CN113511209A - Method, device and equipment for determining vehicle driving mode and storage medium - Google Patents
Method, device and equipment for determining vehicle driving mode and storage medium Download PDFInfo
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- CN113511209A CN113511209A CN202110547107.8A CN202110547107A CN113511209A CN 113511209 A CN113511209 A CN 113511209A CN 202110547107 A CN202110547107 A CN 202110547107A CN 113511209 A CN113511209 A CN 113511209A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
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Abstract
The application relates to a method, a device, equipment and a storage medium for determining a vehicle driving mode, wherein the method comprises the following steps: acquiring an opening signal of an accelerator pedal by acquiring the signal of the accelerator pedal; determining the change rate of each acceleration under different vehicle speeds; determining the expected opening acceleration of each accelerator pedal under different vehicle speeds according to the opening signal of the accelerator pedal and each acceleration change rate under different vehicle speeds; and determining the wheel-side torque of each accelerator opening under different vehicle speeds according to the expected opening acceleration of each accelerator opening under different vehicle speeds, and determining the driving mode of the vehicle according to the wheel-side torque of each accelerator opening under different vehicle speeds. According to the technical scheme, the mode does not need to be set manually, the selection mode does not need to be configured on the vehicle, the automatically determined driving mode meets the driving style of the user, and the user experience is improved.
Description
Technical Field
The present disclosure relates to the field of driving control technologies, and in particular, to a method and an apparatus for determining a driving mode of a vehicle, a computer device, and a computer-readable storage medium.
Background
In the automotive field, vehicles are configured with three driving modes: ECO mode, NORMAL mode, and port mode. The ECO mode is helpful for a driver to accelerate in an environment-friendly manner and improve fuel economy by appropriate throttle characteristics and control of the operation (heating/cooling) of the air conditioning system, and when the air conditioner is used, the system is automatically switched to the air conditioning environment-friendly mode to achieve better fuel economy; the NORMAL mode is the meaning of a common driving mode, also called a standard driving mode, can realize the optimal balance of fuel economy, silent performance and power performance, and is generally suitable for urban driving; the SPORT mode is to control the transmission and the engine to realize rapid and powerful acceleration and change the steering feeling, and is suitable for the situations needing agile driving response, such as driving on a multi-bend road. However, the driving habits of each user are different, and the conventional driving mode cannot meet the habit of each user for driving the vehicle, so that the experience of the user is poor.
Disclosure of Invention
The application mainly aims to provide a method and a device for determining a vehicle driving mode, a computer device and a computer readable storage medium, and aims to solve the technical problem that the driving habits of each user are different, and the existing driving mode cannot meet the driving habits of each user, so that the experience of the user is poor.
In a first aspect, the present application provides a method of determining a driving mode of a vehicle, the method comprising the steps of:
acquiring a signal of an accelerator pedal, and acquiring an opening signal of the accelerator pedal;
determining the change rate of each acceleration under different vehicle speeds;
determining the expected opening acceleration of each accelerator pedal under different vehicle speeds according to the opening signal of the accelerator pedal and each acceleration change rate under different vehicle speeds;
and determining the wheel-side torque of each accelerator opening under different vehicle speeds according to the expected opening acceleration of each accelerator opening under different vehicle speeds, and determining the driving mode of the vehicle according to the wheel-side torque of each accelerator opening under different vehicle speeds.
In a second aspect, the present application also provides a vehicle driving mode determination apparatus, including:
the acquisition module is used for acquiring signals of an accelerator pedal and acquiring opening signals of the accelerator pedal;
the first determining module is used for determining each acceleration change rate under different vehicle speeds;
the second determining module is used for determining the expected opening acceleration of each accelerator pedal under different vehicle speeds according to the opening signal of the accelerator pedal and each acceleration change rate under different vehicle speeds;
and the third determining module is used for determining the wheel-side torque of each accelerator pedal opening under different vehicle speeds according to the opening expected acceleration of each accelerator pedal under different vehicle speeds, and determining the driving mode of the vehicle according to the wheel-side torque of each accelerator pedal opening under different vehicle speeds.
In a third aspect, the present application also provides a computer device comprising a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, implements the steps of the method for determining a driving mode of a vehicle as described above.
