CN115071419A - Minimum position control method and device, vehicle control unit, control system and vehicle - Google Patents

Abstract

The embodiment of the application provides a control method and device for the minimum position of an accelerator pedal, a vehicle control unit, a control system and a vehicle. The control method of the minimum position of the accelerator pedal comprises the following steps: firstly, acquiring an initial real-time opening value of an accelerator pedal, then determining a real-time opening value group of the accelerator pedal according to at least two initial real-time opening values, if the real-time opening value group meets a first preset condition, reducing a minimum position value of the accelerator pedal, and if the real-time opening value group meets a second preset condition, increasing the minimum position value of the accelerator pedal, wherein the real-time opening value group comprises at least two real-time opening values, and the second preset condition is that: in any two real-time opening values, the former real-time opening value is larger than a first threshold value, the latter real-time opening value is smaller than a second threshold value, and the first threshold value is larger than the second threshold value. According to the embodiment of the application, the accuracy of the minimum position of the accelerator pedal can be improved, and the accuracy of determining the displacement of the accelerator pedal is improved.

Description

Minimum position control method and device, vehicle control unit, control system and vehicle

Technical Field

The application relates to the technical field of automatic driving, in particular to a control method and device for the minimum position of an accelerator pedal, a vehicle control unit, a control system and a vehicle.

Background

The accuracy of the calculation of the opening degree of the accelerator pedal is the key of the intention recognition of a driver and the calculation of the torque of the electric automobile. The minimum position value (i.e., zero point) learning function of the accelerator pedal is mainly to determine a minimum position value at which the accelerator pedal is at a mechanical minimum position using a sensor to calculate the displacement of the accelerator pedal.

At present, the learning of the minimum position value of an accelerator pedal is mainly performed by collecting the voltage of the accelerator pedal at the mechanical minimum position through a sensor. The self-learning is realized by judging the real-time minimum position value detected by the sensor and the minimum position value stored in an EEPROM (Electrically Erasable Programmable read only memory), and when the real-time minimum position value is smaller than the stored minimum position value, the real-time minimum position value is stored in the EEPROM as the updated minimum position value.

In the related art, due to the fact that the accelerator pedal is deformed and the real-time minimum position value detected by the random error sensor is inaccurate, some real-time minimum position values may be too small, so that when a strategy of updating the minimum position value when the real-time minimum position value is smaller than the stored minimum position value is adopted, the minimum position value of the accelerator pedal may be too small to learn, that is, the acquired minimum position value of the accelerator pedal is inaccurate, and the accuracy of determining the displacement of the accelerator pedal is low.

Disclosure of Invention

The application aims at the defects of the existing mode and provides a control method and device for the minimum position of an accelerator pedal, a vehicle control unit, a control system and a vehicle, so that the accuracy of the minimum position of the accelerator pedal is improved, and the accuracy of determining the displacement of the accelerator pedal is improved.

In a first aspect, an embodiment of the present application provides a method for controlling a minimum position of an accelerator pedal, including: acquiring an initial real-time opening value of an accelerator pedal; determining a real-time opening value group of the accelerator pedal according to at least two initial real-time opening values; determining whether the real-time opening degree value group meets a first preset condition or a second preset condition; if the real-time opening degree value group meets a first preset condition, reducing the minimum position value of the accelerator pedal; if the real-time opening degree value group meets a second preset condition, increasing the minimum position value of the accelerator pedal; the real-time opening degree value set comprises at least two real-time opening degree values, and the second preset condition is as follows: in any two real-time opening values, the former real-time opening value is larger than a first threshold value, the latter real-time opening value is smaller than a second threshold value, and the first threshold value is larger than the second threshold value.

In a second aspect, an embodiment of the present application provides a control apparatus for a minimum position of an accelerator pedal, including: the acquisition module is used for acquiring an initial real-time opening value of an accelerator pedal; a processing module to: determining a real-time opening value group of the accelerator pedal according to at least two initial real-time opening values; determining whether the real-time opening degree value group meets a first preset condition or a second preset condition; if the real-time opening degree value group meets a first preset condition, reducing the minimum position value of the accelerator pedal; if the real-time opening degree value group meets a second preset condition, increasing the minimum position value of the accelerator pedal; the real-time opening degree value set comprises at least two real-time opening degree values, and the second preset condition is as follows: in any two adjacent real-time opening values, the former real-time opening value is larger than a first threshold value, the latter real-time opening value is smaller than a second threshold value, and the first threshold value is larger than the second threshold value.

In a third aspect, an embodiment of the present application provides a controller, including: the acquisition unit is used for acquiring an initial real-time opening value of the accelerator pedal detected by the sensor; a processing unit electrically connected with the acquisition unit and used for executing other steps of the control method of the minimum position of the accelerator pedal; and the output unit is electrically connected with the processing unit and is used for outputting the minimum position value of the accelerator pedal.

In a fourth aspect, an embodiment of the present application provides a control system for a minimum position of an accelerator pedal, including: the sensor is arranged adjacent to an accelerator pedal and used for detecting a real-time opening output signal of the accelerator pedal; the controller is characterized in that the acquisition unit of the controller is electrically connected with the sensor; and the memory is electrically connected with the output unit of the controller and is used for storing the minimum position value of the accelerator pedal.

In a fifth aspect, an embodiment of the present application provides a vehicle, including: a power mechanism and a control system for the minimum position of the accelerator pedal; the power mechanism is electrically connected with a memory of the accelerator pedal minimum position determining system and is used for driving the displacement of an accelerator pedal of the vehicle according to the minimum position value.

