Off-road vehicle starting power evaluation calculation method and device considering accelerator pedal displacement, storage medium and vehicle

Abstract

The invention discloses an off-road vehicle starting power evaluation and calculation method considering accelerator pedal displacement, which comprises the following steps: measuring the opening degree of a vehicle accelerator pedal, the accelerator pedal displacement, the acceleration and the time-varying data of the vehicle speed, judging whether the accelerator pedal travel needs to be measured through an external displacement sensor or not, if so, smoothing the data to S20, and if not, executing S20; otherwise, going to S40; s30, correcting the data, dividing the data into a plurality of data groups A1 according to time, and screening the data to obtain a data group A2; the starting point and the ending point of the pedal are obtained from the data set A2, a data set A3 is obtained, the pedal and starting power duration is calculated, and ending is conducted; s50, removing non-pedal data, dividing the non-pedal data into a plurality of data groups B1 according to time, and screening the data to obtain a data group B2; the starting point and the ending point of the pedal are obtained from the data set B2, a data set B3 is obtained, the pedal and starting power duration is calculated, and ending is conducted; the invention further discloses a corresponding device, a storage medium and a vehicle. Research and development requirements are met, the comparison difficulty is reduced, and the performance is accurately compared and evaluated.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile performance evaluation, and in particular to an off-road vehicle starting power evaluation calculation method, device, storage medium and vehicle taking into account accelerator pedal displacement. Background Art

[0002] With the rapid development of the automobile industry, off-road vehicles, as a vehicle that combines off-road performance and driving pleasure, have become one of the important indicators for measuring vehicle competitiveness. In the research and development stage of off-road vehicles, starting power acceleration tests on prototypes and competing vehicles are key links in evaluating vehicle performance and optimizing design. However, in actual operation, different types of vehicles have different throttle control methods, which poses challenges to the unified processing and comparative analysis of test data. Specifically, the off-road vehicle prototypes developed by manufacturers usually use an electronic throttle system, which can accurately capture the driver's full acceleration pedal intention by directly reading the signal of 100% of the electronic throttle opening. However, in the research and testing of competing vehicles, due to the inability to directly access their electronic throttle systems, researchers had to rely on external sensors to monitor the displacement of the accelerator pedal. When the sensor detects the maximum displacement, the driver's full acceleration intention is indirectly inferred. The accuracy and real-time performance of this method are relatively weak, and it is easily interfered by external factors.

[0003] In order to achieve starting power evaluation, existing technologies mostly rely on manual screening and comparison of electronic throttle opening signals and dynamic data obtained by external sensors. This is not only labor-intensive and inefficient, but also very easy to cause data errors or omissions due to human factors, which in turn affects the accurate evaluation of the vehicle's starting power acceleration performance. Especially when a large amount of test data needs to be compared and analyzed, this manual reliance on methods is even more inadequate and difficult to meet the needs of efficient and accurate research and development. Moreover, the two cannot be completely unified in data analysis and processing, which further increases the difficulty of comparison. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention aims to solve the problems existing in the prior art.

[0005] In order to achieve the above object, according to a first aspect of the present invention, a method for calculating the starting power evaluation of an off-road vehicle taking into account the displacement of an accelerator pedal is provided, comprising the following steps:

[0006] S10, respectively measuring the accelerator pedal opening, accelerator pedal displacement, acceleration and vehicle speed change over time through the test equipment, and judging whether the accelerator pedal position travel needs to be measured by the external displacement sensor, if so, smoothing and filtering the data and entering S20, otherwise entering S40;

[0007] S20, correct the data, split the corrected data into multiple data groups A1 according to time continuity, remove and filter the data to obtain data group A2, and enter S30 after the processing is completed;

[0008] S30, obtaining the pedaling starting point A from the data set A2 t3 , pedaling end point A t4 , and obtain a new data set A3, calculate the pedaling time and the starting power time, and end the data processing;

[0009] S40, remove the data of not stepping on the pedal, split the remaining data into multiple data groups B1 according to time continuity, remove and filter the data to obtain data group B2, and enter S50 after the processing is completed;

[0010] S50, obtaining the pedaling starting point B from the data set B2 t3 , pedaling end point B t4 , and obtain a new data group B3, calculate the pedaling time and the starting power time, and end the data processing.

