An acceleration pedal opening control method and system for intelligent driving

Abstract

The present invention provides a method and system for controlling the opening degree of an accelerator pedal in intelligent driving. The method includes: establishing a multi-dimensional correspondence table of the driving torque, vehicle speed, and pedal opening degree output by the whole vehicle; obtaining the actual pedal opening degree of the whole vehicle, and calculating the corresponding torque data value Trq by looking up the table according to the actual pedal opening degree and the multi-dimensional correspondence table Cal ; obtaining the actual torque value Trq output by the whole vehicle act , and calculating the corresponding torque data value Trq Cal and the absolute error E act of the actual torque value Trq trq ; judging whether the absolute error E trq is less than a set threshold value. If so, using the actual pedal opening degree as the equivalent accelerator pedal opening degree of the current whole vehicle for opening degree control. The present invention solves the problem that there are multiple different data torque points corresponding to the same accelerator pedal opening degree in existing intelligent driving vehicles, and can improve the safety of using intelligent driving vehicles

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent driving control, and specifically to an acceleration pedal opening control method and system for intelligent driving. Background Art

[0002] The automotive industry has been developing rapidly in recent years, with the trends of electrification and intelligence becoming prominent. The development of pure electric vehicles equipped with intelligent driving functions has been advancing by leaps and bounds. Among them, L2-level intelligent driving assistance functions represented by adaptive cruise control and fully automatic parking functions have gradually become standard features of newly launched automotive products. In the driving scenarios where the intelligent driving assistance function is activated, the user does not need to actively step on the acceleration pedal, and the intelligent driving controller (ADAS) is responsible for driving the whole vehicle. Therefore, in the scenarios where the intelligent driving assistance function is activated, it is necessary to calculate the current equivalent acceleration pedal opening of the whole vehicle for functional interaction between controllers such as the vehicle controller, intelligent driving controller, and electronic parking system. However, in actual applications, the MAP input dimension of the vehicle driving torque is relatively large, and there are multiple torque points with different values in the MAP. Therefore, it is impossible to obtain a unique equivalent acceleration pedal opening that is equivalent to the actual acceleration pedal opening through direct inverse derivation, which is likely to cause potential safety hazards in intelligent driving control. Therefore, how to control the acceleration pedal opening is of great significance. Summary of the Invention

[0003] The present invention provides an acceleration pedal opening control method and system for intelligent driving, which solves the problem that there are multiple torque points with different data corresponding to the same acceleration pedal opening in existing intelligent driving vehicles, which is likely to cause inaccurate intelligent driving control and can improve the safety of using intelligent driving vehicles.

[0004] To achieve the above objectives, the present invention provides the following technical solutions:

[0005] An acceleration pedal opening control method for intelligent driving, comprising:

[0006] Establish a multi-dimensional correspondence table of the driving torque, vehicle speed, and pedal opening output by the whole vehicle;

[0007] Obtain the actual pedal opening of the whole vehicle, and look up the table according to the actual pedal opening and the multi-dimensional correspondence table to calculate the corresponding torque data value Trq Cal ;

[0008] Obtain the actual torque value Trq output by the whole vehicle act , and calculate the absolute error E between the corresponding torque data value Trq Cal and the actual torque value Trq act ; trq ;

[0009] Judge the absolute error E trqWhether it is less than the set threshold. If so, use the actual pedal opening as the equivalent acceleration pedal opening of the current vehicle for opening control.

[0010] Preferably, it further includes:

[0011] If the absolute error E trq is greater than the set threshold, then determine whether the actual acceleration pedal opening is less than 100%. If so, use the sum of the set step and the actual acceleration pedal opening as the pedal opening, and re-look up the corresponding torque data value Trq according to the multi-dimensional correspondence table Cal for absolute error calculation.

[0012] Preferably, it further includes:

[0013] If the actual acceleration pedal opening is equal to 100%, use the actual pedal opening as the equivalent acceleration pedal opening of the current vehicle for opening control.

[0014] Preferably, it further includes:

[0015] Obtain the vehicle torque MAP, and traverse the MAP through the actual torque output by the current vehicle and the current vehicle speed to inversely deduce the equivalent acceleration pedal opening. If there are multiple values, perform the absolute error E trq calculation to calculate the equivalent acceleration pedal opening according to the actual acceleration pedal opening.

