CN109849938A - The accelerator pedal signal processing system and its control method of vehicle - Google Patents
The accelerator pedal signal processing system and its control method of vehicle Download PDFInfo
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- CN109849938A CN109849938A CN201811516813.0A CN201811516813A CN109849938A CN 109849938 A CN109849938 A CN 109849938A CN 201811516813 A CN201811516813 A CN 201811516813A CN 109849938 A CN109849938 A CN 109849938A
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Abstract
The invention discloses the accelerator pedal signal processing system and its control method of a kind of vehicle, the system comprises: the first controller and second controller, for acquiring accelerator pedal signal respectively and being verified；First controller determines final accelerator pedal signal according to the first accelerator pedal signal for generating the first accelerator pedal signal when verification passes through, and when second controller verifies failure；Second controller determines final accelerator pedal signal according to the second accelerator pedal signal for generating the second accelerator pedal signal when verification passes through, and when the first controller verifies failure；When the first and second controllers verify and pass through, final accelerator pedal signal is determined according to the first and second accelerator pedal signals.The stability and accuracy of accelerator pedal signal acquisition are improved as a result, and can be carried out the acquisition and processing of accelerator pedal signal using another controller when a controller occurs abnormal, be ensure that the validity of accelerator pedal signal.
Description
Technical field
The present invention relates to automobile technical field, in particular to the accelerator pedal signal processing system of a kind of vehicle, Yi Zhongche
Accelerator pedal signal processing system control method and a kind of non-transitorycomputer readable storage medium.
Background technique
Currently, vehicle is all based on what a controller was controlled to the protection algorism of accelerator pedal signal mostly, though
It is so more stable, but fault-tolerance is poor, i.e., if ADC (Analog-to-Digital Converter, the modulus of controller
Converter) peripheral hardware goes wrong or mistake occurs in the process of signal transmission, then will be unable to accurately obtain accelerator pedal signal,
Influence the safety of driving.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
First purpose is to propose that a kind of accelerator pedal signal processing system of vehicle, the system obtain throttle by two controllers
Pedal signal improves the stability and accuracy of accelerator pedal signal acquisition, and can occur in a controller abnormal
When, the acquisition and processing of accelerator pedal signal are carried out using another controller, ensure that the validity of accelerator pedal signal, into
And it ensure that the safety of vehicle.
Second object of the present invention is to propose a kind of vehicle.
Third object of the present invention is to propose a kind of control method of the accelerator pedal signal processing system of vehicle.
Fourth object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above objectives, first aspect present invention embodiment proposes a kind of accelerator pedal signal processing system of vehicle
System, comprising: the first controller and second controller, the second controller are communicated with first controller, first control
Device processed and the second controller carry out school to the accelerator pedal signal respectively for acquiring accelerator pedal signal respectively
It tests, wherein first controller is used to generate the first accelerator pedal signal when verification passes through, and in the second controller
When verification failure, final accelerator pedal signal is determined according to first accelerator pedal signal；The second controller is used for
The second accelerator pedal signal is generated when verification passes through, and when first controller verifies failure, according to second oil
Door pedal signal determines final accelerator pedal signal；First controller is also used in first controller and described
Two controllers verify when passing through, and are determined according to first accelerator pedal signal and second accelerator pedal signal final
Accelerator pedal signal.
The accelerator pedal signal processing system of vehicle according to an embodiment of the present invention is controlled by the first controller and second
Device acquires accelerator pedal signal respectively, and verifies respectively to accelerator pedal signal, wherein the first controller passes through in verification
The first accelerator pedal signal of Shi Shengcheng, and when second controller verifies failure, it is determined according to the first accelerator pedal signal final
Accelerator pedal signal, second controller generates the second accelerator pedal signal when verification passes through, and verifies in the first controller
When failure, determine final accelerator pedal signal according to the second accelerator pedal signal, the first controller also in the first controller and
Second controller verifies when passing through, and determines that final throttle is stepped on according to the first accelerator pedal signal and the second accelerator pedal signal
Partitioned signal.The system obtains accelerator pedal signal by two controllers as a result, improves the stabilization of accelerator pedal signal acquisition
Property and accuracy, and another controller can be utilized to carry out accelerator pedal signal when controller occurs abnormal
Acquisition and processing, ensure that the validity of accelerator pedal signal, and then ensure that the safety of vehicle.
In addition, the accelerator pedal signal processing system of the vehicle proposed according to that above embodiment of the present invention can also have it is as follows
Additional technical feature:
According to one embodiment of present invention, the accelerator pedal signal is voltage signal, and the accelerator pedal signal
Including first via accelerator pedal signal and the second road accelerator pedal signal.
