A method, device, equipment, and vehicle for controlling a pedal

Abstract

This application discloses a pedal control method, device, equipment, and vehicle. The method involves acquiring the pedal state and, when the pedal state is a preset pedal state, acquiring the target pedal position change rate. When the target pedal position change rate does not meet the preset change rate, the method acquires the target pedal torque and, based on the target pedal torque, acquires a first change rate of the target pedal torque. Then, the first change rate is converted into a second change rate within a change rate threshold, where the second change rate is less than the first change rate, and the target pedal torque is output based on the second change rate. After a preset time has elapsed since the second change rate was used to output the target pedal torque, the target pedal torque continues to be output based on the first change rate. This application controls the first change rate of the target pedal torque within a certain range for a certain period, thereby avoiding rapid torque changes that could endanger the driver or passengers and providing the driver with sufficient reaction time to respond to potential hazards.

Description

Technical Field

[0001] This application relates to the field of single-pedal control, specifically to a pedal control method, device, equipment, and vehicle. Background Technology

[0002] One-pedal function is a braking zone installed on the accelerator pedal, which allows for energy recovery when the accelerator pedal is released. However, the activation or deactivation of the one-pedal function is controlled by a switch on the HUT (Head Unit). The one-pedal status signal can only reach the functional safety QM (Quality Management) level. Unexpected changes in the one-pedal status will affect torque output, requiring at least ASIL (Automotive Safety Integrity Level) C level. At this level, the QM level one-pedal status signal cannot monitor its status.

[0003] Therefore, how to reduce the danger to the driver or passengers caused by rapid changes in the single-pedal state when it is impossible to monitor the single-pedal state is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, embodiments of this application provide a pedal control method, device, equipment, and vehicle to reduce the danger to the driver or passenger caused by rapid changes in the state of a single pedal when it is impossible to monitor the state of a single pedal.

[0005] To address the above problems, the technical solutions provided in this application are as follows:

[0006] A method for controlling a pedal, the method comprising:

[0007] Acquire pedal status, including accelerator pedal status and brake pedal status;

[0008] In response to the pedal state being a preset pedal state, the target pedal position change rate is obtained;

[0009] In response to the target pedal position change rate not meeting the preset change rate, the target pedal torque is obtained, the target pedal torque including accelerator pedal torque or brake pedal torque;

[0010] The first rate of change of the target pedal torque is obtained based on the target pedal torque.

[0011] The first rate of change is converted into a second rate of change within a rate of change threshold, wherein the second rate of change is less than the first rate of change.

[0012] The target pedal torque is output according to the second rate of change;

[0013] After a preset time has elapsed since the time for outputting the target pedal torque according to the second rate of change has reached a preset time, the target pedal torque is output according to the first rate of change.

[0014] In one possible implementation, the preset pedal state includes: an advance pedal state or a retractable pedal state.

[0015] In one possible implementation, obtaining the target pedal position change rate in response to a preset pedal state includes:

[0016] The accelerator pedal state is a preset pedal state, and the accelerator pedal position change rate is obtained.

[0017] In one possible implementation, obtaining the target pedal position change rate in response to a preset pedal state includes:

[0018] The brake pedal state is a preset pedal state, and the brake pedal position change rate is obtained.

[0019] In one possible implementation, obtaining the target pedal torque in response to the pedal position change rate not satisfying a preset change rate includes:

[0020] In response to the accelerator pedal's rate of change not meeting a preset rate of change, the torque of the accelerator pedal is obtained.

[0021] In one possible implementation, obtaining the target pedal torque in response to the pedal position change rate not satisfying a preset change rate includes:

[0022] In response to the brake pedal's rate of change not meeting a preset rate of change, the torque of the brake pedal is obtained.

[0023] A pedal control device, the device comprising:

[0024] The first acquisition unit is used to acquire the pedal state, which includes the accelerator pedal state and the brake pedal state.

[0025] The second acquisition unit, in response to the pedal state being a preset pedal state, is used to acquire the target pedal position change rate;

[0026] The third acquisition unit, in response to the target pedal position change rate not meeting the preset change rate, is used to acquire the target pedal torque, the target pedal torque including the accelerator pedal torque or the brake pedal torque.