In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method for determining a driving mode of a vehicle as described above.
The application discloses a method, a device and equipment for determining a vehicle driving mode and a readable storage medium, wherein an opening signal of an accelerator pedal is acquired by acquiring a signal of the accelerator pedal; determining the change rate of each acceleration under different vehicle speeds; determining the expected opening acceleration of each accelerator pedal under different vehicle speeds according to the opening signal of the accelerator pedal and each acceleration change rate under different vehicle speeds; and determining the wheel-side torque of each accelerator opening under different vehicle speeds according to the expected opening acceleration of each accelerator opening under different vehicle speeds, and determining the driving mode of the vehicle according to the wheel-side torque of each accelerator opening under different vehicle speeds. According to the technical scheme, the mode does not need to be set manually, the selection mode does not need to be configured on the vehicle, the automatically determined driving mode meets the driving style of the user, and the user experience is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for determining a driving mode of a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating sub-steps of a method for determining a driving mode of the vehicle of FIG. 1;
FIG. 3 is a schematic diagram of the acceleration change rate provided by the present embodiment;
FIG. 4 is a flow chart illustrating sub-steps of a method for determining a driving mode of the vehicle of FIG. 1;
FIG. 5 is a flow chart illustrating sub-steps of a method for determining a driving mode of the vehicle of FIG. 1;
FIG. 6 is a schematic block diagram of a method and an apparatus for determining a driving mode of a vehicle according to an embodiment of the present disclosure;
fig. 7 is a block diagram schematically illustrating a structure of a computer device according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The embodiment of the application provides a method and a device for determining a vehicle driving mode, computer equipment and a computer readable storage medium. The method for determining the vehicle driving mode can be applied to computer equipment, and the computer equipment can be electronic equipment such as an on-board computer.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a method for determining a driving mode of a vehicle according to an embodiment of the present disclosure.
As shown in fig. 1, the method of determining the driving mode of the vehicle includes steps S101 to S104.
And step S101, acquiring a signal of an accelerator pedal, and acquiring an opening signal of the accelerator pedal.
Illustratively, the signal of the accelerator pedal is collected, the collection mode comprises an engine management system and a controller, and the signal of the accelerator pedal comprises a voltage signal. And acquiring an opening degree signal of the accelerator pedal by acquiring a signal of the accelerator pedal.
In an embodiment, specifically referring to fig. 2, step S101 includes: substeps 1011 to substep S1015.
And a substep S1011, acquiring a voltage signal of the accelerator pedal acquired by the preset controller.
Illustratively, the voltage signal of the accelerator pedal is acquired through a preset controller, and the preset controller comprises an ECU controller and a VCU vehicle control unit. The accelerator pedal is provided with two sensors, the sensors are connected with the controller and belong to potentiometer sensors, the signal ranges output by the two sensors are different, but the output signals of the sensors and the opening degree of the accelerator pedal are in a linear relation, and the physical signals with different characteristics are input into the controller to obtain the consistent opening degree of the accelerator pedal. And acquiring a voltage signal of an accelerator pedal detected by a sensor through a controller.
And a substep S1012 of converting the voltage signal of the accelerator pedal to obtain a corresponding sampling value.
Exemplarily, when the voltage signal of the accelerator pedal is acquired, the voltage signal is converted to obtain a corresponding sampling value. For example, the acquired voltage signal of the accelerator pedal is converted to a specific value.
And a substep S1013 of determining whether the sample value is valid based on a preset valid range.
Exemplarily, when the sampling value is obtained, obtaining a preset effective range, comparing the sampling value with the preset effective range, and when the preset effective range contains the sampling value, determining that the sampling value is valid; and when the preset valid range does not contain the sampling value, determining that the sampling value is invalid. For example, when the acquired sampling value is 3V and the preset effective range is 0V-5V, determining that the sampling value is effective; and when the acquired sampling value is 6V and the preset effective range is 0V-5V, determining that the sampling value is invalid.
And a substep S1014, if the sampling value is determined to be valid, filtering the sampling value to obtain a corresponding valid value.