According to one embodiment of present invention, first controller is master controller, and the second controller is auxiliary control
Device processed, wherein pass through if first controller and the second controller verify, first controller will be described
The first via throttle in first via accelerator pedal signal and second accelerator pedal signal in first accelerator pedal signal is stepped on
The average value of partitioned signal is as final first via accelerator pedal signal, and by the second tunnel in first accelerator pedal signal
The average value of the second road accelerator pedal signal in accelerator pedal signal and second accelerator pedal signal is as final the
Two road accelerator pedal signals；If the first controller verification passes through, and second controller verification does not pass through, then described
First controller is stepped on the first via accelerator pedal signal in first accelerator pedal signal as final first via throttle
Partitioned signal, and using the second road accelerator pedal signal in first accelerator pedal signal as the second final tunnel gas pedal
Signal；If the first controller verification does not pass through, and the second controller verifies when passing through, then the second controller
Using the first via accelerator pedal signal in second accelerator pedal signal as final first via accelerator pedal signal, and will
The second road accelerator pedal signal in second accelerator pedal signal is as the second final road accelerator pedal signal.
According to one embodiment of present invention, if the final first via accelerator pedal signal is less than or equal to 2
The second final road accelerator pedal signal of again described, then using the final first via accelerator pedal signal as described final
Accelerator pedal signal；If the final second road binders door of the final first via accelerator pedal signal greater than 2 times
Pedal signal, then using the second final road accelerator pedal signal as the final accelerator pedal signal.
According to one embodiment of present invention, first controller and the second controller pass through SPI (Serial
Peripheral Interface, Serial Peripheral Interface (SPI)) communication line communicated.
In order to achieve the above objectives, the second aspect of the present invention embodiment proposes a kind of vehicle comprising the present invention first
The accelerator pedal signal processing system of vehicle described in aspect embodiment.
Vehicle according to an embodiment of the present invention passes through two controls of the accelerator pedal signal processing system of above-mentioned vehicle
Device obtains accelerator pedal signal, improves the stability and accuracy of accelerator pedal signal acquisition, and can control at one
When device occurs abnormal, the acquisition and processing of accelerator pedal signal are carried out using another controller, ensure that accelerator pedal signal
Validity, and then ensure that the safety of vehicle.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of accelerator pedal signal processing system of vehicle
The control method of system, the accelerator pedal signal processing system include: the first controller and second controller, second control
Device is communicated with first controller, and the control method is the following steps are included: first controller and second control
Device acquires accelerator pedal signal respectively, and verifies respectively to the accelerator pedal signal；First controller is verifying
By when generate the first accelerator pedal signal, and when the second controller verifies failure, according to first gas pedal
Signal determines final accelerator pedal signal；The second controller generates the second accelerator pedal signal when verification passes through, and
When first controller verifies failure, final accelerator pedal signal is determined according to second accelerator pedal signal；Institute
The first controller is stated also when first controller and the second controller verify and pass through, is stepped on according to first throttle
Partitioned signal and second accelerator pedal signal determine final accelerator pedal signal.
The control method of accelerator pedal signal processing system according to an embodiment of the present invention, the first controller and the second control
Device acquires accelerator pedal signal respectively, and verifies respectively to accelerator pedal signal, the first controller verification by when it is raw
At the first accelerator pedal signal, and when second controller verifies failure, final oil is determined according to the first accelerator pedal signal
Door pedal signal, second controller generates the second accelerator pedal signal when verification passes through, and verifies and fail in the first controller
When, final accelerator pedal signal is determined according to the second accelerator pedal signal, the first controller is also in the first controller and second
Controller verifies when passing through, and determines that final gas pedal is believed according to the first accelerator pedal signal and the second accelerator pedal signal
Number.Accelerator pedal signals are obtained by two controllers as a result, improve the stability of accelerator pedal signal acquisition and accurate
Property, and acquisition and the place of accelerator pedal signal can be carried out using another controller when a controller occurs abnormal
Reason, ensure that the validity of accelerator pedal signal, and then ensure that the safety of vehicle.
In addition, the control method of the accelerator pedal signal processing system of the vehicle proposed according to that above embodiment of the present invention is also
There can be following additional technical feature:
According to one embodiment of present invention, the accelerator pedal signal is voltage signal, and the accelerator pedal signal
Including first via accelerator pedal signal and the second road accelerator pedal signal.
According to one embodiment of present invention, first controller is master controller, and the second controller is auxiliary control
Device processed, wherein pass through if first controller and the second controller verify, by first accelerator pedal signal
In first via accelerator pedal signal and the first via accelerator pedal signal in second accelerator pedal signal average value make
For final first via accelerator pedal signal, and by first accelerator pedal signal the second road accelerator pedal signal and institute
The average value of the second road accelerator pedal signal in the second accelerator pedal signal is stated as the second final road accelerator pedal signal；
If the first controller verification passes through, and second controller verification does not pass through, then believes first gas pedal
First via accelerator pedal signal in number is as final first via accelerator pedal signal, and by first accelerator pedal signal
In the second road accelerator pedal signal as the second final road accelerator pedal signal；If the first controller verification is not led to
It crosses, and second controller verification is when passing through, then the first via accelerator pedal signal by described the and in accelerator pedal signal
Make as final first via accelerator pedal signal, and by the second road accelerator pedal signal in second accelerator pedal signal
For the second final road accelerator pedal signal.