[0027] The fourth acquisition unit is used to acquire the first rate of change of the target pedal torque based on the target pedal torque;

[0028] A conversion unit is used to convert the first rate of change into a second rate of change within a rate of change threshold, wherein the second rate of change is less than the first rate of change.

[0029] A first output unit is configured to output the target pedal torque according to the second rate of change;

[0030] The second output unit, in response to the time when the target pedal torque is output according to the second rate of change reaches a preset time, is used to output the target pedal torque according to the first rate of change.

[0031] In one possible implementation, the second acquisition unit is specifically used for:

[0032] When the accelerator pedal is in the preset pedal state, obtain the rate of change of the accelerator pedal position.

[0033] An electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the pedal control method described above.

[0034] A vehicle includes a control module for performing a pedal control method as described above.

[0035] Compared with the prior art, this application has the following advantages:

[0036] This application provides a pedal control method, apparatus, device, and vehicle. Specifically, when executing the pedal control method provided in this application embodiment, the pedal state is first acquired, including the accelerator pedal state and the brake pedal state. Next, when the pedal state is a preset pedal state, a target pedal position change rate is acquired. Then, when the target pedal position change rate does not meet the preset change rate, a target pedal torque is acquired, including either the accelerator pedal torque or the brake pedal torque. A first change rate of the target pedal torque is then acquired based on the target pedal torque, and this first change rate is converted into a second change rate within a change rate threshold, where the second change rate is less than the first change rate. The target pedal torque is then output based on the second change rate. Finally, after a preset time has elapsed since the second change rate was used to output the target pedal torque, the target pedal torque continues to be output based on the first change rate. This application controls the first change rate of the target pedal torque within a certain range for a certain period of time, thereby avoiding rapid torque changes that could endanger the driver or passengers, and providing the driver with sufficient reaction time to respond to potential hazards. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A schematic diagram illustrating an exemplary application scenario provided in this application embodiment;

[0039] Figure 2 A flowchart illustrating a pedal control method provided in this application embodiment;

[0040] Figure 3 This is a schematic diagram of a pedal control device provided in an embodiment of this application. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0042] To facilitate understanding of the technical solutions provided in the embodiments of this application, the background technology involved in the embodiments of this application will be described below.

[0043] Against the backdrop of the energy crisis, new energy vehicles have begun to dominate the market. The recent passage of the law banning the sale of gasoline-powered vehicles in the EU after 2035 has further spurred major automakers to accelerate the research and development of new energy vehicles. New energy vehicles, compared to traditional vehicles, have stricter safety requirements. Because my country's new energy vehicle industry started relatively late, various features have emerged to meet the diverse needs of car owners and enhance comfort.

[0044] The pedals on new energy vehicles are called single-pedal pedals. A single-pedal pedal can function as both an electrical switch and a brake. It's the accelerator pedal used for both acceleration and braking. However, single-pedal mode doesn't mean the accelerator and brake are on the same pedal. There are still two pedals: an accelerator pedal and a brake pedal. The single-pedal function incorporates a braking zone on the accelerator pedal, allowing for energy recovery when the accelerator pedal is released. The activation or deactivation of the single-pedal function is controlled by a switch on the HUT (Head Unit). The single-pedal status signal can only reach the Functional Safety QM (Quality Management) level. Unexpected changes in the single-pedal status will affect torque output. The single-pedal status includes both the accelerator and brake pedal states and must reach at least ASIL (Automotive Safety Integrity Level) C. At this level, the QM level single-pedal status signal cannot monitor its status.

[0045] To address this issue, this application provides a pedal control method, device, equipment, and vehicle. First, the pedal state is acquired, including accelerator pedal state and brake pedal state. When the pedal state is a preset pedal state, a target pedal position change rate is acquired. When the target pedal position change rate does not meet the preset change rate, a target pedal torque is acquired, including accelerator pedal torque or brake pedal torque. A first change rate of the target pedal torque is then acquired based on the target pedal torque. This first change rate is then converted into a second change rate within a change rate threshold, where the second change rate is less than the first change rate. The target pedal torque is then output based on the second change rate. After a preset time has elapsed since the second change rate was used to output the target pedal torque, the target pedal torque is output based on the first change rate. This application controls the first change rate of the target pedal torque within a certain range for a certain period, thereby avoiding rapid torque changes that could endanger the driver or passengers and providing the driver with sufficient reaction time to respond to potential hazards.