The beneficial technical effects brought by the technical scheme provided by the embodiment of the application comprise:

whether the real-time opening degree value group meets a first preset condition or a second preset condition is determined, if the real-time opening degree value group meets the first preset condition, the minimum position value of the accelerator pedal is reduced, if the real-time opening degree value group meets the second preset condition, the minimum position value of the accelerator pedal is increased, namely, the minimum position value of the accelerator pedal is dynamically and bidirectionally adjusted, the minimum position value of the accelerator pedal is reduced when the real-time opening degree value group meets the first preset condition, the self-learning of the minimum position of the accelerator pedal is achieved, the minimum position learning of the accelerator pedal is prevented from being too small by increasing the minimum position value of the accelerator pedal when the real-time opening degree value group meets the second preset condition, the accuracy of the minimum position value of the accelerator pedal is improved, and the accuracy of determining the displacement of the accelerator pedal is improved.

The real-time opening degree value group comprises at least two real-time opening degree values, and the second preset condition is as follows: in any two real-time opening values, the former real-time opening value is larger than a first threshold value, the latter real-time opening value is smaller than a second threshold value, the first threshold value is larger than the second threshold value, namely, the depth of the accelerator pedal exceeds a larger value first, and when the accelerator pedal passes through a smaller value backwards, the accelerator pedal is judged to be excessively stepped on before, therefore, the minimum position of the accelerator pedal obtained before is too small, the minimum position value of the accelerator pedal is increased at the moment, and the minimum position of the accelerator pedal can be prevented from being too small for learning.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flowchart of a method for controlling a minimum position of an accelerator pedal according to an embodiment of the present disclosure;

FIG. 2 is a flow chart illustrating another method for controlling a minimum accelerator pedal position according to an embodiment of the present disclosure;

FIG. 3 is a flow chart illustrating a method for controlling a minimum position of an accelerator pedal according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of an output voltage characteristic curve of two voltage outputs of an accelerator pedal according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a frame of a control device for a minimum position of an accelerator pedal according to an embodiment of the present application;

fig. 6 is a schematic diagram of a controller, an accelerator pedal, and a sensor according to an embodiment of the present disclosure.

Reference numerals:

1000-a controller; 400-an acquisition unit; 500-a processing unit; 600-an output unit; 700-a power conversion unit;

100-an accelerator pedal; 10-a magnet;

h1 — first sensor; h2 — second sensor.

Detailed Description

Embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the embodiments set forth below in connection with the drawings are exemplary descriptions for explaining technical solutions of the embodiments of the present application, and do not limit the technical solutions of the embodiments of the present application.

As used herein, the singular forms "a", "an", "the" and "the" include plural referents unless the content clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of other features, information, data, steps, operations, elements, components, and/or groups thereof, that may be implemented as required by the art. The term "and/or" as used herein means at least one of the items defined by the term, e.g., "a and/or B" may be implemented as "a", or as "B", or as "a and B".

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

In the related art, since only a smaller detection value is used to update the minimum position value stored in the EEPROM, when problems such as deformation of the accelerator pedal, inaccurate detection of the sensor, and the like occur, the sensor may have some cases in which the detection value is too small, which may result in too small learning of the minimum position of the accelerator pedal. For example, when the accelerator pedal is excessively stepped to cause deformation, the minimum position detected by the sensor is smaller than the mechanical minimum position of the accelerator pedal under normal conditions, and after the minimum position is stored in the EEPROM, even if the deformation of the subsequent accelerator pedal is gradually recovered, the actual minimum position detected by the sensor is only larger than the minimum position stored in the EEPROM, and the minimum position value stored in the EEPROM cannot be further updated, which may cause inaccuracy in the minimum position of the accelerator pedal and further cause inaccuracy in calculation of the displacement of the accelerator pedal.

The change in the power supply voltage of the sensor of the accelerator pedal affects the output voltage of the sensor, and even if the accelerator pedal is physically at the same opening degree, if the power supply voltages are different, the output voltage of the sensor is also different, and the minimum position or the zero point learned by the voltage is also changed, so that the minimum position of the accelerator pedal cannot be accurately reflected.

The learned minimum position value needs to be read and written by the EEPROM, and the resource of the singlechip is also consumed.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

The embodiment of the application provides a control method of a minimum position of an accelerator pedal, as shown in fig. 1, comprising the following steps:

s101: and acquiring an initial real-time opening value of an accelerator pedal.

In this step, an initial real-time opening value of the accelerator pedal detected by the sensor may be obtained in the whole power-on period, and the initial real-time opening value may be a real-time output voltage value and/or a real-time output current value.

The entire power-up cycle includes the process time from the start of operation to the stop of operation of the controller, which may be a computer programmed controller executing a method of controlling the minimum position of the accelerator pedal. That is, the whole power-ON period does not refer to states such as ACC or ON, but refers to a period starting when software starts to operate after a controller carried by software carrying the control method for the minimum position of the accelerator pedal is powered ON and a period ending when the software is dormant.

S102: and determining a real-time opening value group of the accelerator pedal according to at least two initial real-time opening values, and then executing the step S103 or the step S104.

In this step, determining whether the real-time opening degree value group meets a first preset condition or a second preset condition includes: and determining whether the real-time opening degree value group meets a first preset condition or whether the real-time opening degree value group meets a second preset condition in the whole power-on period.

S103: and if the real-time opening degree value group meets the first preset condition, reducing the minimum position value of the accelerator pedal.