According to one embodiment of present invention, above-mentioned control method further include: if the final first via throttle
The final second road accelerator pedal signal of the pedal signal less than or equal to 2 times, then by the first final road binders
Door pedal signal is as the final accelerator pedal signal；If the final first via accelerator pedal signal is greater than 2 times
The second final road accelerator pedal signal, then using the second final road accelerator pedal signal as described final
Accelerator pedal signal.
According to one embodiment of present invention, above-mentioned control method further include: first controller and described second
Controller verification not by when generate fault-signal, and report the fault-signal.
In order to achieve the above objectives, fourth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, which is executed by processor, for realizing vehicle described in third aspect present invention
Accelerator pedal signal processing system control method.
The non-transitorycomputer readable storage medium of the embodiment of the present invention, when the computer journey of storage on a storage medium
When degree is executed by processor, the first controller and second controller acquire accelerator pedal signal respectively, and respectively to gas pedal
Signal is verified, and the first controller generates the first accelerator pedal signal when verification passes through, and verifies and lose in second controller
When losing, determine that final accelerator pedal signal, second controller generate when verification passes through according to the first accelerator pedal signal
Two accelerator pedal signals, and when the first controller verifies failure, determine that final throttle is stepped on according to the second accelerator pedal signal
Partitioned signal, the first controller is also when the first controller and second controller verify and pass through, according to the first accelerator pedal signal
Final accelerator pedal signal is determined with the second accelerator pedal signal, improves the stability of accelerator pedal signal acquisition as a result,
And accuracy, and adopting for accelerator pedal signal can be carried out using another controller when a controller occurs abnormal
Collection and processing, ensure that the validity of accelerator pedal signal, and then ensure that the safety of vehicle.
Detailed description of the invention
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 block diagram of the accelerator pedal signal processing system of vehicle according to an embodiment of the invention；
Fig. 2 is the working principle diagram of the accelerator pedal signal processing system of the vehicle of a specific example according to the present invention；
Fig. 3 is the block diagram of vehicle according to an embodiment of the invention；And
Fig. 4 is the process of the control method of the accelerator pedal signal processing system of vehicle according to an embodiment of the invention
Figure.
Specific embodiment
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, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the accelerator pedal signal processing system of vehicle of proposition of the embodiment of the present invention, vehicle described
Control method, vehicle and the non-transitorycomputer readable storage medium of accelerator pedal signal processing system.
Fig. 1 is the block diagram of the accelerator pedal signal processing system of vehicle according to an embodiment of the invention.Such as
Shown in Fig. 1, which includes: the first controller and second controller.Second controller is communicated with the first controller, the first control
Device and second controller respectively verify accelerator pedal signal for acquiring accelerator pedal signal respectively.
Wherein, the first controller is for generating the first accelerator pedal signal Main_PedalAD when verification passes through, and
When second controller verification failure, final accelerator pedal signal is determined according to the first accelerator pedal signal Main_PedalAD
PedalAD.Second controller is used to generate the second accelerator pedal signal Assist_PedalAD when verification passes through, and first
When controller verification failure, final accelerator pedal signal is determined according to the second accelerator pedal signal Assist_PedalAD
PedalAD；First control is also used to when the first controller and second controller verify and pass through, and is believed according to the first gas pedal
Number Main_PedalAD and the second accelerator pedal signal Assist_PedalAD determines final accelerator pedal signal.
Specifically, after vehicle powers on, the first controller and second controller pass through ADC (Analog-to-Digital
Converter, mode converter) accelerator pedal signal is acquired respectively, and the accelerator pedal signal of acquisition is verified respectively,
If acquisition is normal, verification passes through, if acquisition abnormity, verifies and does not pass through.If the verification of the first controller passes through, the
One controller is converted and is handled to collected accelerator pedal signal and generates the first accelerator pedal signal Main_
PedalAD generates fault-signal, and fault-signal is reported to second controller if the verification of the first controller does not pass through.
If second controller verification passes through, second controller is converted and is handled to collected accelerator pedal signal and generated
Two accelerator pedal signal Assist_PedalAD generate fault-signal if second controller verification does not pass through, and by failure
Signal reporting is to the first controller.