[0046] To facilitate understanding of the pedal control method provided in the embodiments of this application, the following is combined with... Figure 1 The example scenario is shown below. See also... Figure 1 This figure is a schematic diagram of an exemplary application scenario provided in the embodiments of this application.

[0047] First, the pedal states are acquired, including the accelerator pedal state and the brake pedal state. The accelerator pedal state can be understood as the current state of the accelerator pedal, and the brake pedal state can be understood as the current state of the brake pedal. When the pedal state is determined to be a preset pedal state, the target pedal position change rate is acquired. The preset pedal state can be understood as a pre-set target pedal state, and the target pedal position change rate can be acquired under this state. When the target pedal position change rate is determined not to meet the preset change rate, the target pedal torque is acquired. The target pedal torque includes either the accelerator pedal torque or the brake pedal torque. The preset change rate can be understood as a small target pedal position change rate, indicating that the target pedal position is not changing drastically. Based on the target pedal torque, a first change rate of the target pedal torque is acquired. The first change rate can be understood as the change rate of the target pedal torque obtained through manual pedaling. The first change rate is converted into a second change rate within a change rate threshold, where the second change rate is less than the first change rate, and the target pedal torque is output based on the second change rate. When the time for outputting the target pedal torque based on the second change rate reaches a preset time, the target pedal torque is output based on the first change rate. This application controls the first rate of change of the target pedal torque within a certain range within a certain time, thereby avoiding the danger to the driver or passenger caused by rapid torque changes, and giving the driver a certain reaction time to deal with the occurrence of danger.

[0048] Those skilled in the art will understand that Figure 1 The schematic diagram shown is merely one example in which embodiments of this application can be implemented. The scope of application of the embodiments of this application is not limited by any aspect of this framework.

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0050] See Figure 2 The figure is a flowchart of a pedal control method provided in an embodiment of this application, as shown below. Figure 2 As shown, the control method for the pedal may include steps S201-S206:

[0051] S201: Obtain the pedal status, which includes the accelerator pedal status and the brake pedal status.

[0052] To control the rate of change of pedal torque, the pedal control system must first acquire the pedal status, which includes the status of the accelerator pedal and the brake pedal.

[0053] In one possible implementation, the pedal state can be, but is not limited to, the current state of each individual pedal. A single pedal is the pedal used to accelerate or brake the vehicle.

[0054] In one possible implementation, the accelerator pedal state can be, but is not limited to, the current state of the accelerator pedal, and the brake pedal state can be, but is not limited to, the current state of the brake pedal. For example, the accelerator pedal state could be a sudden change in accelerator pedal position, and the brake pedal state could be that it is not depressed.

[0055] S202: In response to the pedal state being a preset pedal state, obtain the target pedal position change rate.

[0056] When the pedal state is in the preset state, it means that the rate of change of pedal torque needs to be controlled. Therefore, after obtaining the pedal state, when the pedal state is in the preset state, it is necessary to obtain the rate of change of the pedal position that meets the preset state in the accelerator pedal state and the brake pedal state, that is, the rate of change of the target pedal position.

[0057] In one possible implementation, the target pedal position change rate refers to the position change of the pedal that conforms to the preset pedal state in the states of the accelerator pedal and the brake pedal. For example, if the accelerator pedal state is a rapid change in position and the brake pedal state is not depressed, then the pedal that conforms to the preset pedal state is the accelerator pedal state, and the accelerator pedal is the target pedal. In this case, the accelerator pedal position change rate is obtained.

[0058] In one possible implementation, the preset pedal state can be, but is not limited to, the forward pedal state or the backward pedal state, and the preset pedal state is a pre-set target state of the pedal.