[0011] Furthermore, the method of performing smoothing filtering on the data in S10 is:

[0012] First calculate the accelerator pedal displacement ratio, The first m and last n data including the detection points are selected in chronological order, where m is equal to n and both are greater than or equal to 10, and the average value of these m+n+1 groups of data is taken; wherein, due to the limitation of the number of objective data, there is a situation where m and n are not equal, and m or n is less than 10; the collected data of the accelerator pedal displacement ratio, acceleration and vehicle speed are respectively subjected to the above-mentioned smoothing processing to obtain smoothed data to replace the original collected data.

[0013] Furthermore, the method for correcting the data in S20 is:

[0014] Select q data before the starting point from the smoothed data obtained in S10, and these q data represent the state where the accelerator pedal is not depressed, wherein q is obtained through experiments. Perform statistical analysis on these q data to obtain the zero drift value L, and subtract the zero drift value L from the original value of all accelerator pedal displacement ratios to obtain the corrected accelerator pedal displacement ratio, and split the corrected accelerator pedal displacement ratio, acceleration and vehicle speed into corresponding multiple data groups A1 according to time continuity.

[0015] Furthermore, the method for data elimination and screening in S20 comprises the following specific steps:

[0016] S1, removing data with a duration less than one working condition from the data group A1 to obtain a data group A11;

[0017] S2, setting the frequency and duration of data collection, and selecting the data group A12 with a stable variance of the accelerator pedal displacement ratio from the data group A11. ， And record the corresponding start time A t1 and end time A t2 ;

[0018] S3, the starting time A t1 The normal reaction time t is obtained from the experiment, which is the time from the driver starting to step on the accelerator pedal to the time the accelerator pedal is stably pressed. A , filter out A t1 Less than t A data, and obtain a new data group A13;

[0019] S4, considering that the test conditions are all completed by starting, the starting speed V is obtained through experiments A , select A from the A13 data set t1 The corresponding speed is less than V A and obtain data set A2.

[0020] Furthermore, in the step S30, the pedaling starting point A is obtained from the data set A2. t3 , pedaling end point A t4 , and obtain a new data set A3, the method for calculating the pedaling time and the starting power time is:

[0021] Draw a graph of the relationship between the displacement ratio of the accelerator pedal and time, and obtain the slope k corresponding to the starting point and the end point of pedaling through experiments A开始 With K A结束 , the data in the data group A2 is changed from the starting time A t1 Push forward until you find the last point where the slope is greater than k, which is the start point of pedaling. The time is recorded as A. t3 ; From the data set A2, the data starts at the starting time A t1 Push back until you find a slope greater than K A结束 The last point is the end point of pedaling, and the time is recorded as A t4 , obtain a new data set A3, the start time of the data set A3 is A t3 , end time is A t4 ;

[0022] Since the experimental data is smoothed, there will be a problem that the starting point of pedaling moves forward and the end point of pedaling moves backward, so it is necessary to obtain a time difference T through experiments. smooth To eliminate the pedaling time movement error, based on this, the pedaling time is obtained as A t4 -A t3 -2T smooth; Find the corresponding moment of the set acceleration from the data set A3 and record it as A t5 , and calculate the time it takes to reach the set acceleration by pressing the pedal as A t5 -A t3 -T smooth The vehicle starting power is compared and evaluated by the time to reach the set acceleration.

[0023] Furthermore, in S40, the data not being stepped on the pedal is removed, and the remaining data is divided into a plurality of data groups B1 according to time continuity, and the method of removing and screening the data to obtain the data group B2 is:

[0024] The maximum value P% of the accelerator pedal opening when the accelerator is not pressed is obtained through experiments, the data in S10 without pressing the pedal is removed, and the remaining data is divided into multiple data groups B1 according to time continuity;

[0025] The data in the data group B1 are removed and screened in the same manner as in S20 to obtain data groups B11 and B12. t1 , end time B t2 and data group B13; the difference between the maximum opening and the minimum opening of the accelerator pedal in the data group B13 is screened, the data with a difference less than the set value is retained, and a new data group B14 is obtained; considering that the test conditions are all starting, the starting speed V is obtained through experiments B , select B from the B14 data set t1 The corresponding speed is less than V B and obtain data set B2.