In the present invention, if the verification of the first controller passes through and second controller verification does not pass through, the first controller
Final accelerator pedal signal is determined according to the first accelerator pedal signal Main_PedalAD, such as by the first accelerator pedal signal
Main_PedalAD is as final accelerator pedal signal PedalAD, i.e. PedalAD=Main_PedalAD.If the first control
Device verification processed does not pass through, and second controller verification passes through, then second controller is according to the second accelerator pedal signal Assist_
PedalAD is determined as final accelerator pedal signal PedalAD, for example, by the second accelerator pedal signal Assist_
PedalAD is as final accelerator pedal signal PedalAD, i.e. PedalAD=Assist_PedalAD.If the first controller
It verifies and passes through with second controller, then the first controller combines the oil of the first accelerator pedal signal Main_PedalAD and second
Door pedal signal Assist_PedalAD determines final accelerator pedal signal PedalAD, such as can be by the first gas pedal
The average value of signal Main PedalAD and the second accelerator pedal signal Assist PedalAD are believed as final gas pedal
Number Main_PedalAD, i.e. PedalAD=(Main_PedalAD+Assist_PedalAD)/2.
The system obtains accelerator pedal signal by two controllers as a result, improves the steady of accelerator pedal signal acquisition
Qualitative and accuracy, and accelerator pedal signal can be carried out using another controller when a controller occurs abnormal
Acquisition and processing, ensure that the validity of accelerator pedal signal, and then ensure that the safety of vehicle.
In an embodiment of the present invention, accelerator pedal signal is voltage signal, and accelerator pedal signal includes the first road binders
Door pedal signal and the second road accelerator pedal signal.That is, accelerator pedal signal includes two paths of signals, first via throttle is stepped on
After partitioned signal and the second road accelerator pedal signal, the first controller and second controller collect accelerator pedal signal, pass through ADC
Collected two-way accelerator pedal signal can be converted to corresponding two ways of digital signals.
Final accelerator pedal signal specifically how is determined below with reference to the description of specifically embodiment.
According to one embodiment of present invention, the first controller is master controller, and second controller is assistant controller,
In, pass through if the first controller and second controller verify, the first controller is by the first accelerator pedal signal
First via accelerator pedal signal Assist_ in accelerator pedal signal Main_PedalAD1 and the second accelerator pedal signal all the way
The average value of PedalAD1 is as final first via accelerator pedal signal PedalAD1, and by first accelerator pedal signal
In the second road accelerator pedal signal Main_PedalAD2 and the second accelerator pedal signal in the second road accelerator pedal signal
The average value of Assist_PedalAD2 is as the second final road accelerator pedal signal PedalAD2.If the first controller school
It tests and passes through, and second controller verification does not pass through, then the first controller steps on the first via throttle in the first accelerator pedal signal
Partitioned signal Main_PedalAD1 is as final first via accelerator pedal signal PedalAD1, and by the first accelerator pedal signal
In the second road accelerator pedal signal Main_PedalAD2 as the second final road accelerator pedal signal PedalAD2.If
The verification of first controller does not pass through, and second controller verifies when passing through, then second controller will be in the second accelerator pedal signal
First via accelerator pedal signal Assist_PedalAD1 as final first via accelerator pedal signal PedalAD1, and will
The second road accelerator pedal signal Assist_PedalAD2 in second accelerator pedal signal is as the second final tunnel gas pedal
Signal PedalAD2.
Specifically, accelerator pedal signal includes two paths of signals, so the first controller and the collected oil of second controller
Door pedal signal includes two ways of digital signals, and collected first accelerator pedal signal of the first controller includes Main_
PedalAD1 and Main_PedalAD2, collected second accelerator pedal signal of second controller includes Assist_PedalAD1
And Assist_PedalAD2.Final accelerator pedal signal PedalAD includes PedalAD1 and PedalAD2.Therefore, Ke Yitong
It crosses and determines that PedalAD1 and PedalAD2 determines final accelerator pedal signal PedalAD, and PedalAD1 can be according to Main_
PedalAD1 and Assist_PedalAD1 determines that PedalAD2 can be according to Main_PedalAD2 and Assist_PedalAD2
It determines.
Specifically, pass through if the first controller and second controller verify, can by Main_PedalAD1 and
The average value of Assist_PedalAD1 is as PedalAD1, by the average value of Main_PedalAD2 and Assist_PedalAD2
As PedalAD2, i.e. PedalAD1=(Main_PedalAD1+Assist_PedalAD1)/2；PedalAD2=(Main_
PedalAD2+Assist_PedalAD2)/2.It, will if the verification of the first controller passes through and second controller verification does not pass through
Main_PedalAD1 is as PedalAD1, using Main_PedalAD2 as PedalAD2, i.e. PedalAD1=Main_
PedalAD1；PedalAD2=Main_PedalAD2.If the verification of the first controller does not pass through and second controller verification is logical
It crosses, then using Assist_PedalAD1 as PedalAD1, using Assist_PedalAD2 as PedalAD2, i.e. PedalAD1=
Assist_PedalAD1；PedalAD2=Assist_PedalAD2.