Exemplarily, when a sampling value is determined to be valid, the sampling value is filtered to obtain a corresponding valid value. For example, a preset voltage amplification rate is obtained, and the sampling value is calculated according to the voltage amplification rate to obtain a corresponding effective value.
And a substep S1015, obtaining an opening degree signal of the accelerator pedal according to the effective value.
Exemplarily, when the effective values are obtained, the opening degree signal of the accelerator pedal is obtained through the effective values, wherein if two sensors are provided, the corresponding effective values are two, the ratio of the effective values is 2:1, and the effective values include a maximum effective value and a minimum effective value.
Specifically, the effective values include a maximum effective value and a minimum effective value; the acquiring the opening degree signal of the accelerator pedal according to the effective value comprises the following steps: acquiring a preset calculation formula; and acquiring the opening degree signal of the accelerator pedal through the preset calculation formula, the maximum effective value and the minimum effective value.
Exemplarily, obtaining the preset calculation formula
Wherein p is an opening signal of an accelerator pedal, v is a sampling value of the accelerator pedal, vmaxIs the maximum effective value, vminIs the minimum valid value. The maximum effective value is an effective sampling maximum threshold value of the accelerator pedal voltage signal, and the minimum effective value is an effective sampling minimum threshold value of the accelerator pedal voltage signal. Obtaining a preset calculation formula
By the preset calculation formula
Obtaining corresponding opening degree signals of an accelerator pedal, wherein v is greater than or equal to vmaxWhen v is 100. v is less than vminWhen v is 0.
And step S102, determining each acceleration change rate under different vehicle speeds.
Exemplarily, the acceleration change rates of different vehicle speeds in the driving cycle are collected, the collected acceleration change rates of different vehicle speeds are compared with the acceleration change rates of preset different vehicle speeds, and if the acceleration change rates of different vehicle speeds are not consistent, the collected acceleration change rates of different vehicle speeds are determined. Or acquiring each acceleration change rate under different vehicle speeds in a driving cycle, comparing each acquired acceleration change rate under different vehicle speeds with each acceleration change rate under preset different vehicle speeds to acquire a corresponding correction coefficient, and determining each acceleration change rate under different vehicle speeds according to the correction coefficient and each acceleration change rate under preset different vehicle speeds. For example, in one driving cycle, obtaining a correction coefficient of a desired acceleration rate through fuzzy control, storing the correction coefficient in an ECU memory, in the next driving cycle, initializing the ECU, obtaining the acceleration rate at different vehicle speeds according to the driving habits as shown in fig. 3 according to the base acceleration rate and the correction coefficient of the desired acceleration rate, wherein the input of the fuzzy controller is the acceleration rate, the fuzzy set of the acceleration rate is { NB, NS, ZE, PS, PB }, and the domain of argument can be [ -0.3, 0.3 ]; the output of the fuzzy controller is correction coefficients of the acceleration change rate, the fuzzy set of the correction coefficients is { NB, NS, ZE, PS, PB }, the domain of discourse can be set to [0.5, 1.5], and the constructed membership function is used for determining the fuzzy rule.
And step S103, determining the expected opening acceleration of each accelerator pedal under different vehicle speeds according to the opening signal of the accelerator pedal and each acceleration change rate under different vehicle speeds.
Exemplarily, an opening signal of an accelerator pedal and each acceleration change rate under different vehicle speeds are obtained, and the opening expected acceleration of each accelerator pedal under different vehicle speeds is determined. For example, when the opening degree signal of the accelerator pedal and the rate of change of each accelerator pedal at different vehicle speeds are acquired, the opening degree signal of the accelerator pedal and the desired opening degree acceleration of each accelerator pedal at different vehicle speeds are calculated, and the desired opening degree acceleration of each accelerator pedal at different vehicle speeds is acquired.
In an embodiment, specifically referring to fig. 4, step S103 includes: substeps 1031 to substep S1034.
And a substep S1031, determining the vehicle speed and the opening degree signal of the target accelerator pedal through the opening degree signal of the accelerator pedal.