[0026] Furthermore, in S50, the pedaling starting point B is obtained from the data set B2. t3 , pedaling end point B t4 , and obtain a new data set B3. The method for calculating the pedaling time and starting power is:

[0027] The starting point corresponding to the data group B2 is the pedal starting point time, recorded as B t3 , obtain the pedaling end point B t4 The method and the step S30 for obtaining the pedaling end point A t4 The method is the same as that of , and a new data set B3 is obtained;

[0028] Based on the above data, the pedaling time is B t4 -B t3 ; Find the corresponding moment of the set acceleration from the data set B3 and record it as B t5 , and calculate the time it takes to reach the set acceleration by pressing the pedal as B t5 -Bt3 The vehicle starting power is compared and evaluated by the time to reach the set acceleration.

[0029] According to a second aspect of the present invention, there is provided an off-road vehicle starting power evaluation and calculation device taking into account the accelerator pedal displacement, comprising:

[0030] The first main module: using the test equipment to measure the accelerator pedal opening, accelerator pedal displacement, acceleration and speed of the vehicle over time, and judging whether the accelerator pedal position travel needs to be measured by an external displacement sensor. If so, the data is smoothed and filtered to enter S20, otherwise, it enters S40;

[0031] The second main module: correct the data, split the corrected data into multiple data groups A1 according to time continuity, remove and screen the data to obtain data group A2, and enter S30 after the processing is completed;

[0032] The third main module: Get the pedaling starting point A from data set A2 t3 , pedaling end point A t4 , and obtain a new data set A3, calculate the pedaling time and the starting power time, and end the data processing;

[0033] The fourth main module: remove the data of not stepping on the pedal, split the remaining data into multiple data groups B1 according to time continuity, remove and filter the data to obtain data group B2, and enter S50 after the processing is completed;

[0034] Fifth main module: Obtain pedaling starting point B from data set B2 t3 , pedaling end point B t4 , and obtain a new data group B3, calculate the pedaling time and the starting power time, and end the data processing.

[0035] According to a third aspect of the present invention, there is also a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the off-road vehicle starting power evaluation calculation method considering the accelerator pedal displacement is implemented.

[0036] According to a fourth aspect of the present invention, a vehicle is also provided, comprising a starting power evaluation calculation device, wherein the starting power evaluation calculation device is used to implement the off-road vehicle starting power evaluation calculation method taking into account the accelerator pedal displacement.

[0037] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0038] 1. The present invention provides an off-road vehicle starting power evaluation calculation method taking into account the accelerator pedal displacement. By measuring the accelerator pedal displacement, acceleration, vehicle speed and accelerator pedal opening, and performing unified smoothing, data splitting and data screening methods on the data, the difficulty of calculating data processing is reduced to meet the efficient and accurate research and development needs.

[0039] 2. The present invention provides an off-road vehicle starting power evaluation calculation method taking into account the accelerator pedal displacement, and calculates the valid data finally obtained to obtain the evaluation of the pedal pressing time and the starting power feedback time; in the evaluation process, the "accelerator pedal opening" and "accelerator pedal displacement" are treated differently, so that the results of the R&D prototype vehicle and the competitive prototype vehicle can be unified, thereby reducing the difficulty of comparison and achieving accurate performance comparison evaluation. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A workflow diagram provided for a preferred embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the structure of a starting power evaluation calculation device provided in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in 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. In addition, the technical features in the various embodiments or single embodiments provided by the present invention can be arbitrarily combined with each other to form a feasible technical solution. This combination is not subject to the constraints of the sequence of steps and / or the structural composition mode, but must be based on the ability of ordinary technicians in this field to achieve. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] In the current off-road vehicle development stage, in order to accurately evaluate the starting power acceleration performance of off-road vehicle prototypes and competing vehicles, an efficient and accurate automatic testing and data analysis method is needed. This method aims to solve the problems of low efficiency, error-proneness and impact on evaluation accuracy in traditional manual data screening, and can effectively distinguish the difference between the electronic throttle opening signal and the external sensor accelerator pedal displacement signal in data processing.

