High-fidelity modeling method for accelerator pedal intention analysis

Abstract

The invention belongs to the technical field of automobiles, and particularly relates to a high-fidelity modeling method for accelerator pedal intention analysis, which comprises a steady speed intention calibration module, an acceleration intention calibration module, a deceleration intention calibration module and a motion control module. According to the method, the driving intention of a driver is dynamically recognized according to operation input of the driver, so that the overall driving safety and comfort are improved, different thoughts are adopted, key data are obtained through an early-stage design experiment, the proposed high-fidelity modeling method can be further close to a traditional mechanical structure transmission vehicle, and the driving safety and comfort are improved. And the corresponding relationship between the operation amount and the expected exercise intensity meets the actual demand.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a high-fidelity modeling method for accelerator pedal intention analysis. Background Art

[0002] In recent years, with the development of the electric vehicle industry, batteries and motors have gradually replaced traditional engines and transmission systems in terms of drive form. How to connect the driver's accelerator pedal operation with his longitudinal driving intention when there is no mechanical connection has become a hot issue in the field of wire-controlled drive.

[0003] Invention patent CN118220165A mainly models the driver's operation through the laws of psychophysics, and calculates the driver's expected lateral and longitudinal movement intensity in combination with the current vehicle speed, so as to more accurately obtain the driver's control needs in specific situations. It also considers the impact of longitudinal vehicle speed on lateral and longitudinal coupled motion from both transient and steady-state aspects. It calculates the current steering stabilization time combined with the longitudinal predicted vehicle speed to update the vehicle speed intention, which not only improves the understanding of the driver's behavior, but also enhances the adaptability and safety of the autonomous driving system in complex driving environments. By dynamically identifying the driver's driving intention based on the driver's control input, the overall driving safety and comfort are improved.

[0004] The present invention adopts a different approach and obtains key data through preliminary design experiments. The proposed high-fidelity modeling method can be closer to traditional mechanical structure transmission vehicles, ensuring that the correspondence between the operation amount and the expected motion intensity meets actual needs.

[0005] Invention patent CN118665206A identifies the driver's different pedal openings in single-pedal mode to determine whether the current mode is requested to drive or brake. At different vehicle speeds, the braking participation ratio of the actuator is adjusted, and motor energy recovery is achieved in combination with uphill and downhill conditions. At the same time, the robustness of the system is improved by the redundant design of the actuation system. When driving at low speeds, the braking force required by the braking system is relatively small, and the system mainly relies on the motor for energy recovery and deceleration, and the participation ratio of the mechanical braking system is relatively low. When driving at high speeds, the energy required for deceleration and braking is large. At this time, the braking force of the motor energy recovery may be insufficient, and the system needs to increase the participation ratio of the braking actuator to ensure the deceleration effect. However, the single-pedal mode can only be used at low speeds. Considering the braking time, its deceleration intensity can be achieved through engine braking. The deceleration intention recognition module of the accelerator pedal in the present invention can achieve this function.

[0006] Therefore, we propose a high-fidelity modeling method for accelerator pedal intention parsing to solve the above problems. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a high-fidelity modeling method for accelerator pedal intention analysis, which solves the problems raised in the above-mentioned background technology.

[0008] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions: A high-fidelity modeling method for accelerator pedal intention analysis includes a steady speed intention marking module, an acceleration intention marking module, a deceleration intention marking module and a motion control module. The high-fidelity modeling method includes the following steps: Step 1: The steady speed intention calibration module is used to drive a real vehicle for experiments in good weather, good road conditions, no slope and no obvious air disturbance. At longitudinal speeds of 5km / h, 10km / h, 20km / h, 40km / h, 60km / h, 80km / h, 100km / h, 120km / h and 140km / h, the accelerator pedal is controlled to stabilize the vehicle speed at the experimental speed, and the current pedal position information is collected. Since pedal perturbations occur in the actual process, the Kalman filter method is used to obtain the accelerator pedal opening corresponding to the current vehicle speed; Step 2: Acceleration intention calibration module, driving the actual vehicle for experiments, at longitudinal speeds of 5km / h, 10km / h, 20km / h, 40km / h, 60km / h, 80km / h, 100km / h, 120km / h, and 140km / h, set the initial pedal position to the pedal opening at the stable speed measured in step 1, operate the accelerator pedal with a force of 10N, 20N, 30N, 40N, and 50N, and obtain the corresponding acceleration information; Step 3: Deceleration intention calibration module, drive the actual vehicle to conduct experiments, set the initial pedal position to the pedal opening at the stable vehicle speed measured in step 1, and the vehicle speed to the stable vehicle speed corresponding to the pedal opening. Lift the accelerator pedal at speeds of 10% / s, 20% / s, 30% / s, 40% / s, and 50% / s respectively to obtain the deceleration at the stable vehicle speed; Step 4: Determine the vehicle motion intensity based on the driver input combined with the identified accelerator pedal characteristics, and use it as the control target to obtain a high-fidelity longitudinal motion control system model.