Illustratively, when the opening signal of the accelerator pedal is acquired, the vehicle speed j corresponding to the accelerator pedal is determined according to the opening signal of the accelerator pedal, and the opening signal of the previous accelerator pedal is determined according to the opening signal of the accelerator pedal. For example, when the opening degree signal of the accelerator pedal is acquired as p (i), the opening degree signal of the previous accelerator pedal is acquired as p (i-1), and the opening degree signal p (i-1) of the previous accelerator pedal is taken as the opening degree signal of the target accelerator pedal.
And a substep S1032 of determining the acceleration change rate corresponding to the vehicle speed based on each acceleration change rate under different vehicle speeds.
Exemplarily, the acceleration change rates of the vehicle speed under different vehicle speeds are obtained, the vehicle speed and the acceleration change rates under different vehicle speeds are paired, and the acceleration change rate Δ a (j) of the vehicle speed in the acceleration change rates under different vehicle speeds is obtained.
And a substep S1033 of determining a target acceleration corresponding to the opening degree signal of the target accelerator pedal according to the opening degree signal of the target accelerator pedal.
For example, when the opening degree signal of the target accelerator pedal is acquired, the acceleration at the vehicle speed is acquired according to the opening degree signal of the target accelerator pedal. For example, if the acceleration at the vehicle speed j is acquired, the target acceleration at the vehicle speed j under the target accelerator pedal opening degree signal is a (i, j).
And a substep S1034, calculating an opening degree signal of the target accelerator pedal, an opening degree signal of the accelerator pedal, the target acceleration and an acceleration change rate corresponding to the vehicle speed, and determining the opening degree expected acceleration of each accelerator pedal under different vehicle speeds.
Exemplarily, an opening degree signal of a target accelerator pedal, an opening degree signal of the accelerator pedal, an acceleration degree change rate corresponding to the target acceleration and the vehicle speed are obtained, and the opening degree expected acceleration of each accelerator pedal at different vehicle speeds is determined by calculating the opening degree signal of the target accelerator pedal, the opening degree signal of the accelerator pedal, the target acceleration and the acceleration degree change rate corresponding to the vehicle speed. For example, a preset calculation formula a (i, j) ═ a (i-1, j) + Δ a (j) x [ p (i) -p (i-1) ], where a (i-1, j) is a previous acceleration, Δ a (j) is an acceleration change rate corresponding to a vehicle speed, p (i) is an opening degree signal of a current accelerator pedal, and p (i-1) is an opening degree signal of a previous accelerator pedal, is obtained. The expected acceleration of the opening degree of each accelerator pedal under different vehicle speeds is obtained by calculating a preset calculation formula a (i, j) ═ a (i-1, j) + delta a (j) x [ p (i) -p (i-1) ].
And step S104, determining wheel-side torque of each accelerator pedal opening under different vehicle speeds according to the opening expected acceleration of each accelerator pedal under different vehicle speeds, and determining the driving mode of the vehicle based on the wheel-side torque of each accelerator pedal opening under different vehicle speeds.
Exemplarily, the opening degree expected acceleration of each accelerator pedal at different vehicle speeds is obtained, and the wheel torque of each accelerator pedal opening degree at different vehicle speeds is determined through the opening degree expected acceleration, the preset vehicle mass, the preset resistance coefficient and the preset tire radius of each accelerator pedal at different vehicle speeds. The driving mode of the vehicle is determined at the wheel-side torque by the opening degree of each accelerator pedal at different vehicle speeds. For example, the wheel-side torque of each accelerator pedal opening under different vehicle speeds determines a self-defined driving mode, the driving mode is determined by the wheel-side torque of each accelerator pedal opening under different vehicle speeds, after the driving mode is determined by the user, the wheel-side torque corresponding to the driving mode is obtained through the accelerator pedal opening under the current vehicle speed, and the automatically determined driving mode meets the driving style of the user.
In an embodiment, specifically referring to fig. 5, step S104 includes: substeps S1041 to substep S1044.
And a substep S1041 of obtaining a preset vehicle mass and a preset resistance coefficient.
Illustratively, a preset vehicle mass and a preset resistance coefficient are obtained, which are pre-stored in a memory path or block chain.
And a substep S1042 of obtaining acceleration forces at different speeds according to the preset vehicle mass and the expected opening acceleration of each acceleration pedal at different speeds.