[0044] Please refer to Figure 1 The present invention relates to a method for calculating the starting power of an off-road vehicle taking into account the displacement of an accelerator pedal, which specifically comprises the following steps:

[0045] S10, using the test equipment to measure the vehicle's accelerator pedal opening, accelerator pedal displacement, acceleration and speed change over time, and determine whether the need to measure the accelerator pedal position travel through an external displacement sensor is met. If so, smooth the data and enter S20, otherwise enter S40.

[0046] Specifically, the test equipment is used to measure the vehicle's accelerator pedal opening (measured by message signal), accelerator pedal displacement (measured by displacement sensor), acceleration, and vehicle speed over time in Excel, where the time interval between each adjacent point in the Excel matrix data can be 0.01s, and the original recorded data is obtained.

[0047] Since the accelerator pedal opening signal value is 0-100%, converting the accelerator pedal displacement into the accelerator pedal displacement ratio facilitates direct data comparison. Due to the accuracy error of the physical sensor, the accelerator pedal displacement ratio range is not 0-100% (accelerator pedal displacement ratio signal value examples: -0.05%-99%, 0.1%-100.5%, -0.6%-99.5%). The following table can be used for data recording:

[0048] Time(s) Accelerator pedal displacement ratio (%) Accelerator pedal opening (%) <![CDATA[Acceleration (m / s 2 )]]> Vehicle speed (km / h) 0.01 0.02 ……

[0049] Since the accelerator pedal displacement signal is measured by an external sensor, the data has many burrs, so it needs to be processed by smoothing and filtering. The method of smoothing and filtering the data in S10 is:

[0050] The first m and last n data including the detection points are selected in chronological order, where m is equal to n and both are greater than or equal to 10, and the average value of these m+n+1 groups of data is taken; wherein, due to the limitation of the number of objective data, there is a situation where m and n are not equal, and m or n is less than 10; the collected data of the accelerator pedal displacement ratio, acceleration and vehicle speed are respectively subjected to the above-mentioned smoothing processing to obtain smoothed data to replace the original collected data.

[0051] When m=n=10, take the first 10 points and the last 10 points of the point (accelerator pedal displacement ratio, acceleration, vehicle speed) in chronological order, and take the average of a total of 21 points. When the time interval between each adjacent point is 0.01s, if the point is in the first 0.01-0.1s of the collected data, take less than 10 points in the chronological order, take the available points, and then take 10 points backward, including the point to obtain the average of all points; if the point is in the last 0.01-0.1s of the collected data, take less than 10 points in the chronological order, take the available points, and then take 10 points forward, including the point to obtain the average of all points;

[0052] S20, correct the data, split the corrected data into multiple data groups A1 according to time continuity, remove and screen the data to obtain data group A2, and enter S30 after the processing is completed.

[0053] Because there is zero drift when using "accelerator pedal displacement" to record the accelerator pedal stroke, it is necessary to correct the accelerator pedal displacement ratio in each set of data. However, for "accelerator pedal opening" to record the accelerator pedal stroke, the message data records the accelerator pedal opening signal value as 0-100%, so no correction is required. The method for correcting the data in S20 is:

[0054] Select q data before the starting point from the smoothed data obtained in S10, and these q data represent the state where the accelerator pedal is not depressed, wherein q is obtained through experiments (q can be 50). Perform statistical analysis on these q data to obtain the zero drift value L, and subtract the zero drift value L from the original value of all accelerator pedal displacement ratios to obtain the corrected accelerator pedal displacement ratio, and split the corrected accelerator pedal displacement ratio, acceleration and vehicle speed into corresponding multiple data groups A1 according to time continuity.