In this step, the first preset condition may be: the sliding average value of each real-time opening value in the real-time opening value group in a preset period is smaller than the minimum position value, wherein the preset period can be set according to actual requirements, for example, 2 seconds. Reducing the minimum position value of the accelerator pedal may include: the moving average is set to the updated minimum position value.

The moving average (rolling average) is an average value of a plurality of continuous m-term sequences calculated from a time sequence of n terms. Wherein the first term of the sequence of consecutive m terms is the sum of the first term to m terms of the original n sequence divided by m; the second term of the continuous m term sequence is the sum of the second term to the m +1 term of the original n sequence divided by m; … … the last term of the sequence of m consecutive terms is the sum of the (n-m +1) th to nth terms of the original n sequence divided by m. The running average is the sum of the first term through the mth term in the sequence of consecutive m terms divided by m.

Optionally, the first preset condition may also be: the sliding average value of each real-time opening value in the real-time opening value group in the preset period is smaller than the minimum position value, and the change value of each real-time opening value in the real-time opening value group in the preset period is smaller (for example, the average difference of each real-time opening value is smaller than the preset value). By increasing the condition that the change value of each real-time opening value in the real-time opening value group is smaller in the preset time period, the condition that the sensor is dynamically sampled when the accelerator pedal is stepped on or loosened is eliminated, the initial real-time opening values are all obtained when the accelerator pedal is in a static state, and the accuracy of the learned minimum position value of the accelerator pedal is ensured.

S104: and if the real-time opening degree value group meets a second preset condition, increasing the minimum position value of the accelerator pedal.

The real-time opening degree value group may include at least two real-time opening degree values, and the second preset condition is: in any two real-time opening values, the former real-time opening value is greater than a first threshold value, the latter real-time opening value is smaller than a second threshold value, and the first threshold value is greater than the second threshold value, wherein the first threshold value and the second threshold value may be set empirically, the first threshold value may range from 75% to 90%, for example, the first threshold value may range from 80%, and the second threshold value may range from 5% to 15%, for example, the second threshold value may range from 10%.

In this step, increasing the minimum position value of the accelerator pedal may include: and increasing the real-time minimum position value by a third threshold value to be used as an updated minimum position value. The third threshold value may be set empirically, and may range from 0.1% to 0.5%, for example, the third threshold value may be 0.3%.

It should be noted that only one of the steps S103 and S104 is executed in each round of learning the minimum position value. In practical application, whether the real-time opening degree value group meets a first preset condition or not can be judged firstly, if the first preset condition is met, the minimum position value of the accelerator pedal is reduced, if the first preset condition is not met, whether the real-time opening degree value group meets a second preset condition or not is judged, if the second preset condition is met, the minimum position value of the accelerator pedal is increased, if the second preset condition is not met, learning of the minimum position value of the accelerator pedal in the current round is finished, learning of the minimum position value of the accelerator pedal in the next round is started (step S101 is returned), and the whole process is finished until the controller stops running.

Of course, it may also be determined whether the real-time opening value group meets the second preset condition, if the second preset condition is met, the minimum position value of the accelerator pedal is increased, if the second preset condition is not met, it is determined whether the real-time opening value group meets the first preset condition, if the first preset condition is met, the minimum position value of the accelerator pedal is decreased, if the second preset condition is not met, the learning of the minimum position value of the accelerator pedal in the current round is finished, the learning of the minimum position value of the accelerator pedal in the next round is started (returning to step S101), and the whole process is finished until the controller stops operating.

In one possible embodiment, reducing the minimum position value of the accelerator pedal includes: and predicting a first predicted minimum position value after the minimum position value is reduced, determining whether the first predicted minimum position value is larger than a lower boundary value, if so, reducing the minimum position value of the accelerator pedal, and determining the lower boundary value according to a rated output voltage characteristic curve of the accelerator pedal. That is, during learning of the minimum position of the accelerator pedal, the minimum position value is always kept larger than the lower boundary value, so that it is possible to avoid the minimum position value from being learned excessively small.

Optionally, increasing the minimum position value of the accelerator pedal comprises: and predicting a second predicted minimum position value after the minimum position value is increased, judging whether the second predicted minimum position value is smaller than an upper boundary value, if so, increasing the minimum position value of the accelerator pedal, and determining the upper boundary value according to a rated output voltage characteristic curve of the accelerator pedal. That is, during learning of the accelerator pedal minimum position, the minimum position value is always kept smaller than the upper boundary value, so that it is possible to avoid excessively large learning of the minimum position value.

Specifically, the upper boundary value and the lower boundary value can be calibrated and adjusted through a calibration protocol XCP to adapt to differences between different manufacturers or different products of the same manufacturer.

Optionally, before determining whether the real-time opening degree value group meets the first preset condition or whether the real-time opening degree value group meets the second preset condition in the whole power-on cycle, the method may further include: when the controller starts to operate, the minimum position value of the accelerator pedal is initialized to the upper boundary value. The control strategy adopted for reducing the minimum position value of the accelerator pedal is generally that the minimum position value stored in the EEPROM is updated by utilizing the real-time opening value or the value processed by the real-time opening value, and the updating mode is more accurate compared with the mode that a fixed value is directly increased or reduced on the basis of the minimum position value stored in the EEPROM, so that the minimum position value of the accelerator pedal is initialized to be the upper boundary value, and the minimum position value obtained subsequently can be more accurate.

The following detailed description is provided with reference to the accompanying drawings, and embodiments of the present application provide another method for controlling a minimum position of an accelerator pedal, as shown in fig. 2, which may include:

s201: an initial real-time opening value of an accelerator pedal is obtained.