Exemplary. And when the preset vehicle mass is obtained, obtaining the acceleration force at different vehicle speeds through the preset vehicle mass and the expected acceleration of the opening degree of each acceleration pedal at different vehicle speeds. For example, obtain the Preset acceleration force formula FaM × a, wherein FaThe acceleration force at different vehicle speeds is defined as m, the preset vehicle mass is defined as m, and the expected acceleration of the opening degree of each accelerator pedal at different vehicle speeds is defined as a.
And a substep S1043 of determining the road resistance according to the preset resistance coefficient.
Illustratively, a preset resistance coefficient is obtained, which includes a road resistance coefficient and a wind resistance coefficient. The method comprises the steps of obtaining the current vehicle speed and the preset windward coefficient, and determining the road resistance according to the current vehicle speed, the road resistance coefficient, the wind resistance coefficient, the preset windward coefficient and the preset vehicle mass.
Specifically, the preset resistance coefficient comprises a road resistance coefficient and a wind resistance coefficient; determining the road resistance according to the preset resistance coefficient comprises the following steps: acquiring the speed, the preset windward area and the preset vehicle mass of the current vehicle; and determining the road resistance according to the speed of the current vehicle, the preset windward area, the preset vehicle mass, the road resistance coefficient and the wind resistance coefficient.
Illustratively, the preset drag coefficients include a road drag coefficient and a wind drag coefficient. The method comprises the steps of obtaining the current vehicle speed and the preset windward coefficient, and determining the road resistance according to the current vehicle speed, the road resistance coefficient, the wind resistance coefficient, the preset windward coefficient and the preset vehicle mass. For example, a preset road resistance formula is obtained
Wherein, Ff+wIs road resistance, G is preset vehicle mass, f is road resistance coefficient, CDThe coefficient is the wind resistance coefficient, A is the preset windward coefficient, and u is the vehicle speed. By calculating the formula of the preset road resistance
The road resistance is obtained.
And a substep S1044 of determining wheel side torques of various accelerator pedal opening degrees at different vehicle speeds according to the road resistance, the preset tire radius and the acceleration force at different vehicle speeds.
Exemplary, obtainAnd taking a preset tire radius, and determining the wheel side torque of each accelerator pedal opening degree under different vehicle speeds through the road resistance, the preset tire radius and the acceleration force under different vehicle speeds. For example, the preset wheel-side torque formula T is obtainedwheel＝(Fa+Ff+w) X r, wherein Ff+wAs road resistance, FaFor acceleration forces at different vehicle speeds, r is the tire radius, TwheelIs the wheel-side torque. By calculating the preset wheel torque formula Twheel＝(Fa+Ff+w) Xr, obtained for each accelerator opening at different vehicle speeds.
In the embodiment of the application, the opening degree signal of the accelerator pedal is acquired by acquiring the signal of the accelerator pedal, the change rate of each acceleration degree under different vehicle speeds is determined, the expected acceleration of each opening degree of the accelerator pedal under different vehicle speeds is determined according to the opening degree signal of the accelerator pedal and the change rate of each acceleration degree under different vehicle speeds, the wheel side torque of each opening degree of the accelerator pedal under different vehicle speeds is determined according to the expected acceleration of each opening degree of the accelerator pedal under different vehicle speeds, the driving mode of the vehicle is determined, manual setting of the mode is not needed, a selection mode is not needed to be configured on the vehicle, the driving mode which is automatically identified accords with the driving style of a user, and the experience feeling of the user is improved.
Referring to fig. 6, fig. 6 is a schematic block diagram of a device for determining a driving mode of a vehicle according to an embodiment of the present application.
As shown in fig. 6, the vehicle driving mode determination apparatus 400 includes: an acquisition module 401, a first determination module 402, a second determination module 403, and a third determination module 404.
The acquisition module 401 is configured to acquire a signal of an accelerator pedal and acquire an opening signal of the accelerator pedal;
a first determining module 402, configured to determine each acceleration change rate at different vehicle speeds;
a second determining module 403, configured to determine, according to the opening degree signal of the accelerator pedal and each acceleration degree change rate at different vehicle speeds, an opening degree expected acceleration of each accelerator pedal at different vehicle speeds;
the third determining module 404 is configured to determine wheel-side torques of the accelerator pedal openings at different vehicle speeds according to the opening degree expected acceleration of each accelerator pedal at different vehicle speeds, and determine a driving mode of the vehicle from the wheel-side torques of the accelerator pedal openings at different vehicle speeds.