Final first via accelerator pedal signal PedalAD1 and the second final road accelerator pedal signal is being determined
After PedalAD2, also need to determine final accelerator pedal signal PedalAD according to PedalAD1 and PedalAD1.
Specifically, according to one embodiment of present invention, if final first via accelerator pedal signal PedalAD1
The second final road accelerator pedal signal PedalAD2 less than or equal to 2 times, then believe final first via gas pedal
Number PedalAD1 is as final accelerator pedal signal PedalAD；If final first via accelerator pedal signal PedalAD1
The second final road accelerator pedal signal PedalAD2 greater than 2 times, then by the second final road accelerator pedal signal
PedalAD2 is as final accelerator pedal signal PedalAD.
That is, if PedalAD1≤2*PedalAD2, PedalAD=PedalAD1；If PedalAD1 >
2*PedalAD2, then PedalAD=PedalAD2.Two controllers are utilized as a result, determine final accelerator pedal signal
PedalAD。
In an embodiment of the present invention, the first controller can be communicated with second controller by SPI communication line.
To make those skilled in the art be more clearly understood that the present invention, vehicle proposed by the present invention is described below with reference to Fig. 2
Accelerator pedal signal processing system working principle.As shown in Fig. 2, the work of the accelerator pedal signal processing system of the vehicle
Principle may include following procedure:
S101, vehicle power on.
S102, the first controller and second controller acquire accelerator pedal signal respectively, and are verified.
S103 judges whether verification passes through for the first controller and second controller.If so, thening follow the steps S104；
If not, thening follow the steps S106.
S104, the first controller generate Main_PedalAD1 and Main_ according to the accelerator pedal signal of acquisition
PedalAD2, second controller generate Assist_PedalAD1 and Assist_ according to the accelerator pedal signal of acquisition
PedalAD2。
S105, PedalAD1=(Main_PedalAD1+Assist_PedalAD1)/2；PedalAD2=(Main_
PedalAD2+Assist_PedalAD2)/2, then step S111 is executed.
S106 judges whether that the verification of the first controller passes through.If so, thening follow the steps S107；If it is not, then executing step
Rapid S109.
S107, the first controller generate Main_PedalAD1 and Main_ according to the accelerator pedal signal of acquisition
PedalAD2。
S108, PedalAD1=Main_PedalAD1；PedalAD2=Main_PedalAD2, then execute step S111.
S109, second controller generate Assist_PedalAD1 and Assist_ according to the accelerator pedal signal of acquisition
PedalAD2。
S110, PedalAD1=Assist_PedalAD1；PedalAD2=Assist_PedalAD2, then execute step
S111。
S111 judges whether there is PedalAD1≤2*PedalAD2.If so, thening follow the steps S112；If it is not, then
Execute step S113.
S112, PedalAD=PedalAD1.
Wherein, PedalAD is final accelerator pedal signal
S113, PedalAD=PedalAD2.
To sum up, the accelerator pedal signal processing system of vehicle according to an embodiment of the present invention passes through the first controller and
Two controllers acquire accelerator pedal signal respectively, and verify respectively to accelerator pedal signal, wherein the first controller is in school
Test by when generate the first accelerator pedal signal, it is true according to the first accelerator pedal signal and when second controller verifies failure
Fixed final accelerator pedal signal, second controller generate the second accelerator pedal signal when verification passes through, and in the first control
When device verification failure, final accelerator pedal signal is determined according to the second accelerator pedal signal, the first controller is also in the first control
Device and second controller processed verify when passing through, and are determined according to the first accelerator pedal signal and the second accelerator pedal signal final
Accelerator pedal signal.The system obtains accelerator pedal signal by two controllers as a result, improves accelerator pedal signal acquisition
Stability and accuracy, and another controller can be utilized to carry out gas pedal when controller occurs abnormal
The acquisition and processing of signal, ensure that the validity of accelerator pedal signal, and then ensure that the safety of vehicle.
As shown in figure 3, the embodiment of the present invention also proposes a kind of vehicle 100 comprising the gas pedal of above-mentioned vehicle
Signal processing system 10.
Vehicle according to an embodiment of the present invention passes through two controls of the accelerator pedal signal processing system of above-mentioned vehicle
Device obtains accelerator pedal signal, improves the stability and accuracy of accelerator pedal signal acquisition, and can control at one
When device occurs abnormal, the acquisition and processing of accelerator pedal signal are carried out using another controller, ensure that accelerator pedal signal
Validity, and then ensure that the safety of vehicle.
Accelerator pedal signal processing system based on above-mentioned vehicle, the present invention also propose a kind of gas pedal letter of vehicle
The control method of number processing system.For details undisclosed in embodiment of the method, above-mentioned system embodiment can refer to, specifically
It repeats no more.