S202: and determining a real-time opening value group of the accelerator pedal according to at least two initial real-time opening values, and then executing step S203 or S206.

S203: and if the real-time opening degree value group meets the first preset condition, predicting a first predicted minimum position value after the minimum position value is reduced.

In this step, the first preset condition may be: and the sliding average value of each real-time opening value in the real-time opening value group in a preset period is smaller than the minimum position value. Reducing the minimum position value of the accelerator pedal may include: the moving average is set to the updated minimum position value. Accordingly, the first predicted minimum position value may be the aforementioned obtained moving average.

S204: it is determined whether the first predicted minimum position value is greater than the lower boundary value, if so, step S205 is performed, and if not, step S209 is performed.

In this step, the lower boundary value may be determined according to a rated output voltage characteristic curve of the accelerator pedal. That is, during learning of the minimum position of the accelerator pedal, the minimum position value is always kept larger than the lower boundary value, so that it is possible to avoid the minimum position value from being learned excessively small.

S205: the minimum position value of the accelerator pedal is reduced.

In this step, the moving average value may be set to the updated minimum position value.

S206: and if the real-time opening degree value group meets a second preset condition, predicting a second predicted minimum position value after the minimum position value is increased.

In this step, the real-time opening value group may include at least two real-time opening values, and the second preset condition is: in any two real-time opening values, the former real-time opening value is larger than a first threshold value, the latter real-time opening value is smaller than a second threshold value, and the first threshold value is larger than the second threshold value. Increasing the minimum position value of the accelerator pedal may include: after the real-time minimum position value is increased by the third threshold, the updated minimum position value is obtained, and accordingly, the second predicted minimum position value may be equal to the real-time minimum position value increased by the third threshold.

S207: it is determined whether the second predicted minimum position value is less than the upper boundary value, if so, step S208 is performed, and if not, step S209 is performed.

In this step, the upper boundary value may be determined according to a rated output voltage characteristic curve of the accelerator pedal. That is, during learning of the accelerator pedal minimum position, the minimum position value is always kept smaller than the upper boundary value, so that it is possible to avoid excessively large learning of the minimum position value.

S208: the minimum position value of the accelerator pedal is increased.

In this step, the real-time minimum position value may be added by a third threshold value and then used as the updated minimum position value.

S209: the learning of the minimum position value of the accelerator pedal of the present round is finished, and the learning of the minimum position value of the accelerator pedal of the next round is started.

Steps S201 and S202 in this embodiment are similar to steps S101 and S102 in the foregoing embodiment, and are not described again here.

In another possible embodiment, the initial real-time opening value may be a real-time output voltage value, and the real-time opening value group of the accelerator pedal is determined according to at least two initial real-time opening values, including: and according to the at least two real-time power supply voltage values of the accelerator pedal, normalizing the at least two real-time output voltage values at corresponding moments to obtain at least two real-time opening values of the real-time opening value group.

Optionally, after normalizing the real-time output voltage values at least two corresponding moments according to at least two real-time power supply voltage values of the accelerator pedal to obtain at least two real-time opening values of the real-time opening value set, the method further includes: and when the real-time opening value exceeds a preset range, determining that the sensor is in instantaneous failure, and controlling the accelerator pedal to reduce at a preset rate from the current opening value.

In practical applications, after controlling the accelerator pedal to decrease from the current opening value at a preset rate, the method may further include: and when the real-time opening value is restored to be within the preset range, determining that the sensor is instantaneously failed to exit, and continuously acquiring the initial real-time opening value of the accelerator pedal after delaying the first preset time.

The following detailed description is provided with reference to the accompanying drawings, and embodiments of the present application provide another method for controlling a minimum position of an accelerator pedal, as shown in fig. 3, which may include:

s301: an initial real-time opening value of an accelerator pedal is obtained.

In this step, the initial real-time opening value may be a real-time output voltage value.

S302: and according to the at least two real-time power supply voltage values of the accelerator pedal, normalizing the at least two real-time output voltage values at corresponding moments to obtain at least two real-time opening values of the real-time opening value set.

It is understood that the initial real-time opening value may also be a real-time output current value, and the determining of the real-time opening value group of the accelerator pedal according to at least two initial real-time opening values may include: and according to the at least two real-time power supply voltage values of the accelerator pedal, normalizing the at least two real-time output voltage values at corresponding moments to obtain at least two real-time opening values of the real-time opening value set.

As an example, in order to ensure safety and signal redundancy, the accelerator pedal can be provided with two voltage outputs, namely ch1 and ch2, and the output voltage range is about 0-5V. The accelerator pedal supply voltage is typically 5V ± 0.2V. When the accelerator pedal is in a released state, the minimum output voltage is usually not 0V, and fluctuates within a vertical deviation range due to influences of temperature, EMC (electromagnetic compatibility), service life, and the like.

In order to reduce the influence of interference and glitch of the sensor signal and the supply voltage signal, the collected real-time supply voltage value and the real-time output voltage value are filtered by taking an average value of n periods (for example, n can be 2, namely 2 periods), and the n is not easy to be too large so as to cause serious hysteresis of a normalized value and be incapable of accurately expressing the actual accelerator pedal opening.

Referring to fig. 4, fig. 4 is a schematic diagram of an output voltage characteristic curve of two voltage outputs of an accelerator pedal. Wherein, two paths of output voltage signals U1 and U2 of the accelerator pedal are in a 2-time relationship.