The second determining module 403 is further specifically configured to:
determining a vehicle speed and an opening signal of a target accelerator pedal according to the opening signal of the accelerator pedal;
determining the acceleration change rate corresponding to the vehicle speed based on the acceleration change rates under different vehicle speeds;
determining a target acceleration rate according to the acceleration rate corresponding to the vehicle speed;
and calculating the opening degree signal of the target accelerator pedal, the opening degree signal of the accelerator pedal, the target acceleration degree change rate and the acceleration degree change rate corresponding to the vehicle speed, and determining the opening degree expected acceleration of each accelerator pedal under different vehicle speeds.
The third determining module 404 is further specifically configured to:
acquiring preset vehicle mass and a preset resistance coefficient;
obtaining acceleration forces at different speeds according to the preset vehicle mass and the expected opening acceleration of each acceleration pedal at different speeds;
determining road resistance according to the preset resistance coefficient;
and determining the wheel-side torque of each accelerator pedal opening under different vehicle speeds according to the road resistance, the preset tire radius and the acceleration force under different vehicle speeds.
The third determining module 404 is further specifically configured to:
acquiring the speed, the preset windward area and the preset vehicle mass of the current vehicle;
and determining the road resistance according to the speed of the current vehicle, the preset windward area, the preset vehicle mass, the road resistance coefficient and the wind resistance coefficient.
The third determining module 404 is further specifically configured to:
obtaining total resistance through the road resistance and the acceleration force under different vehicle speeds;
and determining the wheel torque of each accelerator pedal opening under different vehicle speeds through the total resistance and the preset tire radius.
Wherein, the acquisition module 401 is specifically further configured to:
acquiring a voltage signal of an accelerator pedal acquired by a preset controller;
converting the voltage signal of the accelerator pedal to obtain a corresponding sampling value;
determining whether the sampling value is valid based on a preset valid range;
if the sampling value is determined to be valid, filtering the sampling value to obtain a corresponding valid value;
and acquiring an opening signal of the accelerator pedal according to the effective value.
Wherein, the acquisition module 401 is specifically further configured to:
acquiring a preset calculation formula;
and acquiring the opening degree signal of the accelerator pedal through the preset calculation formula, the maximum effective value and the minimum effective value.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules and units may refer to the corresponding processes in the foregoing embodiments of the method for determining a driving mode of a vehicle, and are not described herein again.
The apparatus provided by the above embodiments may be implemented in the form of a computer program that can be run on a computer device as shown in fig. 7.
Referring to fig. 7, fig. 7 is a schematic block diagram illustrating a structure of a computer device according to an embodiment of the present disclosure. The computer device may be a terminal.
As shown in fig. 7, the computer device includes a processor, a memory, and a network interface connected by a system bus, wherein the memory may include a nonvolatile storage medium and an internal memory.
The non-volatile storage medium may store an operating system and a computer program. The computer program includes program instructions that, when executed, cause a processor to perform any of the methods for determining a driving mode of a vehicle.
The processor is used for providing calculation and control capability and supporting the operation of the whole computer equipment.
The internal memory provides an environment for the execution of a computer program on a non-volatile storage medium, which when executed by the processor, causes the processor to perform any of the methods for determining a driving mode of a vehicle.
The network interface is used for network communication, such as sending assigned tasks and the like. Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
It should be understood that the Processor may be a Central Processing Unit (CPU), and the Processor may be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Wherein, in one embodiment, the processor is configured to execute a computer program stored in the memory to implement the steps of:
acquiring a signal of an accelerator pedal, and acquiring an opening signal of the accelerator pedal;
determining the change rate of each acceleration under different vehicle speeds;
determining the expected opening acceleration of each accelerator pedal under different vehicle speeds according to the opening signal of the accelerator pedal and each acceleration change rate under different vehicle speeds;
and determining the wheel-side torque of each accelerator opening under different vehicle speeds according to the expected opening acceleration of each accelerator opening under different vehicle speeds, and determining the driving mode of the vehicle according to the wheel-side torque of each accelerator opening under different vehicle speeds.