[0016] The present invention also provides an acceleration pedal opening control system for intelligent driving, including:

[0017] A correspondence table establishment unit for establishing a multi-dimensional correspondence table of the driving torque, vehicle speed, and pedal opening output by the vehicle;

[0018] A torque acquisition unit for acquiring the actual pedal opening of the vehicle and looking up the corresponding torque data value Trq according to the actual pedal opening and the multi-dimensional correspondence table Cal ;

[0019] An absolute error calculation unit for acquiring the actual torque value Trq output by the vehicle act , calculating the absolute error E Cal between the corresponding torque data value Trq act and the actual torque value Trq trq ;

[0020] A first control unit for determining whether the absolute error E trq is less than the set threshold. If so, use the actual pedal opening as the equivalent acceleration pedal opening of the current vehicle for opening control.

[0021] Preferably, it further includes:

[0022] A second control unit, configured to, if the absolute error E trq is greater than a set threshold, determine whether the actual accelerator pedal opening is less than 100%. If so, use the sum of the set step size and the actual accelerator pedal opening as the pedal opening, and re-look up the corresponding torque data value Trq Cal according to the multi-dimensional correspondence table for absolute error calculation.

[0023] Preferably, the second control unit is further configured to, if the actual accelerator pedal opening is equal to 100%, use the actual pedal opening as the equivalent accelerator pedal opening of the current vehicle for opening control.

[0024] Preferably, it further includes:

[0025] A third control unit, configured to obtain the vehicle torque MAP, and traverse the MAP by the torque actually output by the current vehicle and the current vehicle speed to inversely deduce the equivalent acceleration pedal opening. If there are multiple values, perform the absolute error E trq calculation to calculate the equivalent acceleration pedal opening according to the actual accelerator pedal opening.

[0026] The present invention provides a method and system for controlling the accelerator pedal opening of intelligent driving. The driving torque actually output by the actual vehicle is compared with the corresponding torque obtained by looking up the table of the actual pedal opening. If the absolute error between the two is within a certain range, it is considered that the currently calculated accelerator pedal opening is equivalent to the accelerator pedal opening actually pressed by the driver. If not, the equivalent acceleration pedal opening is calculated with the accelerator pedal opening value of the set step size, solving the problem that there are multiple different data torque points corresponding to the same accelerator pedal opening in existing intelligent driving vehicles, which is likely to cause inaccurate intelligent driving control and can improve the safety of using intelligent driving vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below.

[0028] Figure 1 FIG. is a schematic diagram of a method for controlling the accelerator pedal opening of intelligent driving provided by the present invention.

[0029] Figure 2 FIG. is a judgment logic diagram of an equivalent accelerator pedal opening provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] In order to enable those skilled in the art to better understand the solutions of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below in conjunction with the drawings and embodiments.

[0031] For current intelligent driving vehicles, there are multiple torque points with the same data corresponding to different accelerator pedal openings, which can easily cause potential safety hazards in intelligent driving control. The present invention provides a method and system for controlling the accelerator pedal opening in intelligent driving, which solves the problem that there are multiple torque points with the same data corresponding to different accelerator pedal openings in existing intelligent driving vehicles and can improve the safety of using intelligent driving vehicles.

[0032] As Figure 1 shown, a method for controlling the accelerator pedal opening in intelligent driving includes:

[0033] S1: Establish a multi-dimensional correspondence table of the driving torque, vehicle speed, and pedal opening output by the whole vehicle;

[0034] S2: Obtain the actual pedal opening of the whole vehicle, and calculate the corresponding torque data value Trq by looking up the table according to the actual pedal opening and the multi-dimensional correspondence table Cal ;

[0035] S3: Obtain the actual torque value Trq output by the whole vehicle act , and calculate the absolute error E between the corresponding torque data value Trq Cal and the actual torque value Trq act ; trq ;

[0036] S4: Judge whether the absolute error E trq is less than a set threshold. If so, use the actual pedal opening as the equivalent accelerator pedal opening of the current whole vehicle for opening control.

[0037] Specifically, taking a two-dimensional table as an example, as shown in Table 1, the driving torque of a normal whole vehicle can obtain a definite value by looking up the table through the accelerator pedal opening actually depressed by the driver and the actual current speed of the whole vehicle.