In fig. 4, the ordinate is the ratio of the real-time output voltage value of the sensor to the real-time power supply voltage value, and is dimensionless; the abscissa is the accelerator pedal opening degree in degrees (symbol °).

U1 and U2 respectively represent the real-time output voltage values of the two sensors, and U0 represents the real-time power supply voltage values of the two sensors (i.e., the real-time power supply voltage values of the two sensors are equal, both are U0). Full throttle represents the maximum opening of the accelerator pedal, which is 14.58 degrees in fig. 4. The numerical values in parentheses correspond to the ranges of vertical deviations of the accelerator pedal caused by temperature, EMC, service life, etc.

It should be noted that the minimum value of the ratio (the ratio of the real-time output voltage value of the sensor to the real-time supply voltage value) fluctuates due to manufacturing, assembly and use (including environment, temperature and lifetime).

For a doubled accelerator pedal signal, the normalization formula is as follows:

the AccPed1NormzPstn and the AccPed2NormzPstn are real-time opening values of the two paths ch1 and ch2 respectively, and the unit is% for learning the minimum position of the accelerator pedal.

AccPedCh1Volt and AccPedCh2Volt are the real-time output voltage values of the two paths of the current sampling period ch1 and ch2 respectively.

AccPedCh1Volt _ Z1 and AccPedCh2Volt _ Z1 are real-time output voltage values of the two paths of the last sampling period ch1 and ch2 respectively.

AccPedCh1SuplyVolt and AccPedCh2SuplyVolt are the real-time power supply voltage values of the two paths of the current sampling period ch1 and ch2 respectively.

AccPedCh1SuplyVolt and AccPedCh2SuplyVolt _ Z1 are the real-time power supply voltage values of the two paths of the last sampling period ch1 and ch2 respectively.

Specifically, each of the real-time opening values in the real-time opening value group may be a value after the normalization processing. When normalization is performed, the relationship between the two output voltage signals is different for different types of accelerator pedals (for example, the two output voltage signals may be in an inverse relationship with each other), and different formulas are required to be used for processing. The specific form of the normalization process may not be limited to the above two forms.

S303: and determining whether the real-time opening value exceeds a preset range, if so, executing step S304, and if not, executing step S306 or step S307.

And judging the effectiveness of the initial real-time opening value detected by the sensor by judging whether the real-time opening value exceeds a preset range, wherein the preset range is determined by an output voltage characteristic curve given by an accelerator pedal manufacturer. Because the sensor fault confirmation usually needs a certain time period, when the real-time opening value is detected to exceed the preset range, the instantaneous fault of the sensor can be reported firstly, and when the instantaneous fault of the sensor is continuously reported for multiple times, the sensor fault is judged.

S304: it is determined that the sensor is instantaneously failed, and the accelerator pedal is controlled to be decreased from the current opening value at a preset rate.

In the step, after the instantaneous fault of the sensor is determined, the accelerator pedal can be controlled to be reduced to zero from a real-time opening value at a preset speed, and compared with a scheme of taking braking measures after the fault of the sensor is judged, the timeliness of the braking measures is improved, and the driving safety is better ensured.

S305: and when the real-time opening value is restored to be within the preset range, determining that the sensor is instantaneously failed to exit, and continuing to execute the step S301 after delaying the first preset time.

After the sensor is instantaneously failed and quits, the performance of the sensor is still unstable, the initial real-time opening value of the accelerator pedal is continuously acquired after the first preset time is delayed, the problem that the acquired real-time opening value is suddenly changed due to the fact that the initial real-time opening value detected by the sensor in a certain sampling period is too large or too small can be solved, and the accuracy of displacement calculation of the follow-up accelerator pedal is influenced.

S306: and if the real-time opening degree value group meets the first preset condition, reducing the minimum position value of the accelerator pedal.

S307: and if the real-time opening degree value group meets a second preset condition, increasing the minimum position value of the accelerator pedal.

Steps S306 and S307 in this embodiment are similar to steps S103 and S104 in the foregoing embodiment, and are not described again here.

The control method for the minimum position of the accelerator pedal provided by the embodiment of the application at least has the following beneficial effects:

through the self-learning of the minimum position value of the accelerator pedal in a bidirectional and dynamic mode in the whole power-on period of the vehicle, the accuracy of the minimum position value of the accelerator pedal is improved, and the accuracy of determining the displacement of the accelerator pedal is improved.

The object of minimum position value learning adopts the value of the real-time output voltage value and/or the value of the real-time output current value after normalization, so that the influence on the accuracy of the acquired minimum position value of the accelerator pedal caused by the output voltage difference due to the power supply voltage difference is avoided.

The average value of n periods is taken for the collected real-time power supply voltage value and the real-time output voltage value to carry out filtering processing, and the influence of interference and burrs of output voltage signals and power supply voltage signals is reduced.

The driving safety is ensured by judging and processing the instantaneous fault of the sensor.

After the instantaneous fault of the sensor exits, the sampling is continued for n periods, so that the phenomenon that the opening degree of the finally output accelerator pedal changes suddenly due to the fact that the sampling value of a certain sampling period is too large or too small in the instantaneous fault is avoided.

In the self-learning process of the minimum position value, the learned minimum position value is always positioned between the upper boundary value and the lower boundary value, and if the updated minimum position value is predicted to exceed the range between the upper boundary value and the lower boundary value, the updating of the minimum position value in the round is skipped, so that the phenomenon that the minimum position value is too large or too small in learning is avoided.