In one embodiment, the processor is configured to determine, according to the opening degree signal of the accelerator pedal and the respective acceleration rate at different vehicle speeds, that the desired acceleration of the opening degree of the accelerator pedal at different vehicle speeds is achieved, and to:
determining a vehicle speed and an opening signal of a target accelerator pedal according to the opening signal of the accelerator pedal;
determining the acceleration change rate corresponding to the vehicle speed based on the acceleration change rates under different vehicle speeds;
determining a target acceleration rate according to the acceleration rate corresponding to the vehicle speed;
and calculating the opening degree signal of the target accelerator pedal, the opening degree signal of the accelerator pedal, the target acceleration degree change rate and the acceleration degree change rate corresponding to the vehicle speed, and determining the opening degree expected acceleration of each accelerator pedal under different vehicle speeds.
In one embodiment, the processor is configured to determine, according to the opening degree desired acceleration of each accelerator pedal at different vehicle speeds, wheel-side torque implementation of each accelerator pedal opening degree at different vehicle speeds, and is configured to implement:
acquiring preset vehicle mass and a preset resistance coefficient;
obtaining acceleration forces at different speeds according to the preset vehicle mass and the expected opening acceleration of each acceleration pedal at different speeds;
determining road resistance according to the preset resistance coefficient;
and determining the wheel-side torque of each accelerator pedal opening under different vehicle speeds according to the road resistance, the preset tire radius and the acceleration force under different vehicle speeds.
In one embodiment, when determining the road resistance implementation according to the preset resistance coefficient, the processor is configured to implement:
acquiring the speed, the preset windward area and the preset vehicle mass of the current vehicle;
and determining the road resistance according to the speed of the current vehicle, the preset windward area, the preset vehicle mass, the road resistance coefficient and the wind resistance coefficient.
In one embodiment, when determining the wheel-side torque implementation of each accelerator pedal opening at different vehicle speeds according to the road resistance, the preset tire radius and the acceleration force at different vehicle speeds, the processor is configured to implement:
obtaining total resistance through the road resistance and the acceleration force under different vehicle speeds;
and determining the wheel torque of each accelerator pedal opening under different vehicle speeds through the total resistance and the preset tire radius.
In one embodiment, the processor collects signals of an accelerator pedal, and when the signals of the opening degree of the accelerator pedal are obtained, the processor is used for realizing that:
acquiring a voltage signal of an accelerator pedal acquired by a preset controller;
converting the voltage signal of the accelerator pedal to obtain a corresponding sampling value;
determining whether the sampling value is valid based on a preset valid range;
if the sampling value is determined to be valid, filtering the sampling value to obtain a corresponding valid value;
and acquiring an opening signal of the accelerator pedal according to the effective value.
In one embodiment, the processor is configured to, when acquiring the opening degree signal of the accelerator pedal according to the effective value, implement:
acquiring a preset calculation formula;
and acquiring the opening degree signal of the accelerator pedal through the preset calculation formula, the maximum effective value and the minimum effective value.
Embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed, the method implemented by the computer program instructions may refer to various embodiments of the method for determining a driving mode of a vehicle according to the present application.
The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiment, for example, a hard disk or a memory of the computer device. The computer readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the computer device.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of determining a driving mode of a vehicle, the method comprising:
acquiring a signal of an accelerator pedal, and acquiring an opening signal of the accelerator pedal;
determining the change rate of each acceleration under different vehicle speeds;
determining the expected opening acceleration of each accelerator pedal under different vehicle speeds according to the opening signal of the accelerator pedal and each acceleration change rate under different vehicle speeds;
and determining wheel-side torque of each accelerator opening under different vehicle speeds according to the opening expected acceleration of each accelerator opening under different vehicle speeds, and determining the driving mode of the vehicle based on the wheel-side torque of each accelerator opening under different vehicle speeds.