[0009] Furthermore, the driver's operation of the accelerator pedal reflects the intention of acceleration or deceleration in the transient state and the vehicle speed desired by the driver in the steady state. It is necessary to first determine the stable vehicle speed corresponding to different accelerator pedal openings.

[0010] Furthermore, considering that in order to stabilize the vehicle speed during actual operation, the driver repeatedly adjusts the pedals within a small range, it is necessary to perform Kalman filtering on the collected data.

[0011] Furthermore, the acceleration intention of the accelerator pedal operation needs to be analyzed in combination with the vehicle speed and the pedal force. On the basis of reaching a steady speed state, the acceleration obtained by operating the accelerator pedal with different forces varies with the speed.

[0012] Furthermore, the pedal operation characteristics are obtained by calibrating the accelerator pedal's steady speed, acceleration and deceleration intentions, which are further used to determine the desired motion in the control system design. First, the intention is determined based on the pedal operation. For steady speed, the control system input is the desired speed. For acceleration and deceleration, the control system input is acceleration. Converting it into force demand can obtain the desired torque.

[0013] Compared with the prior art, the present invention provides a high-fidelity modeling method for accelerator pedal intention analysis, which has the following beneficial effects: The present invention improves overall driving safety and comfort by dynamically identifying the driver's driving intention based on the driver's control input. The present invention adopts a different idea and obtains key data through preliminary design experiments. The proposed high-fidelity modeling method can be further close to traditional mechanical structure transmission vehicles, ensuring that the correspondence between the operation amount and the expected motion intensity meets actual needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the system principle of the present invention; Figure 2 It is a schematic diagram of the steady speed characteristics of the accelerator pedal at different vehicle speeds of the present invention; Figure 3 Schematic diagram of acceleration characteristics of the accelerator pedal at different vehicle speeds of the present invention; Figure 4 It is a schematic diagram of the deceleration characteristics of the accelerator pedal at different vehicle speeds according to the present invention. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0016] like Figure 1-4 As shown, a high-fidelity modeling method for accelerator pedal intention analysis proposed in one embodiment of the present invention includes a steady speed intention mark module, an acceleration intention mark module, a deceleration intention mark module and a motion control module. The high-fidelity modeling method includes the following steps: Step 1: The steady speed intention calibration module is used to drive a real vehicle for experiments in good weather, good road conditions, no slope and no obvious air disturbance. At longitudinal speeds of 5km / h, 10km / h, 20km / h, 40km / h, 60km / h, 80km / h, 100km / h, 120km / h and 140km / h, the accelerator pedal is controlled to stabilize the vehicle speed at the experimental speed, and the current pedal position information is collected. Since pedal perturbations may occur in the actual process, the Kalman filter method is used to obtain the accelerator pedal opening corresponding to the current vehicle speed; Step 2: Acceleration intention calibration module, driving the actual vehicle for experiments, at longitudinal speeds of 5km / h, 10km / h, 20km / h, 40km / h, 60km / h, 80km / h, 100km / h, 120km / h, and 140km / h, set the initial pedal position to the pedal opening at the stable speed measured in step 1, operate the accelerator pedal with a force of 10N, 20N, 30N, 40N, and 50N, and obtain the corresponding acceleration information; Step 3: Deceleration intention calibration module, drive the actual vehicle to conduct experiments, set the initial pedal position to the pedal opening at the stable vehicle speed measured in step 1, and the vehicle speed to the stable vehicle speed corresponding to the pedal opening. Lift the accelerator pedal at speeds of 10% / s, 20% / s, 30% / s, 40% / s, and 50% / s respectively to obtain the deceleration at the stable vehicle speed; Step 4: Determine the vehicle motion intensity based on the driver input combined with the identified accelerator pedal characteristics, and use it as the control target to obtain a high-fidelity longitudinal motion control system model.