By initializing the minimum position value of the accelerator pedal as the self-learned upper boundary value each time when the program is initialized, namely starting the self-learning process of the minimum position from the upper boundary value after each power-on, the learned minimum position value is not required to be stored in a nonvolatile container such as an EEPROM and the like, and the learned minimum position value in the last period is not required to be read from the nonvolatile container such as the EEPROM and the like after each power-on, so that the resource consumption of a single Chip microcomputer or a CPU or a SoC (System on Chip) is reduced.

Based on the same inventive concept, the present embodiment provides a control device 2000 for a minimum position of an accelerator pedal, as shown in fig. 5, including: an acquisition module 200 and a processing module 300. The obtaining module 200 is configured to obtain an initial real-time opening value of an accelerator pedal. The processing module 300 is configured to: determining a real-time opening value group of an accelerator pedal according to at least two initial real-time opening values; determining whether the real-time opening degree value group meets a first preset condition or a second preset condition; if the real-time opening degree value group meets a first preset condition, reducing the minimum position value of the accelerator pedal; if the real-time opening degree value group meets a second preset condition, increasing the minimum position value of the accelerator pedal; wherein, the real-time opening degree value group includes two at least real-time opening degree values, and the second preset condition is: in any two adjacent real-time opening values, the former real-time opening value is larger than a first threshold value, the latter real-time opening value is smaller than a second threshold value, and the first threshold value is larger than the second threshold value.

The processing module 300 may include a first adjusting unit 3001, where the first adjusting unit 3001 is configured to increase the real-time minimum position value by a third threshold value as an updated minimum position value when the real-time opening degree value set satisfies the second preset condition.

The first adjusting unit 3001 may be further configured to predict a second predicted minimum position value after increasing the minimum position value, determine whether the second predicted minimum position value is smaller than an upper boundary value, and if so, increase the minimum position value of the accelerator pedal (specifically, after increasing the real-time minimum position value by a third threshold value, the minimum position value is taken as an updated minimum position value), where the upper boundary value is determined according to the rated output voltage characteristic curve of the accelerator pedal.

The processing module 300 may further include a second adjusting unit 3002, where the second adjusting unit 3002 is configured to set the moving average to the updated minimum position value when the real-time opening degree value set satisfies a first preset condition, where the first preset condition is: and the sliding average value of each real-time opening value in the real-time opening value group in a preset period is smaller than the minimum position value.

The second adjusting unit 3002 may be further configured to predict a first predicted minimum position value after the minimum position value is decreased, determine whether the first predicted minimum position value is greater than a lower boundary value, and if so, decrease the minimum position value of the accelerator pedal (specifically, the sliding average value may be set as the updated minimum position value), where the lower boundary value is determined according to the rated output voltage characteristic curve of the accelerator pedal.

The processing module 300 may further comprise an initialization unit 3003, the initialization unit 3003 being configured to initialize the minimum position value of the accelerator pedal to an upper boundary value when the controller starts to operate.

The obtaining module 200 is configured to obtain a real-time output voltage value of an accelerator pedal. The processing module 300 further includes a normalization unit 3004, where the normalization unit 3004 is configured to perform normalization processing on at least two real-time output voltage values at corresponding times according to at least two real-time power supply voltage values of the accelerator pedal, so as to obtain at least two real-time opening values of the real-time opening value set.

Of course, the obtaining module 200 may also be used to obtain the real-time output current value of the accelerator pedal. Correspondingly, the normalization unit 3004 may be configured to perform normalization processing on at least two real-time output current values at corresponding times according to at least two real-time power supply current values of the accelerator pedal, so as to obtain at least two real-time opening values of the real-time opening value set.

The processing module 300 may further include a momentary fault processing unit 3005, the momentary fault processing unit 3005 being configured to determine that the sensor is momentarily faulty when the real-time opening value exceeds a preset range, and to control the accelerator pedal to decrease from the real-time opening value at a preset rate. Alternatively, it may be reduced to zero at a preset rate.

The instantaneous fault processing unit 3005 may be further configured to determine that the sensor instantaneous fault exits when the real-time opening value is restored within the preset range, and continue to acquire the initial real-time opening value of the accelerator pedal after delaying for a first preset time.

The processing module 300 may further comprise a determination unit 3006, the determination unit 3006 being configured to determine whether the real-time opening degree value set satisfies a first preset condition or whether the real-time opening degree value set satisfies a second preset condition throughout a power-on cycle, the power-on cycle including a process time from a start of operation to a stop of operation of the controller.

The apparatus of the embodiment of the present application may execute the method provided by the embodiment of the present application, and the implementation principle is similar, the actions executed by the modules in the apparatus of the embodiments of the present application correspond to the steps in the method of the embodiments of the present application, and for the detailed functional description of the modules of the apparatus, reference may be specifically made to the description in the corresponding method shown in the foregoing, and details are not repeated here.

Based on the same inventive concept, an embodiment of the present application provides a controller 1000, as shown in fig. 6, including: an acquisition unit 400, a processing unit 500 electrically connected to the acquisition unit, and an output unit 600 electrically connected to the processing unit. The acquisition unit 400 may be configured to acquire an initial real-time opening value of the accelerator pedal detected by the sensor. The processing unit 500 is used to perform the other steps of the control method of the minimum position of the accelerator pedal as described above. The output unit 600 is used to output a minimum position value of an accelerator pedal.

Specifically, the accelerator pedal 100 is provided with a magnet 10, and a first sensor H1 and a second sensor H2, which may be hall sensors, are provided adjacent to the magnet. The acquisition unit 400 is connected to the first sensor H1 and the second sensor H2, and is configured to acquire initial real-time opening values of the accelerator pedal detected by the first sensor H1 and the second sensor H2.