[0038] Table 1

[0039]

[0040] It can be seen from Table 1 that among Trq 11 to Trq 55 , there are the same values. Therefore, simply traversing the MAP to inversely deduce the equivalent accelerator pedal opening may result in multiple values. Therefore, during actual calculation, when the current actual speed is known, a series of torque values Trq Cal are obtained during the process of inputting torque by looking up the table with accelerator pedal opening values at a certain step, and are compared with the torque value Trq act actually output by the whole vehicle currently. If the absolute error E trq = (|TrqCal -Trq act |)Within a certain threshold range, that is, the error caused by the calculation of the accelerator pedal opening is negligible under the current vehicle conditions, then the currently calculated accelerator pedal opening can be considered as the equivalent accelerator pedal opening ACCPedal of the current whole vehicle Cal 。This method can solve the problem that there are multiple different data torque points corresponding to the same accelerator pedal opening in existing intelligent driving vehicles, which is likely to cause inaccurate intelligent driving control and can improve the safety of using intelligent driving vehicles.

[0041] Such as Figure 2 shown, this method further includes: if the absolute error E trq is greater than the set threshold, then it is judged whether the actual accelerator pedal opening is less than 100%. If so, the sum of the set step and the actual accelerator pedal opening is used as the pedal opening, and the corresponding torque data value Trq is calculated by re-checking the multi-dimensional correspondence table Cal , for absolute error calculation.

[0042] This method further includes: if the actual accelerator pedal opening is equal to 100%, then the actual pedal opening is used as the equivalent accelerator pedal opening of the current whole vehicle for opening control.

[0043] This method further includes: obtaining the vehicle torque MAP, and traversing the MAP by the actually output torque of the current whole vehicle and the current vehicle speed to inversely deduce the equivalent acceleration pedal opening. If there are multiple values, then the absolute error E trq is calculated to calculate the equivalent accelerator pedal opening according to the actual accelerator pedal opening.

[0044] It can be seen that the present invention provides a method for controlling the accelerator pedal opening of intelligent driving, which compares the driving torque actually output by the actual whole vehicle with the corresponding torque obtained by looking up the table of the actual pedal opening. If the absolute error between the two is within a certain range, it is considered that the currently calculated accelerator pedal opening is equivalent to the accelerator pedal opening actually depressed by the driver. If not, the equivalent accelerator pedal opening is calculated with the accelerator pedal opening value of the set step, solving the problem that there are multiple different data torque points corresponding to the same accelerator pedal opening in existing intelligent driving vehicles, which is likely to cause inaccurate intelligent driving control and can improve the safety of using intelligent driving vehicles. Correspondingly, the present invention also provides a control system for the accelerator pedal opening of intelligent driving, including: a correspondence table establishment unit for establishing a multi-dimensional correspondence table of the driving torque, vehicle speed and pedal opening output by the whole vehicle;

[0045] a torque acquisition unit for acquiring the actual pedal opening of the whole vehicle and calculating the corresponding torque data value Trq by looking up the table according to the actual pedal opening and the multi-dimensional correspondence table CalAn absolute error calculation unit for obtaining the actual torque value Trq output by the whole vehicle act , calculating the corresponding torque data value Trq Cal and the actual torque value Trq act to obtain the absolute error E trq . A first control unit for determining whether the absolute error E trq is less than a set threshold. If so, using the actual pedal opening as the equivalent acceleration pedal opening of the current whole vehicle for opening control.

[0046] The system further includes: A second control unit for, if the absolute error E trq is greater than the set threshold, determining whether the actual acceleration pedal opening is less than 100%. If so, using the sum of the set step and the actual acceleration pedal opening as the pedal opening, and re-looking up the table according to the multi-dimensional correspondence table to calculate the corresponding torque data value Trq Cal for absolute error calculation.

[0047] Further, the second control unit is further used for, if the actual acceleration pedal opening is equal to 100%, using the actual pedal opening as the equivalent acceleration pedal opening of the current whole vehicle for opening control.

[0048] The system further includes: A third control unit for obtaining the vehicle torque MAP, and traversing the MAP by the torque actually output by the current whole vehicle and the current vehicle speed of the whole vehicle to inversely deduce the equivalent acceleration pedal opening. If there are multiple values, performing absolute error E trq calculation to calculate the equivalent acceleration pedal opening according to the actual acceleration pedal opening.