[0017] In some embodiments, the driver's operation of the accelerator pedal reflects the intention of acceleration or deceleration in the transient state and the driver's desired vehicle speed in the steady state. It is necessary to first determine the stable vehicle speed corresponding to different accelerator pedal openings.

[0018] In some embodiments, considering that in order to stabilize the vehicle speed during actual operation, the driver repeatedly adjusts the pedals within a small range, it is necessary to perform Kalman filtering on the collected data.

[0019] In some embodiments, the acceleration intention of the accelerator pedal operation needs to be analyzed in combination with the vehicle speed and the pedal force. On the basis of reaching a steady speed state, the acceleration obtained by operating the accelerator pedal with different forces varies with the speed.

[0020] In some embodiments, the pedal operation characteristics are obtained by calibrating the accelerator pedal's steady speed, acceleration and deceleration intentions, and are further used to determine the desired motion in the control system design. First, the intention is determined based on the pedal operation. For steady speed, the control system input is the desired speed. For acceleration and deceleration, the control system input is acceleration. Converting it into force demand can obtain the desired torque.

[0021] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high-fidelity modeling method for accelerator pedal intention analysis, comprising a steady speed intention calibration module, an acceleration intention calibration module, a deceleration intention calibration module and a motion control module, characterized in that: The high-fidelity modeling method comprises the following steps: Step 1: The steady speed intention calibration module is used to drive a real vehicle for experiments in good weather, good road conditions, no slope and no obvious air disturbance. At longitudinal speeds of 5km / h, 10km / h, 20km / h, 40km / h, 60km / h, 80km / h, 100km / h, 120km / h and 140km / h, the accelerator pedal is controlled to stabilize the vehicle speed at the experimental speed, and the current pedal position information is collected. Since pedal perturbations occur in the actual process, the Kalman filter method is used to obtain the accelerator pedal opening corresponding to the current vehicle speed; Step 2: Acceleration intention calibration module, driving the actual vehicle for experiments, at longitudinal speeds of 5km / h, 10km / h, 20km / h, 40km / h, 60km / h, 80km / h, 100km / h, 120km / h, and 140km / h, set the initial pedal position to the pedal opening at the stable speed measured in step 1, operate the accelerator pedal with a force of 10N, 20N, 30N, 40N, and 50N, and obtain the corresponding acceleration information; Step 3: Deceleration intention calibration module, drive the actual vehicle to conduct experiments, set the initial pedal position to the pedal opening at the stable vehicle speed measured in step 1, and the vehicle speed to the stable vehicle speed corresponding to the pedal opening. Lift the accelerator pedal at speeds of 10% / s, 20% / s, 30% / s, 40% / s, and 50% / s respectively to obtain the deceleration at the stable vehicle speed; Step 4: Determine the vehicle motion intensity based on the driver input combined with the identified accelerator pedal characteristics, and use it as the control target to obtain a high-fidelity longitudinal motion control system model.

2. A high-fidelity modeling method for accelerator pedal intention analysis according to claim 1, characterized in that: The driver's operation of the accelerator pedal reflects the intention of acceleration or deceleration in the transient state and the driver's desired vehicle speed in the steady state. It is necessary to first determine the stable vehicle speed corresponding to different accelerator pedal openings.

3. A high-fidelity modeling method for accelerator pedal intention analysis according to claim 2, characterized in that: Considering that in actual operation, the driver repeatedly adjusts the pedals in a small range in order to stabilize the vehicle speed, the collected data needs to be processed by Kalman filtering.

4. The high-fidelity modeling method for accelerator pedal intention analysis according to claim 1, characterized in that: The acceleration intention of the accelerator pedal operation needs to be analyzed in combination with the vehicle speed and the pedal force. On the basis of reaching a steady speed, the acceleration obtained by operating the accelerator pedal with different forces varies with speed.

5. The high-fidelity modeling method for accelerator pedal intention analysis according to claim 1, characterized in that: The pedal operation characteristics are obtained by calibrating the accelerator pedal's steady speed, acceleration and deceleration intentions, and are further used to determine the desired motion in the control system design. First, the intention is determined based on the pedal operation. For steady speed, the control system input is the desired speed. For acceleration and deceleration, the control system input is acceleration. Converting it into force demand can obtain the desired torque.

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