[0055] The method for data elimination and screening in S20 comprises the following specific steps:

[0056] S1, remove the data with a duration less than one working condition in the data group A1 to obtain the data group A11 (the duration of one working condition is generally 8s);

[0057] S2, set the frequency and duration of data collection, select the data group A12 with a stable variance of the accelerator pedal displacement ratio from the data group A11, and record the corresponding start time A t1 and end time A t2 ;

[0058] Specifically, according to the "variance stability" of the accelerator pedal, the data is screened and the data of the variance stability segment is selected. The data group A11 can be screened as follows. The data acquisition frequency is 100Hz, that is, 100 time points are recorded in 1s. In each data of the data group A11, find each 3s data with a duration of 3s and a variance less than 0.3 to form a data segment group. Select the smallest time among the starting time of each data in the data segment group and record it as A t1 , and the maximum time among the end time is recorded as A t2 , extract data from A t1 Moment and A t2 The data between the times form a new data set A12.

[0059] S3, the starting time A t1The normal reaction time t is obtained from the experiment, which is the time from the driver starting to step on the accelerator pedal to the time the accelerator pedal is stably pressed. A , filter out A t1 Less than t A The data of the new data set A13 is obtained, and the normal reaction time t A You can take 2s;

[0060] S4, considering that the test conditions are all completed by starting, the starting speed V is obtained through experiments A , the starting speed V A It can be 1.5 km / h, and A is selected from the A13 data group. t1 The corresponding speed is less than V A and obtain data set A2.

[0061] S30, obtaining the pedaling starting point A from the data set A2 t3 , pedaling end point A t4 , and obtain a new data set A3, calculate the pedaling time and the starting power time, and end the data processing;

[0062] In S30, the pedaling starting point A is obtained from the data set A2. t3 , pedaling end point A t4 , and obtain a new data set A3, the method for calculating the pedaling time and the starting power time is:

[0063] Draw a graph of the relationship between the displacement ratio of the accelerator pedal and time, and obtain the slope k corresponding to the starting point and the end point of pedaling through experiments A开始 With K A结束 , the data in the data group A2 is changed from the starting time A t1 Push forward until you find the last point where the slope is greater than k, which is the start point of pedaling. The time is recorded as A. t3 ; From the data set A2, the data starts at the starting time A t1 Push back until you find a slope greater than K A结束 The last point is the end point of pedaling, and the time is recorded as A t4 , obtain a new data set A3, the start time of the data set A3 is A t3 , end time is A t4 ;

[0064] Specifically, k A开始 It can be 6, which is usually obtained by pushing forward 40 points of data. A结束 It can be 7, which is usually obtained by pushing back 90 points of data.

[0065] Since the experimental data is smoothed, there will be a problem that the starting point of pedaling moves forward and the end point of pedaling moves backward, so it is necessary to obtain a time difference T through experiments. smooth To eliminate the pedaling time movement error, generally take 0.12s, based on which the pedaling time is obtained as A t4 -A t3 -2T smooth ; Find the corresponding moment of the set acceleration from the data set A3 and record it as A t5 , and calculate the time it takes to reach the set acceleration by pressing the pedal as A t5 -A t3 -T smooth The vehicle starting power is compared and evaluated by the time to reach the set acceleration.

[0066] Specifically, you can choose to reach 1m / s 2 , 2m / s 2 、3m / s 2 The time required for equal acceleration is compared with the data of other vehicles.

[0067] S40, remove the data of not stepping on the pedal, split the remaining data into multiple data groups B1 according to time continuity, remove and filter the data to obtain data group B2, and enter S50 after the processing is completed

[0068] In the step S40, the data not being stepped on the pedal is removed, and the remaining data is divided into a plurality of data groups B1 according to time continuity, and the method of removing and screening the data to obtain the data group B2 is as follows:

[0069] The maximum value P% of the accelerator pedal opening when the accelerator is not pressed is obtained through experiments. P is generally set to 0.5, and P can be flexibly adjusted according to the test results. The data in S10 without pressing the pedal is removed, and the remaining data is divided into multiple data groups B1 according to time continuity;

[0070] The data in the data group B1 are removed and screened in the same manner as in S20 to obtain data groups B11 and B12. t1 , end time B t2 and data group B13; the difference between the maximum opening and the minimum opening of the accelerator pedal in the data group B13 is screened, the data with a difference less than the set value is retained, and a new data group B14 is obtained, the set value is generally 1%; considering that the test conditions are all completed by starting, the starting speed V is obtained through experiments B , select B from the B14 data set t1 The corresponding speed is less than V B The data of the starting speed V is obtained and the data group B2 is obtained, wherein the starting speed V B Generally, 2km / h is taken.