[0059] In one possible implementation, the "press pedal state" refers to the instant the accelerator or brake pedal is depressed. For example, when a user wants to start the vehicle, they press the accelerator pedal, and the accelerator pedal state is "press pedal state"; when a user wants to accelerate while the vehicle is in motion, they press the accelerator pedal further, and the accelerator pedal state is also "press pedal state"; when a user wants to decelerate the vehicle, they can press the brake pedal, and the brake pedal state is "press pedal state".

[0060] In one possible implementation, the "release pedal" state refers to the instant the accelerator or brake pedal is released. For example, when a user wants to slow down the vehicle while it is in motion, they can release the accelerator pedal, which is in the "release pedal" state; similarly, when a user wants to gradually slow down the vehicle while it is braking, they can release the brake pedal, which is in the "release pedal" state.

[0061] In one possible implementation, obtaining the target pedal position change rate in response to a preset pedal state includes:

[0062] The accelerator pedal state is a preset pedal state, and the accelerator pedal position change rate is obtained.

[0063] In one possible implementation, the accelerator pedal position change rate refers to how quickly the accelerator pedal position changes.

[0064] In one possible implementation, obtaining the target pedal position change rate in response to a preset pedal state includes:

[0065] The brake pedal state is a preset pedal state, and the brake pedal position change rate is obtained.

[0066] In one possible implementation, the brake pedal position change rate refers to how quickly the brake pedal position changes.

[0067] S203: In response to the target pedal position change rate not meeting the preset change rate, obtain the target pedal torque, the target pedal torque including the accelerator pedal torque or the brake pedal torque.

[0068] After obtaining the target pedal position change rate, it is necessary to obtain the target pedal torque when the target pedal position change rate does not meet the preset change rate. The target pedal torque includes the accelerator pedal torque or the brake pedal torque.

[0069] In one possible implementation, the preset rate of change can be, but is not limited to, a small rate of change in the target pedal position, indicating that the target pedal position is not changing drastically, and can be set according to the actual situation. This application does not specifically limit the preset rate of change. For example, the target pedal position change rate not meeting the preset rate of change can be due to a drastic change in the accelerator pedal position.

[0070] In one possible implementation, obtaining the target pedal torque in response to the pedal position change rate not satisfying a preset change rate includes:

[0071] In response to the accelerator pedal's rate of change not meeting a preset rate of change, the torque of the accelerator pedal is obtained.

[0072] In one possible implementation, the torque of the accelerator pedal refers to the acceleration torque of the accelerator pedal, which is the product of the force applied to the accelerator pedal and its lever arm. It is the torque required to accelerate the operation of the main moving parts and basic subordinate auxiliary equipment during the acceleration process after the start of rotation.

[0073] In one possible implementation, obtaining the target pedal torque in response to the pedal position change rate not satisfying a preset change rate includes:

[0074] In response to the brake pedal's rate of change not meeting a preset rate of change, the torque of the brake pedal is obtained.

[0075] In one possible implementation, the brake pedal torque refers to the braking torque of the brake pedal, which is the product of the force applied to the brake pedal and its lever arm. The braking torque is the torque generated by the brake pedal, which reduces the rotational speed of the wheels, eventually slowing the car down to a stop; it also helps the car maintain a suitable and stable speed when driving downhill; in addition, it allows the car to be reliably stopped in place or on a slope.

[0076] S204: Obtain the first rate of change of the target pedal torque based on the target pedal torque.

[0077] After obtaining the target pedal torque, the first rate of change corresponding to the target pedal torque can be obtained. For example, if the current target pedal torque is the accelerator pedal torque, then the first rate of change to be obtained is the first rate of change corresponding to the torque of the accelerator pedal at this time.

[0078] In some possible implementations, the first rate of change can be, but is not limited to, the rate of change of the target pedal torque obtained by human stomping.

[0079] S205: Convert the first rate of change into a second rate of change within a rate of change threshold, wherein the second rate of change is less than the first rate of change.

[0080] Because the rate of change of the target pedal position does not meet the preset rate of change, the first rate of change of the target pedal torque corresponding to the target pedal torque is definitely too large, which would cause a driving hazard. Therefore, after obtaining the first rate of change of the target pedal torque, it is necessary to convert it into a second rate of change, which is within the rate of change threshold and is smaller than the first rate of change. In other words, the rate of change of the target pedal torque is limited so that the torque output of the target pedal does not change too quickly.

