and obtain the second voltage of second signal.
Optionally, acquisition submodule 7021 is specifically used for：
The first signal and the second signal are filtered respectively using filtering algorithm, the first signal is filtered in acquisition
First voltage after wave, and the second voltage after being filtered to second signal.
Computational submodule 7022, the first aperture for calculating the first signal according to first voltage, and according to second voltage
Calculate the second aperture of second signal.
Optionally, read module 704 is specifically used for：
The first weight of the first aperture and the second weight of the second aperture are read from default weight table according to judging result.
Make difference module 707, for obtaining the second aperture according to first the first aperture of signal acquisition, and according to second signal
Later, it is poor the first aperture and the second aperture to be made, and obtains aperture difference.
Second judgment module 708, for judging whether aperture difference is more than or equal to predetermined threshold value.
Generation module 709, for when aperture difference is more than or equal to predetermined threshold value, generating for identifying simple two-way signal
The information of failure, and user is prompted according to information.
Correction module 710 is used for before the Motor torque for calculating vehicle according to effective aperture, according to effective aperture to double
The zero of road accelerator pedal signal is corrected.
It should be noted that the processing method embodiment of two-way accelerator pedal signal in earlier figures 1- Fig. 6 embodiments
The processing unit for the two-way accelerator pedal signal for being also applied for the embodiment is illustrated, realization principle is similar, herein no longer
It repeats.
In the present embodiment, by the simple two-way signal for acquiring the output of two-way accelerator pedal, wherein simple two-way signal includes the first letter
Number and second signal, according to first the first aperture of signal acquisition, and according to second signal obtain the second aperture, judge first respectively
Whether aperture and the second aperture are within preset threshold range, to obtain judging result；The first aperture is read according to judging result
The first weight and the second aperture the second weight；It is carried out according to the first weight and second the first aperture of weight pair and the second aperture
Weighted sum calculates effective aperture of two-way accelerator pedal, can ensure the vehicle in the case where signal breaks down all the way
Normally travel, improve the driving impression of user, improve the safety of vehicle operation, and controller is integrated can not only reduce
Vehicle manufacture cost, moreover, because the physical connection between reducing controller, effectively improves the reliability and stabilization of system
Property.
It should be noted that in the description of the present invention, term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indicating or implying relative importance.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " multiple "
It is two or more.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, include according to involved function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array, field-programmable
Gate array etc..
Those skilled in the art are appreciated that realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, which includes the steps that one or a combination set of embodiment of the method when being executed.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That each unit physically exists alone, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and when sold or used as an independent product, can also be stored in a computer
In read/write memory medium.Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (10)
1. a kind of processing method of two-way accelerator pedal signal, which is characterized in that include the following steps：
Acquire the simple two-way signal of two-way accelerator pedal output, wherein the simple two-way signal includes the first signal and the second signal；
The second aperture is obtained according to first aperture of the first signal acquisition, and according to the second signal；
First aperture and second aperture are judged respectively whether within preset threshold range, to obtain judging result；
The second weight of the first weight and second aperture of first aperture is read according to the judging result；
Summation is weighted to first aperture and second aperture according to first weight and second weight, is counted
Calculate effective aperture of the two-way accelerator pedal；
The zero of the two-way accelerator pedal signal is corrected according to effective aperture；Wherein, first determine whether that two-way adds
Whether effective aperture of speed pedal is more than 0, if more than 0, then effective aperture at this time is set as zero k0；Two-way is judged later
Whether effective aperture of accelerator pedal is less than k0If being less than k0, then effective aperture at this time is set as zero, updates k0；It connects down
If whether effective aperture at this time be equal to 0, is set as zero equal to 0 by effective aperture to judge two-way accelerator pedal again
Point updates zero k again0And terminate, if being not equal to 0, rejudges plus whether effective aperture of two-way accelerator pedal is less than
k0, until effective aperture of two-way accelerator pedal is equal to 0；
The Motor torque of vehicle is calculated according to effective aperture, and the vehicle is controlled according to the Motor torque.
2. the processing method of two-way accelerator pedal signal as described in claim 1, which is characterized in that described according to described first
The first aperture of signal acquisition, and the second aperture is obtained according to the second signal, including：
The first voltage of first signal is obtained, and obtains the second voltage of the second signal；
The first aperture of first signal is calculated according to the first voltage, and calculates described second according to the second voltage
Second aperture of signal.
3. the processing method of two-way accelerator pedal signal as claimed in claim 2, which is characterized in that described to obtain described first
The first voltage of signal, and the second voltage of the second signal is obtained, including：
First signal and the second signal are filtered respectively using filtering algorithm, obtained to first letter
First voltage after number being filtered, and the second voltage after being filtered to the second signal.
4. the processing method of two-way accelerator pedal signal as described in claim 1, which is characterized in that described according to the judgement
As a result the second weight of the first weight and second aperture of first aperture is read, including：
The first weight of first aperture and second aperture are read according to the judging result from default weight table
Second weight.
5. the processing method of two-way accelerator pedal signal as described in claim 1, which is characterized in that described according to described
One the first aperture of signal acquisition, and according to the second signal obtain the second aperture after, further include：
It is poor that first aperture and second aperture are made, and obtains aperture difference；
Judge whether the aperture difference is more than or equal to predetermined threshold value；
If the aperture difference is more than or equal to predetermined threshold value, the letter for identifying the simple two-way signal failure is generated
Breath, and user is prompted according to described information.