[0049] It can be seen that the present invention provides an acceleration pedal opening control system for intelligent driving, which compares the driving torque actually output by the actual whole vehicle with the corresponding torque obtained by looking up the table of the actual pedal opening. If the absolute error between the two is within a certain range, it is considered that the currently calculated acceleration pedal opening is equivalent to the acceleration pedal opening actually pressed by the driver. If not, the equivalent acceleration pedal opening is calculated with the acceleration pedal opening value of the set step, solving the problem that there are multiple different data torque points corresponding to the same acceleration pedal opening in existing intelligent driving vehicles, which is likely to cause inaccurate intelligent driving control and can improve the safety of using intelligent driving vehicles.

[0050] The above has described in detail the structure, features and function effects of the present invention based on the illustrated embodiments. The above is only the preferred embodiment of the present invention, but the present invention is not limited to the illustrated scope of implementation. Any changes made according to the concept of the present invention, or modified into equivalent embodiments with equivalent changes, still within the spirit covered by the specification and the illustration, should be within the protection scope of the present invention.

Claims

1. An acceleration pedal opening control method for intelligent driving, characterized in that, Including: Establishing a multi-dimensional correspondence table of the driving torque, vehicle speed, and pedal opening degree output by the whole vehicle; Obtain the actual pedal opening of the whole vehicle, and look up the corresponding torque data value Trq according to the actual pedal opening and the multi-dimensional correspondence table Cal ; Obtain the actual torque value Trq output by the whole vehicle act , calculate the corresponding torque data value Trq Cal and the actual torque value Trq act for the absolute error E trq ; Judge the absolute error E trq to see if it is less than the set threshold. If so, use the actual pedal opening as the equivalent acceleration pedal opening of the current vehicle for opening control; If the absolute error E trq is greater than the set threshold, it is determined whether the actual accelerator pedal opening is less than 100%. If so, the sum of the set step distance and the actual accelerator pedal opening is used as the pedal opening, and the corresponding torque data value Trq is calculated by re-looking up the table according to the multi-dimensional correspondence table Cal for absolute error calculation.

2. The acceleration pedal opening control method for intelligent driving according to claim 1, wherein Also including: If the actual accelerator pedal opening degree is equal to 100%, then using the actual pedal opening degree as the equivalent accelerator pedal opening degree of the current whole vehicle for opening degree control.

3. The method for controlling the opening degree of the accelerator pedal of the intelligent driving according to claim 2, wherein, Also including: Obtain the vehicle torque MAP, and traverse the MAP by the torque actually output by the whole vehicle currently and the current vehicle speed of the whole vehicle to inversely deduce the equivalent accelerator pedal opening. If there are multiple values, perform the absolute error E trq calculation to calculate the equivalent accelerator pedal opening according to the actual accelerator pedal opening.

4. An accelerator pedal opening control system for intelligent driving, characterized in that, Including: A correspondence table establishing unit for establishing a multi-dimensional correspondence table of the driving torque, vehicle speed, and pedal opening degree output by the whole vehicle; A torque acquisition unit, configured to acquire the actual pedal opening of the whole vehicle and calculate, according to the actual pedal opening and by looking up a table in the multi-dimensional correspondence table, a corresponding torque data value Trq Cal ; An absolute error calculation unit for obtaining the actual torque value Trq output by the whole vehicle act , calculating the corresponding torque data value Trq Cal and the actual torque value Trq act of the absolute error E trq ; The first control unit is used to judge the absolute error E trq whether it is less than a set threshold value. If so, the actual pedal opening is used as the equivalent acceleration pedal opening of the current whole vehicle for opening control; A second control unit, which is configured to, if the absolute error E trq is greater than a set threshold value, determine whether the actual accelerator pedal opening degree is less than 100%. If so, use the sum of the set step distance and the actual accelerator pedal opening degree as the pedal opening degree, and re-look up the table according to the multi-dimensional correspondence table to calculate the corresponding torque data value Trq Cal for absolute error calculation.

5. The acceleration pedal opening control system for intelligent driving according to claim 4, characterized in that The second control unit is further configured to, if the actual accelerator pedal opening degree is equal to 100%, use the actual pedal opening degree as the equivalent accelerator pedal opening degree of the current whole vehicle for opening degree control.

6. The acceleration pedal opening control system for intelligent driving according to claim 5, characterized in that, Also including: The third control unit is used to obtain the vehicle torque MAP, and traverse the MAP by the torque actually output by the current vehicle and the current vehicle speed to inversely deduce the equivalent accelerator pedal opening. If there are multiple values, the absolute error E is calculated. trq Calculating to obtain an equivalent accelerator pedal opening degree based on the actual accelerator pedal opening degree.

Images