[0081] In some possible implementations, the rate of change threshold can be, but is not limited to, 5% of the first rate of change. The rate of change threshold can be set according to actual needs, and this application does not impose specific limitations on the value of the rate of change threshold.

[0082] S206: Output the target pedal torque according to the second rate of change.

[0083] After obtaining the second rate of change within the rate of change threshold, since the converted second rate of change satisfies the preset rate of change, the torque of the target pedal will be output as the torque of the second rate of change.

[0084] S207: After a preset time has elapsed since the time for outputting the target pedal torque according to the second rate of change has reached a preset time, the target pedal torque is output according to the first rate of change.

[0085] Converting the first rate of change into a second rate of change within the rate of change threshold is for the safety of actions such as starting, accelerating, decelerating or braking. Therefore, after converting the first rate of change into a second rate of change within the rate of change threshold and reaching the preset time, the target pedal torque needs to be output according to the first rate of change to ensure the completion of actions such as starting, accelerating, decelerating or braking.

[0086] In some possible implementations, the preset time can be 1 second. The preset time can be set according to actual needs, as long as the user can react to actions such as starting, accelerating, decelerating or braking within the preset time. This application does not specify the value of the preset time.

[0087] Based on the content of S201-S206, firstly, the pedal state is acquired, including the accelerator pedal state and the brake pedal state. When the pedal state is a preset pedal state, the target pedal position change rate is acquired. Then, when the target pedal position change rate does not meet the preset change rate, the target pedal torque is acquired, which includes either the accelerator pedal torque or the brake pedal torque. Next, a first change rate of the target pedal torque is acquired based on the target pedal torque, and this first change rate is converted into a second change rate within a change rate threshold. The second change rate is less than the first change rate, and the target pedal torque is then output based on the second change rate. Finally, after a preset time has elapsed since the second change rate was used to output the target pedal torque, the target pedal torque is output based on the first change rate. This application controls the first change rate of the target pedal torque within a certain range within a certain time, thereby avoiding rapid torque changes that could endanger the driver or passengers and giving the driver sufficient reaction time to deal with potential hazards.

[0088] The above are some specific implementations of the pedal control method provided in the embodiments of this application. Based on this, this application also provides a corresponding control device for the pedal. The device provided in the embodiments of this application will be described below from the perspective of functional modularity.

[0089] See Figure 3 This figure is a schematic diagram of the structure of a pedal control device provided in an embodiment of this application. Figure 3 As shown, the control device for the pedal includes:

[0090] The first acquisition unit 301 is used to acquire the pedal state, which includes the accelerator pedal state and the brake pedal state.

[0091] In one possible implementation, the pedal state can be, but is not limited to, the current state of each individual pedal. A single pedal is the pedal used to accelerate or brake the vehicle.

[0092] In one possible implementation, the accelerator pedal state can be, but is not limited to, the current state of the accelerator pedal, and the brake pedal state can be, but is not limited to, the current state of the brake pedal. For example, the accelerator pedal state could be a sudden change in accelerator pedal position, and the brake pedal state could be that it is not depressed.

[0093] The second acquisition unit 302, in response to the pedal state being a preset pedal state, is used to acquire the target pedal position change rate.

[0094] In one possible implementation, the target pedal position change rate refers to the position change of the pedal that conforms to the preset pedal state in the states of the accelerator pedal and the brake pedal. For example, if the accelerator pedal state is a rapid change in position and the brake pedal state is not depressed, then the pedal that conforms to the preset pedal state is the accelerator pedal state, and the accelerator pedal is the target pedal. In this case, the accelerator pedal position change rate is obtained.

[0095] In one possible implementation, the preset pedal state can be, but is not limited to, the forward pedal state or the backward pedal state, and the preset pedal state is a pre-set target state of the pedal.

[0096] In one possible implementation, the "press pedal state" refers to the instant the accelerator or brake pedal is depressed. For example, when a user wants to start the vehicle, they press the accelerator pedal, and the accelerator pedal state is "press pedal state"; when a user wants to accelerate while the vehicle is in motion, they press the accelerator pedal further, and the accelerator pedal state is also "press pedal state"; when a user wants to decelerate the vehicle, they can press the brake pedal, and the brake pedal state is "press pedal state".