Fig. 4 is the process of the control method of the accelerator pedal signal processing system of vehicle according to an embodiment of the invention
Figure.Wherein, as shown in Figure 1, accelerator pedal signal processing system includes: the first controller and second controller, second controller
It is communicated with the first controller；As shown in figure 4, the control method of the accelerator pedal signal processing system of vehicle the following steps are included:
S1, the first controller and second controller acquire accelerator pedal signal respectively, and respectively to accelerator pedal signal into
Row verification.
S2, the first controller generate the first accelerator pedal signal Main_PedalAD when verification passes through, and in the second control
When device verification failure processed, final accelerator pedal signal PedalAD is determined according to the first accelerator pedal signal Main_PedalAD.
S3, second controller generate the second accelerator pedal signal Assist_PedalAD when verification passes through, and first
When controller verification failure, final accelerator pedal signal is determined according to the second accelerator pedal signal Assist_PedalAD
PedalAD。
S4, the first controller are believed when the first controller and second controller verify and pass through according to the first gas pedal
Number Main_PedalAD and the second accelerator pedal signal Assist_PedalAD determines final accelerator pedal signal.
In an embodiment of the present invention, the control method of above-mentioned accelerator pedal signal processing system further include: the first control
Device and second controller processed verification not by when generate fault-signal, and reporting fault signal.
Specifically, after vehicle powers on, the first controller and second controller by ADC (acquire accelerator pedal signal respectively,
And the accelerator pedal signal of acquisition is verified respectively, if acquisition is normal, verification passes through, if acquisition abnormity, school
It tests and does not pass through.If the first controller verification pass through, the first controller to collected accelerator pedal signal carry out conversion and
The first accelerator pedal signal Main_PedalAD is handled and generated, if the verification of the first controller does not pass through, generates failure letter
Number, and fault-signal is reported into second controller.If second controller verification passes through, second controller is to collected
Two accelerator pedal signal Assist_PedalAD are converted and handled and generated to accelerator pedal signal, if second controller school
It tests and does not pass through, then generate fault-signal, and fault-signal is reported into the first controller.
In the present invention, if the verification of the first controller passes through and second controller verification does not pass through, the first controller
Final accelerator pedal signal is determined according to the first accelerator pedal signal Main_PedalAD, such as by the first accelerator pedal signal
Main_PedalAD is as final accelerator pedal signal PedalAD, i.e. PedalAD=Main_PedalAD.If the first control
Device verification processed does not pass through, and second controller verification passes through, then second controller is according to the second accelerator pedal signal Assist_
PedalAD is determined as final accelerator pedal signal PedalAD, for example, by the second accelerator pedal signal Assist_
PedalAD is as final accelerator pedal signal PedalAD, i.e. PedalAD=Assist_PedalAD.If the first controller
It verifies and passes through with second controller, then the first controller combines the oil of the first accelerator pedal signal Main_PedalAD and second
Door pedal signal Assist_PedalAD determines final accelerator pedal signal PedalAD, such as can be by the first gas pedal
The average value of signal Main_PedalAD and the second accelerator pedal signal Assist_PedalAD are believed as final gas pedal
Number Main_PedalAD, i.e. PedalAD=(Main_PedalAD+Assist_PedalAD)/2.
This method obtains accelerator pedal signal by two controllers as a result, improves the steady of accelerator pedal signal acquisition
Qualitative and accuracy, and accelerator pedal signal can be carried out using another controller when a controller occurs abnormal
Acquisition and processing, ensure that the validity of accelerator pedal signal, and then ensure that the safety of vehicle.
In an embodiment of the present invention, accelerator pedal signal is voltage signal, and accelerator pedal signal includes the first road binders
Door pedal signal and the second road accelerator pedal signal.That is, accelerator pedal signal includes two paths of signals, first via throttle is stepped on
After partitioned signal and the second road accelerator pedal signal, the first controller and second controller collect accelerator pedal signal, pass through ADC
Collected two-way accelerator pedal signal can be converted to corresponding two ways of digital signals.
According to one embodiment of present invention, the first controller is master controller, and second controller is assistant controller,
In, pass through if the first controller and second controller verify, the first controller is by the first accelerator pedal signal
First via accelerator pedal signal Assist_ in accelerator pedal signal Main_PedalAD1 and the second accelerator pedal signal all the way
The average value of PedalAD1 is as final first via accelerator pedal signal PedalAD1, and by first accelerator pedal signal
In the second road accelerator pedal signal Main_PedalAD2 and the second accelerator pedal signal in the second road accelerator pedal signal
The average value of Assist_PedalAD2 is as the second final road accelerator pedal signal PedalAD2.If the first controller school
It tests and passes through, and second controller verification does not pass through, then the first controller steps on the first via throttle in the first accelerator pedal signal
Partitioned signal Main_PedalAD1 is as final first via accelerator pedal signal PedalAD1, and by the first accelerator pedal signal
In the second road accelerator pedal signal Main_PedalAD2 as the second final road accelerator pedal signal PedalAD2.If
The verification of first controller does not pass through, and second controller verifies when passing through, then second controller will be in the second accelerator pedal signal
First via accelerator pedal signal Assist_PedalAD1 as final first via accelerator pedal signal PedalAD1, and will
The second road accelerator pedal signal Assist_PedalAD2 in second accelerator pedal signal is as the second final tunnel gas pedal
Signal PedalAD2.