2. The method of determining a driving mode of a vehicle according to claim 1, wherein said determining an opening degree desired acceleration of each of said accelerator pedals at different vehicle speeds based on said opening degree signal of said accelerator pedal and each of said acceleration rate change at different vehicle speeds comprises:
determining a vehicle speed and an opening signal of a target accelerator pedal according to the opening signal of the accelerator pedal;
determining the acceleration change rate corresponding to the vehicle speed based on the acceleration change rates under different vehicle speeds;
determining a target acceleration corresponding to the opening degree signal of the target accelerator pedal according to the opening degree signal of the target accelerator pedal;
and calculating the opening degree signal of the target accelerator pedal, the opening degree signal of the accelerator pedal, the target acceleration and the acceleration change rate corresponding to the vehicle speed, and determining the opening degree expected acceleration of each accelerator pedal under different vehicle speeds.
3. The method of determining a driving mode of a vehicle according to claim 1, wherein said determining wheel-side torques at respective accelerator pedal openings at different vehicle speeds based on the opening degree desired acceleration of each of the accelerator pedals at the different vehicle speeds comprises:
acquiring preset vehicle mass and a preset resistance coefficient;
obtaining acceleration forces at different speeds according to the preset vehicle mass and the expected opening acceleration of each acceleration pedal at different speeds;
determining road resistance according to the preset resistance coefficient;
and determining the wheel-side torque of each accelerator pedal opening under different vehicle speeds according to the road resistance, the preset tire radius and the acceleration force under different vehicle speeds.
4. The method of determining a driving mode of a vehicle according to claim 3, wherein the preset resistance coefficient includes a road resistance coefficient and a wind resistance coefficient; determining the road resistance according to the preset resistance coefficient comprises the following steps:
acquiring the speed, the preset windward area and the preset vehicle mass of the current vehicle;
and determining the road resistance according to the speed of the current vehicle, the preset windward area, the preset vehicle mass, the road resistance coefficient and the wind resistance coefficient.
5. The method of determining a driving mode of a vehicle according to claim 3, wherein said determining wheel-side torques at respective accelerator pedal openings at different vehicle speeds based on the road resistance, a preset tire radius, and the acceleration force at different vehicle speeds comprises:
obtaining total resistance through the road resistance and the acceleration force under different vehicle speeds;
and determining the wheel torque of each accelerator pedal opening under different vehicle speeds through the total resistance and the preset tire radius.
6. The method for determining the driving mode of the vehicle according to claim 1, wherein the acquiring a signal of an accelerator pedal and obtaining a signal of an opening degree of the accelerator pedal comprises:
acquiring a voltage signal of an accelerator pedal acquired by a preset controller;
converting the voltage signal of the accelerator pedal to obtain a corresponding sampling value;
determining whether the sampling value is valid based on a preset valid range;
if the sampling value is determined to be valid, filtering the sampling value to obtain a corresponding valid value;
and acquiring an opening signal of the accelerator pedal according to the effective value.
7. The method of determining a driving mode of a vehicle according to claim 6, wherein the effective values include a maximum effective value and a minimum effective value; the acquiring the opening degree signal of the accelerator pedal according to the effective value comprises the following steps:
acquiring a preset calculation formula;
and acquiring the opening degree signal of the accelerator pedal through the preset calculation formula, the maximum effective value and the minimum effective value.
8. A vehicle driving mode determination device, characterized by comprising:
the acquisition module is used for acquiring signals of an accelerator pedal and acquiring opening signals of the accelerator pedal;
the first determining module is used for determining each acceleration change rate under different vehicle speeds;
the second determining module is used for determining the expected opening acceleration of each accelerator pedal under different vehicle speeds according to the opening signal of the accelerator pedal and each acceleration change rate under different vehicle speeds;
and the third determining module is used for determining wheel-side torque of each accelerator opening under different vehicle speeds according to the opening expected acceleration of each accelerator opening under different vehicle speeds, and determining the driving mode of the vehicle based on the wheel-side torque of each accelerator opening under different vehicle speeds.
9. A computer arrangement, characterized in that the computer arrangement comprises a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, carries out the steps of the method of determining a driving mode of a vehicle according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, wherein the computer program, when being executed by a processor, carries out the steps of the method of determining a driving mode of a vehicle according to any one of claims 1 to 7.
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| CN113511209B (en) | 2022-06-07 |
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