[0097] In one possible implementation, the "release pedal" state refers to the instant the accelerator or brake pedal is released. For example, when a user wants to slow down the vehicle while it is in motion, they can release the accelerator pedal, which is in the "release pedal" state; similarly, when a user wants to gradually slow down the vehicle while it is braking, they can release the brake pedal, which is in the "release pedal" state.

[0098] The third acquisition unit 303, in response to the target pedal position change rate not meeting the preset change rate, is used to acquire the target pedal torque, the target pedal torque including the accelerator pedal torque or the brake pedal torque.

[0099] In one possible implementation, the preset rate of change can be, but is not limited to, a small rate of change in the target pedal position, indicating that the target pedal position is not changing drastically, and can be set according to the actual situation. This application does not specifically limit the preset rate of change. For example, the target pedal position change rate not meeting the preset rate of change can be due to a drastic change in the accelerator pedal position.

[0100] The fourth acquisition unit 304 is used to acquire the first rate of change of the target pedal torque based on the target pedal torque.

[0101] In some possible implementations, the first rate of change can be, but is not limited to, the rate of change of the target pedal torque obtained by human stomping.

[0102] The conversion unit 305 is used to convert the first rate of change into a second rate of change within a rate of change threshold, wherein the second rate of change is less than the first rate of change.

[0103] In some possible implementations, the rate of change threshold can be, but is not limited to, 5% of the first rate of change. The rate of change threshold can be set according to actual needs, and this application does not impose specific limitations on the value of the rate of change threshold.

[0104] The first output unit 306 is used to output the target pedal torque according to the second rate of change.

[0105] The second output unit 307, in response to the time when the target pedal torque is output according to the second rate of change reaches a preset time, is used to output the target pedal torque according to the first rate of change.

[0106] In some possible implementations, the preset time can be 1 second. The preset time can be set according to actual needs, as long as the user can react to actions such as starting, accelerating, decelerating or braking within the preset time. This application does not specify the value of the preset time.

[0107] In some possible implementations, the second acquisition unit 302 is specifically used for:

[0108] When the accelerator pedal is in the preset pedal state, obtain the rate of change of the accelerator pedal position.

[0109] In one possible implementation, the accelerator pedal position change rate refers to how quickly the accelerator pedal position changes.

[0110] In some possible implementations, the second acquisition unit 302 is specifically used for:

[0111] The brake pedal state is a preset pedal state, and the brake pedal position change rate is obtained.

[0112] In one possible implementation, the brake pedal position change rate refers to how quickly the brake pedal position changes.

[0113] In some possible implementations, the third acquisition unit 303 is specifically used for:

[0114] In response to the accelerator pedal's rate of change not meeting a preset rate of change, the torque of the accelerator pedal is obtained.

[0115] In one possible implementation, the torque of the accelerator pedal refers to the acceleration torque of the accelerator pedal, which is the product of the force applied to the accelerator pedal and its lever arm. It is the torque required to accelerate the operation of the main moving parts and basic subordinate auxiliary equipment during the acceleration process after the start of rotation.

[0116] In some possible implementations, the third acquisition unit 303 is specifically used for:

[0117] In response to the brake pedal's rate of change not meeting a preset rate of change, the torque of the brake pedal is obtained.

[0118] In one possible implementation, the brake pedal torque refers to the braking torque of the brake pedal, which is the product of the force applied to the brake pedal and its lever arm. The braking torque is the torque generated by the brake pedal, which reduces the rotational speed of the wheels, eventually slowing the car down to a stop; it also helps the car maintain a suitable and stable speed when driving downhill; in addition, it allows the car to be reliably stopped in place or on a slope.

[0119] In addition, this application embodiment also provides a pedal control device, the device including a memory and a processor, the memory for storing programs or code, and the processor for running the programs or code stored in the memory to implement the above-described pedal control method.

[0120] In addition, this application embodiment also provides a vehicle, characterized in that the vehicle includes a control module, the control module being used to execute the above-described pedal control method.