The controller 1000 may further include a power conversion unit 700 connected to the first sensor H1 and the second sensor H2, the power conversion unit 700 being configured to adjust power supply voltages of the first sensor H1 and the second sensor H2.

The controller 1000 may be a Vehicle Control Unit (VCU), a Body Controller (BCM), a Body Domain Controller (BDC), a Communication Controller (CCU), a vehicle dynamic control system (VDC), a zone interface controller (VIU), and the like, which is not limited herein.

Taking the VCU as an example, the controller 1000 may be an MCU (micro controller unit), the obtaining unit may be an ADC, the output unit may be an output interface in the MCU, and the processing unit may be a part of the MCU except the ADC and the output unit.

The power conversion unit 700 may be a power chip, the MPQ2013A chip is connected to the VB _ FIL port (filtered 12V power), and the power conversion unit 700 converts the 12V power to 5V and supplies the first sensor H1 and the second sensor H2. The MPQ2013A is a low power consumption linear regulator, and uses a high voltage battery to supply power to the system. It has a wide input voltage range of 2.5V (volts) to 40V, a low dropout voltage and a low quiescent current. The low quiescent current and low dropout voltage allow it to operate at very low power levels. Therefore, MPQ2013A is well suited for low power microcontrollers and battery-powered devices.

In fig. 6, AccPedCh1Volt and AccPedCh2Volt are real-time output voltage signals detected by the first sensor H1 and the second sensor H2, respectively, indicating the position of the accelerator pedal, collected by the VCU through the ADC. AccPedCh1SuplyVolt and AccPedCh2SuplyVolt are real-time supply voltage signals on the first sensor H1 and the second sensor H2, respectively, typically 5V + -0.2V, provided by the VCU. GND is a ground signal.

The controller of this embodiment may execute any one of the methods for controlling the minimum position of the accelerator pedal provided in the embodiments of the present application, and the implementation principles thereof are similar and will not be described herein again.

Based on the same inventive concept, the embodiment of the present application provides a control system for a minimum position of an accelerator pedal, comprising: a sensor, a controller, and a memory. The sensor is arranged adjacent to the accelerator pedal and is used for detecting a real-time opening output signal of the accelerator pedal. The acquisition unit of the controller is electrically connected with the sensor. The memory is electrically connected with the output unit of the controller and is used for storing the minimum position value of the accelerator pedal.

The control system of the minimum position of the accelerator pedal of the embodiment corresponds to the control method of the minimum position of the accelerator pedal, the implementation principles are similar, the achieved technical effects are similar, and details are not repeated here.

Based on the same inventive concept, the embodiment of the present application provides a vehicle, including: a power mechanism and a control system for the minimum position of the accelerator pedal as described above. The power mechanism is electrically connected to a memory of the accelerator pedal minimum position determination system and is configured to drive displacement of an accelerator pedal of the vehicle based on the minimum position value.

The vehicle of the embodiment comprises the control system for the minimum position of the accelerator pedal, which is provided by the embodiment of the application, the implementation principles are similar, the achieved technical effects are similar, and the detailed description is omitted.

Those of skill in the art will appreciate that the various operations, methods, steps in the processes, acts, or solutions discussed in this application can be interchanged, modified, combined, or eliminated. Further, other steps, measures, or schemes in various operations, methods, or flows that have been discussed in this application can be alternated, altered, rearranged, broken down, combined, or deleted. Further, steps, measures, schemes in the prior art having various operations, methods, procedures disclosed in the present application may also be alternated, modified, rearranged, decomposed, combined, or deleted.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

It should be understood that, although the steps in the flowcharts of the figures are shown in sequence as indicated by the arrows, the order of execution of the steps is not limited to the order indicated by the arrows. In some implementations of the embodiments of the present application, the steps in the various flows may be performed in other sequences as desired, unless explicitly stated otherwise herein. Moreover, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages, depending on the actual implementation scenario. Some or all of the sub-steps or phases may be executed at the same time, or may be executed at different times in a scenario where the execution time is different, and the execution order of the sub-steps or phases may be flexibly configured according to the requirement, which is not limited in this embodiment of the application.

The above are only some embodiments of the present application, and it should be noted that it is apparent to those skilled in the art that other similar implementation means based on the technical idea of the present application are also within the protection scope of the embodiments of the present application without departing from the technical idea of the present application.

Claims (14)

1. A method for controlling a minimum position of an accelerator pedal, comprising:

acquiring an initial real-time opening value of an accelerator pedal;

determining a real-time opening value group of the accelerator pedal according to at least two initial real-time opening values;

determining whether the real-time opening degree value group meets a first preset condition or a second preset condition;

if the real-time opening degree value group meets a first preset condition, reducing the minimum position value of the accelerator pedal;

if the real-time opening degree value group meets a second preset condition, increasing the minimum position value of the accelerator pedal;

the real-time opening degree value set comprises at least two real-time opening degree values, and the second preset condition is as follows: in any two real-time opening values, the former real-time opening value is larger than a first threshold value, the latter real-time opening value is smaller than a second threshold value, and the first threshold value is larger than the second threshold value.

2. The control method of the minimum position of the accelerator pedal according to claim 1, wherein the increasing the minimum position value of the accelerator pedal includes:

and increasing the real-time minimum position value by a third threshold value to be used as an updated minimum position value.