6. a kind of processing unit of two-way accelerator pedal signal, which is characterized in that including：
Acquisition module, the simple two-way signal for acquiring the output of two-way accelerator pedal, wherein the simple two-way signal includes the first signal
And second signal；
Acquisition module, for obtaining the second aperture according to first aperture of the first signal acquisition, and according to the second signal；
First judgment module, for judge respectively first aperture and second aperture whether preset threshold range it
It is interior, to obtain judging result；
Read module, of the first weight and second aperture for reading first aperture according to the judging result
Two weights；
Weighted sum module, for being opened first aperture and described second according to first weight and second weight
Degree is weighted summation, calculates effective aperture of the two-way accelerator pedal；
Correction module, for being corrected to the zero of the two-way accelerator pedal signal according to effective aperture；Wherein, first
First judge whether effective aperture of two-way accelerator pedal is more than 0, if more than 0, then effective aperture at this time is set as zero k0；
Judge whether effective aperture of two-way accelerator pedal is less than k later0If being less than k0, then effective aperture at this time is set as zero
Point updates k0；Next judge whether effective aperture of two-way accelerator pedal is equal to 0 again, if being equal to 0, by having at this time
Effect aperture is set as zero, updates zero k again0And terminate, if being not equal to 0, rejudges and add having for two-way accelerator pedal
Imitate whether aperture is less than k0, until effective aperture of two-way accelerator pedal is equal to 0；
Computing module, the Motor torque for calculating vehicle according to effective aperture, and according to the Motor torque to described
Vehicle is controlled.
7. the processing unit of two-way accelerator pedal signal as claimed in claim 6, which is characterized in that the acquisition module packet
It includes：
Acquisition submodule, the first voltage for obtaining first signal, and obtain the second voltage of the second signal；
Computational submodule, the first aperture for calculating first signal according to the first voltage, and according to described second
Voltage calculates the second aperture of the second signal.
8. the processing unit of two-way accelerator pedal signal as claimed in claim 7, which is characterized in that the acquisition submodule tool
Body is used for：
First signal and the second signal are filtered respectively using filtering algorithm, obtained to first letter
First voltage after number being filtered, and the second voltage after being filtered to the second signal.
9. the processing unit of two-way accelerator pedal signal as claimed in claim 6, which is characterized in that the read module is specific
For：
The first weight of first aperture and second aperture are read according to the judging result from default weight table
Second weight.
10. the processing unit of two-way accelerator pedal signal as claimed in claim 6, which is characterized in that further include：
Make difference module, for obtaining the according to first aperture of the first signal acquisition, and according to the second signal described
After two apertures, it is poor that first aperture and second aperture are made, and obtains aperture difference；
Second judgment module, for judging whether the aperture difference is more than or equal to predetermined threshold value；
Generation module, for when the aperture difference is more than or equal to predetermined threshold value, generating for identifying the two-way letter
The information of number failure, and user is prompted according to described information.
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| CN201610816589.1A CN106364365B (en) | 2016-09-12 | 2016-09-12 | The treating method and apparatus of two-way accelerator pedal signal |
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| CN107499133B (en) * | 2017-04-24 | 2020-09-18 | 宝沃汽车（中国）有限公司 | Control method and device for opening degree of accelerator pedal of electric automobile and electric automobile |
| CN107380009A (en) * | 2017-07-24 | 2017-11-24 | 上海精虹新能源科技有限公司 | Accelerator pedal identifying processing method applied to pure electronic logistics automobile |
| CN107918377B (en) * | 2017-10-20 | 2023-04-07 | 开沃新能源汽车集团有限公司 | Pedal fault diagnosis method based on vehicle control unit |
| CN108819713B (en) * | 2018-04-24 | 2021-06-18 | 上海伊控动力***有限公司 | Accelerator pedal opening zero point adjusting method for pure electric logistics vehicle |
| CN108839564A (en) * | 2018-05-11 | 2018-11-20 | 铠龙东方汽车有限公司 | A kind of automobile-used accelerator pedal failure detection and control strategy |
| CN108944440B (en) * | 2018-07-27 | 2020-09-01 | 北京新能源汽车股份有限公司 | Control method and device of accelerator pedal, vehicle and computing equipment |
| CN109228861B (en) * | 2018-09-26 | 2021-10-15 | 合肥澎湃能源技术有限公司 | Method and system for diagnosing and processing accelerator pedal failure |
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| CN112977059B (en) * | 2021-02-26 | 2022-09-27 | 三一汽车制造有限公司 | Failure processing method and device for pedal, vehicle and readable storage medium |
| CN114655172A (en) * | 2021-05-21 | 2022-06-24 | 北京新能源汽车股份有限公司 | Brake pedal opening degree calculation method and device and electric automobile |
| CN113844453B (en) * | 2021-08-31 | 2023-07-25 | 中国第一汽车股份有限公司 | Method and device for determining opening value of accelerator pedal, electronic terminal and storage medium |
| CN114506211B (en) * | 2022-01-28 | 2023-05-23 | 重庆长安新能源汽车科技有限公司 | Zero-opening self-learning method and device for accelerator pedal and automobile |
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