According to one embodiment of present invention, the control method of above-mentioned accelerator pedal signal processing system further include: such as
Final second road accelerator pedal signal of the final first via accelerator pedal signal PedalAD1 of fruit less than or equal to 2 times
PedalAD2, then using final first via accelerator pedal signal PedalAD1 as final accelerator pedal signal PedalAD；Such as
Final second road accelerator pedal signal PedalAD2 of the final first via accelerator pedal signal PedalAD1 of fruit greater than 2 times,
Then using the second final road accelerator pedal signal PedalAD2 as final accelerator pedal signal PedalAD.
To sum up, the control method of accelerator pedal signal processing system according to an embodiment of the present invention, the first controller and
Two controllers acquire accelerator pedal signal respectively, and verify respectively to accelerator pedal signal, and the first controller is logical in verification
The first accelerator pedal signal of out-of-date generation, and when second controller verifies failure, it is determined most according to the first accelerator pedal signal
Whole accelerator pedal signal, second controller generate the second accelerator pedal signal when verification passes through, and in the first controller school
When testing unsuccessfully, final accelerator pedal signal is determined according to the second accelerator pedal signal, the first controller is also in the first controller
It is verified with second controller when passing through, final throttle is determined according to the first accelerator pedal signal and the second accelerator pedal signal
Pedal signal.Obtain accelerator pedal signals by two controllers as a result, improve accelerator pedal signal acquisition stability and
Accuracy, and the acquisition of accelerator pedal signal can be carried out using another controller when a controller occurs abnormal
And processing, it ensure that the validity of accelerator pedal signal, and then ensure that the safety of vehicle.
In addition, the present invention also proposes a kind of non-transitorycomputer readable storage medium, it is stored thereon with computer program,
The program is executed by processor, with the controlling party of the accelerator pedal signal processing system for realizing the above-mentioned vehicle of the present invention
Method.
The non-transitorycomputer readable storage medium of the embodiment of the present invention, when the computer journey of storage on a storage medium
When degree is executed by processor, the first controller and second controller acquire accelerator pedal signal respectively, and respectively to gas pedal
Signal is verified, and the first controller generates the first accelerator pedal signal when verification passes through, and verifies and lose in second controller
When losing, determine that final accelerator pedal signal, second controller generate when verification passes through according to the first accelerator pedal signal
Two accelerator pedal signals, and when the first controller verifies failure, determine that final throttle is stepped on according to the second accelerator pedal signal
Partitioned signal, the first controller is also when the first controller and second controller verify and pass through, according to the first accelerator pedal signal
Final accelerator pedal signal is determined with the second accelerator pedal signal, improves the stability of accelerator pedal signal acquisition as a result,
And accuracy, and adopting for accelerator pedal signal can be carried out using another controller when a controller occurs abnormal
Collection and processing, ensure that the validity of accelerator pedal signal, and then ensure that the safety of vehicle.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
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
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
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, modifies, replacement and variant.
Claims (10)
1. a kind of accelerator pedal signal processing system of vehicle characterized by comprising the first controller and second controller,
The second controller is communicated with first controller, and first controller and the second controller for acquiring respectively
Accelerator pedal signal, and the accelerator pedal signal is verified respectively, wherein
First controller is verified for generating the first accelerator pedal signal when verification passes through, and in the second controller
When failure, final accelerator pedal signal is determined according to first accelerator pedal signal；
The second controller is verified for generating the second accelerator pedal signal when verification passes through, and in first controller
When failure, final accelerator pedal signal is determined according to second accelerator pedal signal；
First controller is also used to when first controller and the second controller verify and pass through, according to described
First accelerator pedal signal and second accelerator pedal signal determine final accelerator pedal signal.
2. the accelerator pedal signal processing system of vehicle according to claim 1, which is characterized in that the gas pedal letter
It number is voltage signal, and the accelerator pedal signal includes first via accelerator pedal signal and the second road accelerator pedal signal.