[0071] Specifically, the data with a duration less than one working condition in the data group B1 are removed to obtain the data group B11 (the duration of one working condition is generally 8s); the data collection frequency and duration are set, and the data group B12 with a stable variance of the accelerator pedal displacement ratio is selected from the data group B11, and the corresponding start time B is recorded. t1 and end time B t2 .

[0072] Specifically, according to the "variance stability" of the accelerator pedal, the data is screened and the data of the variance stability segment is selected. The data group B11 can be screened as follows. The data acquisition frequency is 100Hz, that is, 100 time points are recorded in 1s. In each data of the data group B11, find each 3s data with a duration of 3s and a variance less than 0.3 to form a data segment group. Select the smallest time among the starting times of each data in the data segment group and record it as B t1 , and the maximum time among the end time is recorded as B t2 , intercept data B t1 Moment and B t2 The data between the times constitute a new data group B12.

[0073] The starting time B t1 The normal reaction time t is obtained from the experiment, which is the time from the driver starting to step on the accelerator pedal to the time the accelerator pedal is stably pressed. B , filter out B t1 Less than t B The data of the new data group B13 is obtained, and the normal reaction time t B You can take 2s.

[0074] S50, obtaining the pedaling starting point B from the data set B2 t3 , pedaling end point B t4 , and obtain a new data group B3, calculate the pedaling time and the starting power time, and end the data processing.

[0075] In S50, the pedaling starting point B is obtained from the data set B2. t3 , pedaling end point B t4 , and obtain a new data set B3. The method for calculating the pedaling time and starting power is:

[0076] The starting point corresponding to the data group B2 is the pedal starting point time, recorded as B t3 , obtain the pedaling end point B t4 The method and the step S30 for obtaining the pedaling end point A t4 The method is the same as that of , and a new data set B3 is obtained;

[0077] Based on the above data, the pedaling time is B t4 -B t3 ; Find the corresponding moment of the set acceleration from the data set B3 and record it as B t5 , and calculate the time it takes to reach the set acceleration by pressing the pedal as B t5 -B t3 The vehicle starting power is compared and evaluated by the time to reach the set acceleration.

[0078] Please refer to Figure 2 As a second aspect of the present invention, it also relates to an off-road vehicle starting power evaluation calculation device taking into account the accelerator pedal displacement, comprising:

[0079] The first main module: using the test equipment to measure the accelerator pedal opening, accelerator pedal displacement, acceleration and speed of the vehicle over time, and judging whether the accelerator pedal position travel needs to be measured by an external displacement sensor. If so, the data is smoothed and filtered to enter S20, otherwise, it enters S40;

[0080] The second main module: correct the data, split the corrected data into multiple data groups A1 according to time continuity, remove and screen the data to obtain data group A2, and enter S30 after the processing is completed;

[0081] The third main module: Get the pedaling starting point A from data set A2 t3 , pedaling end point A t4 , and obtain a new data set A3, calculate the pedaling time and the starting power time, and end the data processing;

[0082] The fourth main module: remove the data of not stepping on the pedal, split the remaining data into multiple data groups B1 according to time continuity, remove and filter the data to obtain data group B2, and enter S50 after the processing is completed;

[0083] Fifth main module: Obtain pedaling starting point B from data set B2 t3 , pedaling end point B t4 , and obtain a new data group B3, calculate the pedaling time and the starting power time, and end the data processing.

[0084] As a third aspect of the present invention, it also relates to a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the off-road vehicle starting power evaluation calculation method considering the accelerator pedal displacement is implemented.

[0085] As a fourth aspect of the present invention, it also relates to a vehicle, including a starting power evaluation calculation device, wherein the starting power evaluation calculation device is used to implement the off-road vehicle starting power evaluation calculation method considering the accelerator pedal displacement.