[0121] This application provides a pedal control device. After the first acquisition unit 301 acquires the pedal state, the second acquisition unit 302 acquires the target pedal position change rate when the pedal state is a preset pedal state, and the third acquisition unit 303 acquires the target pedal torque when the target pedal position change rate does not meet the preset change rate. Then, the fourth acquisition unit 304 acquires the first change rate of the target pedal torque according to the target pedal torque, and uses the conversion unit 305 to convert the first change rate into a second change rate within a change rate threshold. Then, the first output unit 306 outputs the target pedal torque according to the second change rate. Finally, when the time for outputting the target pedal torque according to the second change rate reaches a preset time, the second output unit 307 outputs the target pedal torque according to the first change rate. This application controls the first change rate of the target pedal torque within a certain range within a certain time, thereby avoiding rapid torque changes that could endanger the driver or passenger, and giving the driver sufficient reaction time to deal with potential dangers.

[0122] The foregoing has provided a detailed description of a pedal control method, system, device, and storage medium provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0123] It should be understood that in this application, "at least one (item)" means one or more, and "more than one" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0124] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0125] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0126] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling a pedal, characterized in that, The method includes: Acquire pedal status, including accelerator pedal status and brake pedal status; In response to the pedal state being a preset pedal state, the target pedal position change rate is obtained; In response to the target pedal position change rate not meeting the preset change rate, the target pedal torque is obtained, the target pedal torque including accelerator pedal torque or brake pedal torque; The first rate of change of the target pedal torque is obtained based on the target pedal torque. The first rate of change is converted into a second rate of change within a rate of change threshold, wherein the second rate of change is less than the first rate of change. The target pedal torque is output according to the second rate of change; After a preset time has elapsed since the time for outputting the target pedal torque according to the second rate of change has reached a preset time, the target pedal torque is output according to the first rate of change.

2. The method according to claim 1, characterized in that, The preset pedal states include: pedal forward state or pedal backward state.

3. The method according to claim 1, characterized in that, The response to the pedal state being a preset pedal state, obtaining the target pedal position change rate includes: The accelerator pedal state is a preset pedal state, and the accelerator pedal position change rate is obtained.

4. The method according to claim 1, characterized in that, The response to the pedal state being a preset pedal state, obtaining the target pedal position change rate includes: The brake pedal state is a preset pedal state, and the brake pedal position change rate is obtained.

5. The method according to claim 3, characterized in that, The step of obtaining the target pedal torque in response to the pedal position change rate not meeting the preset change rate includes: In response to the accelerator pedal's rate of change not meeting a preset rate of change, the torque of the accelerator pedal is obtained.

6. The method according to claim 4, characterized in that, The step of obtaining the target pedal torque in response to the pedal position change rate not meeting the preset change rate includes: In response to the brake pedal's rate of change not meeting a preset rate of change, the torque of the brake pedal is obtained.

7. A pedal control device, characterized in that, The device includes: The first acquisition unit is used to acquire the pedal state, which includes the accelerator pedal state and the brake pedal state. The second acquisition unit, in response to the pedal state being a preset pedal state, is used to acquire the target pedal position change rate; The third acquisition unit, in response to the target pedal position change rate not meeting the preset change rate, is used to acquire the target pedal torque, the target pedal torque including the accelerator pedal torque or the brake pedal torque; The fourth acquisition unit is used to acquire the first rate of change of the target pedal torque based on the target pedal torque; A conversion unit is used to convert the first rate of change into a second rate of change within a rate of change threshold, wherein the second rate of change is less than the first rate of change. A first output unit is configured to output the target pedal torque according to the second rate of change; The second output unit, in response to the time when the target pedal torque is output according to the second rate of change reaches a preset time, is used to output the target pedal torque according to the first rate of change.

8. The apparatus according to claim 7, characterized in that, The second acquisition unit is specifically used for: When the accelerator pedal is in the preset pedal state, obtain the rate of change of the accelerator pedal position.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the pedal control method as described in any one of claims 1-6.

10. A vehicle, characterized in that, The vehicle includes a control module for performing the pedal control method as described in any one of claims 1-6.

Images