3. the accelerator pedal signal processing system of vehicle according to claim 2, which is characterized in that first controller
For master controller, the second controller is assistant controller, wherein
Pass through if first controller and the second controller verify, first controller is oily by described first
The first via accelerator pedal signal in first via accelerator pedal signal and second accelerator pedal signal in door pedal signal
Average value stepped on as final first via accelerator pedal signal, and by the second road binders door in first accelerator pedal signal
The average value of the second road accelerator pedal signal in partitioned signal and second accelerator pedal signal is as the second final road binders
Door pedal signal；
If the first controller verification passes through, and second controller verification does not pass through, then first controller will
First via accelerator pedal signal in first accelerator pedal signal is as final first via accelerator pedal signal, and by institute
The second road accelerator pedal signal in the first accelerator pedal signal is stated as the second final road accelerator pedal signal；
If the first controller verification does not pass through, and the second controller verifies when passing through, then the second controller
Using the first via accelerator pedal signal in second accelerator pedal signal as final first via accelerator pedal signal, and will
The second road accelerator pedal signal in second accelerator pedal signal is as the second final road accelerator pedal signal.
4. the accelerator pedal signal processing system of vehicle according to claim 3, which is characterized in that
If the final second tunnel gas pedal of the final first via accelerator pedal signal less than or equal to 2 times
Signal, then using the final first via accelerator pedal signal as the final accelerator pedal signal；
If the final second road accelerator pedal signal of the final first via accelerator pedal signal greater than 2 times,
Using the second final road accelerator pedal signal as the final accelerator pedal signal.
5. a kind of control method of the accelerator pedal signal processing system of vehicle, which is characterized in that at the accelerator pedal signal
Reason system includes: the first controller and second controller, and the second controller is communicated with first controller, the control
Method the following steps are included:
First controller and the second controller acquire accelerator pedal signal respectively, and believe respectively the gas pedal
It number is verified；
First controller generates the first accelerator pedal signal when verification passes through, and verifies and fail in the second controller
When, final accelerator pedal signal is determined according to first accelerator pedal signal；
The second controller generates the second accelerator pedal signal when verification passes through, and verifies and fail in first controller
When, final accelerator pedal signal is determined according to second accelerator pedal signal；
First controller is when first controller and the second controller verify and pass through, according to first oil
Door pedal signal and second accelerator pedal signal determine final accelerator pedal signal.
6. the control method of accelerator pedal signal processing system according to claim 5, which is characterized in that the throttle is stepped on
Partitioned signal is voltage signal, and the accelerator pedal signal includes first via accelerator pedal signal and the second tunnel gas pedal letter
Number.
7. the control method of accelerator pedal signal processing system according to claim 6, which is characterized in that first control
Device processed is master controller, and the second controller is assistant controller, wherein
Pass through if first controller and the second controller verify, by first accelerator pedal signal
The average value of accelerator pedal signal and the first via accelerator pedal signal in second accelerator pedal signal is as final all the way
First via accelerator pedal signal, and by the second road accelerator pedal signal and described second in first accelerator pedal signal
The average value of the second road accelerator pedal signal in accelerator pedal signal is as the second final road accelerator pedal signal；
If the first controller verification passes through, and second controller verification does not pass through, then steps on first throttle
First via accelerator pedal signal in partitioned signal is as final first via accelerator pedal signal, and by first gas pedal
The second road accelerator pedal signal in signal is as the second final road accelerator pedal signal；
If first controller verification does not pass through, and when second controller verification passes through, then the throttle by described the
First via accelerator pedal signal in pedal signal is stepped on as final first via accelerator pedal signal, and by second throttle
The second road accelerator pedal signal in partitioned signal is as the second final road accelerator pedal signal.
8. the control method of accelerator pedal signal processing system according to claim 6, which is characterized in that further include:
If the final second tunnel gas pedal of the final first via accelerator pedal signal less than or equal to 2 times
Signal, then using the final first via accelerator pedal signal as the final accelerator pedal signal；
If the final second road accelerator pedal signal of the final first via accelerator pedal signal greater than 2 times,
Using the second final road accelerator pedal signal as the final accelerator pedal signal.
9. the control method of accelerator pedal signal processing system according to claim 5, which is characterized in that further include:
First controller and the second controller verification not by when generate fault-signal, and report the failure letter
Number.
10. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
It is executed by processor, with the accelerator pedal signal processing system for realizing the vehicle according to any one of claim 5-9
The control method of system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811516813.0A CN109849938A (en) | 2018-12-12 | 2018-12-12 | The accelerator pedal signal processing system and its control method of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811516813.0A CN109849938A (en) | 2018-12-12 | 2018-12-12 | The accelerator pedal signal processing system and its control method of vehicle |
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| CN109849938A true CN109849938A (en) | 2019-06-07 |
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ID=66890990
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| CN201811516813.0A Pending CN109849938A (en) | 2018-12-12 | 2018-12-12 | The accelerator pedal signal processing system and its control method of vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024077986A1 (en) * | 2022-10-09 | 2024-04-18 | 华为技术有限公司 | Control system, sensor, controller, and terminal device |
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Application publication date: 20190607 |