3. The control method of the accelerator pedal minimum position according to claim 1, wherein the first preset condition is: the sliding average value of each real-time opening value in the real-time opening value group in a preset period is smaller than the minimum position value;

and, said reducing the minimum position value of the accelerator pedal comprises:

setting the moving average to the updated minimum position value.

4. The control method of the minimum position of the accelerator pedal according to claim 1, wherein the initial real-time opening value is a real-time output voltage value;

and determining a real-time opening value group of the accelerator pedal according to at least two initial real-time opening values, wherein the determining comprises the following steps:

and normalizing the real-time output voltage values at least two corresponding moments according to at least two real-time power supply voltage values of the accelerator pedal to obtain at least two real-time opening values of the real-time opening value set.

5. The method for controlling a minimum position of an accelerator pedal according to claim 4, wherein the step of normalizing the real-time output voltage values at least two corresponding times according to at least two real-time power supply voltage values of the accelerator pedal to obtain at least two real-time opening values of the real-time opening value set further comprises:

and when the real-time opening value exceeds a preset range, determining that the sensor is in instantaneous failure, and controlling the accelerator pedal to reduce at a preset rate from the real-time opening value.

6. The method of controlling a minimum accelerator pedal position according to claim 5, wherein the controlling the accelerator pedal after decreasing from a current opening value at a preset rate further comprises:

and when the real-time opening value is restored to be within the preset range, determining that the sensor is instantaneously failed to exit, and continuously acquiring the initial real-time opening value of the accelerator pedal after delaying for a first preset time.

7. The control method of the minimum accelerator pedal position according to claim 1, wherein the determining whether the set of real-time opening degree values satisfies a first preset condition or a second preset condition includes:

determining whether the real-time opening degree value set meets the first preset condition or whether the real-time opening degree value set meets the second preset condition in the whole power-on period;

the entire power-up cycle includes the process time from the start of the controller to the stop of the controller.

8. The control method of the minimum position of the accelerator pedal according to claim 7, wherein the reducing the minimum position value of the accelerator pedal includes:

predicting a first predicted minimum position value after the minimum position value is reduced, determining whether the first predicted minimum position value is larger than a lower boundary value, and if so, reducing the minimum position value of the accelerator pedal;

the lower boundary value is determined according to a rated output voltage characteristic curve of the accelerator pedal.

9. The control method of the minimum position of the accelerator pedal according to claim 7, wherein the increasing the minimum position value of the accelerator pedal includes:

predicting a second predicted minimum position value after the minimum position value is increased, judging whether the second predicted minimum position value is smaller than an upper boundary value, and if so, increasing the minimum position value of the accelerator pedal;

the upper boundary value is determined according to a rated output voltage characteristic curve of the accelerator pedal;

before determining whether the real-time opening degree value set meets the first preset condition or whether the real-time opening degree value set meets the second preset condition in the whole power-on period, the method further comprises the following steps:

initializing the minimum position value of the accelerator pedal to the upper boundary value when the controller starts operating.

10. A control apparatus for a minimum position of an accelerator pedal, comprising:

the acquisition module is used for acquiring an initial real-time opening value of an accelerator pedal;

a processing module to: determining a real-time opening value group of the accelerator pedal according to at least two initial real-time opening values; determining whether the real-time opening degree value group meets a first preset condition or a second preset condition; if the real-time opening degree value group meets a first preset condition, reducing the minimum position value of the accelerator pedal; if the real-time opening degree value group meets a second preset condition, increasing the minimum position value of the accelerator pedal; the real-time opening degree value set comprises at least two real-time opening degree values, and the second preset condition is as follows: in any two adjacent real-time opening values, the former real-time opening value is larger than a first threshold value, the latter real-time opening value is smaller than a second threshold value, and the first threshold value is larger than the second threshold value.

11. A controller, comprising:

the acquisition unit is used for acquiring an initial real-time opening value of the accelerator pedal detected by the sensor;

a processing unit, electrically connected to said acquisition unit, for carrying out the other steps of the control method of the minimum position of the accelerator pedal according to any one of claims 1 to 9;

and the output unit is electrically connected with the processing unit and is used for outputting the minimum position value of the accelerator pedal.

12. A control system for a minimum accelerator pedal position, comprising:

the sensor is arranged adjacent to an accelerator pedal and used for detecting a real-time opening output signal of the accelerator pedal;

the controller of claim 11, an acquisition unit of the controller being electrically connected to the sensor;

and the memory is electrically connected with the output unit of the controller and is used for storing the minimum position value of the accelerator pedal.

13. The control system for the minimum position of the accelerator pedal according to claim 12, further comprising a power conversion unit electrically connected to the processing unit for adjusting a real-time power supply voltage value of the accelerator pedal;

the processing unit is used for carrying out normalization processing on the real-time output voltage values at least two corresponding moments according to at least two real-time power supply voltage values of the accelerator pedal to obtain at least two real-time opening values of the real-time opening value set;

or, the system for determining the minimum position of the accelerator pedal further comprises a power supply conversion unit, wherein the power supply conversion unit is electrically connected with the processing unit and is used for adjusting the real-time power supply current value of the accelerator pedal;

the processing unit is used for carrying out normalization processing on the real-time output current values at least two corresponding moments according to at least two real-time power supply current values of the accelerator pedal to obtain at least two real-time opening values of the real-time opening value set.

14. A vehicle, characterized by comprising: a power mechanism and a control system for the minimum position of the accelerator pedal according to claim 12 or 13;

the power mechanism is electrically connected with a memory of the accelerator pedal minimum position determination system and is used for driving the displacement of an accelerator pedal of the vehicle according to the minimum position value.

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