[0086] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calculating the starting power of an off-road vehicle considering the displacement of an accelerator pedal, characterized in that: The following steps are involved: S10, respectively measuring the accelerator pedal opening, accelerator pedal displacement, acceleration and vehicle speed change over time through the test equipment, and judging whether the accelerator pedal position travel needs to be measured by the external displacement sensor, if so, smoothing and filtering the data and entering S20, otherwise entering S40; S20, correct the data, split the corrected data into multiple data groups A1 according to time continuity, remove and filter the data to obtain data group A2, and enter S30 after the processing is completed; S30, obtaining the pedaling starting point A from the data set A2 t3 , pedaling end point A t4 , and obtain a new data set A3, calculate the pedaling time and the starting power time, and end the data processing; S40, remove the data of not stepping on the pedal, split the remaining data into multiple data groups B1 according to time continuity, remove and filter the data to obtain data group B2, and enter S50 after the processing is completed; S50, obtaining the pedaling starting point B from the data set B2 t3 , pedaling end point B t4 , and obtain a new data group B3, calculate the pedaling time and the starting power time, and end the data processing.

2. The off-road vehicle starting power evaluation calculation method considering accelerator pedal displacement according to claim 1, characterized in that: The method for performing smoothing filtering on the data in S10 is: First calculate the accelerator pedal displacement ratio, The first m and last n data including the detection points are selected in chronological order, where m is equal to n and both are greater than or equal to 10, and the average value of these m+n+1 groups of data is taken; wherein, due to the limitation of the number of objective data, there is a situation where m and n are not equal, and m or n is less than 10; the collected data of the accelerator pedal displacement ratio, acceleration and vehicle speed are respectively subjected to the above-mentioned smoothing processing to obtain smoothed data to replace the original collected data.

3. The off-road vehicle starting power evaluation calculation method considering accelerator pedal displacement according to claim 2, characterized in that: The method for correcting the data in S20 is: Select q data before the starting point from the smoothed data obtained in S10, and these q data represent the state where the accelerator pedal is not depressed, wherein q is obtained through experiments. Perform statistical analysis on these q data to obtain the zero drift value L, and subtract the zero drift value L from the original value of all accelerator pedal displacement ratios to obtain the corrected accelerator pedal displacement ratio, and split the corrected accelerator pedal displacement ratio, acceleration and vehicle speed into corresponding multiple data groups A1 according to time continuity.

4. The off-road vehicle starting power evaluation calculation method considering accelerator pedal displacement according to claim 3, characterized in that: The method for data elimination and screening in S20 comprises the following specific steps: S1, removing data with a duration less than one working condition from the data group A1 to obtain a data group A11; S2, setting the frequency and duration of data collection, and selecting the data group A12 with a stable variance of the accelerator pedal displacement ratio from the data group A11. ， And record the corresponding start time A t1 and end time A t2 ; S3, the starting time A t1 The normal reaction time t is obtained from the experiment, which is the time from the driver starting to step on the accelerator pedal to the time the accelerator pedal is stably pressed. A , filter out A t1 Less than t A data, and obtain a new data group A13; S4, considering that the test conditions are all completed by starting, the starting speed V is obtained through experiments A , select A from the A13 data set t1 The corresponding speed is less than V A and obtain data set A2.

5. The off-road vehicle starting power evaluation calculation method considering accelerator pedal displacement according to claim 4, characterized in that: In S30, the pedaling starting point A is obtained from the data set A2. t3 , pedaling end point A t4 , and obtain a new data set A3, the method for calculating the pedaling time and the starting power time is: Draw a graph of the relationship between the displacement ratio of the accelerator pedal and time, and obtain the slope k corresponding to the starting point and the end point of pedaling through experiments A开始 With K A结束 , the data in the data group A2 is changed from the starting time A t1 Push forward until you find the last point where the slope is greater than k, which is the start point of pedaling. The time is recorded as A. t3 ; From the data set A2, the data starts at the starting time A t1 Push back until you find a slope greater than K A结束 The last point is the end point of pedaling, and the time is recorded as A t4 , obtain a new data set A3, the start time of the data set A3 is A t3 , end time is A t4 ; Since the experimental data is smoothed, there will be a problem that the starting point of pedaling moves forward and the end point of pedaling moves backward, so it is necessary to obtain a time difference T through experiments. smooth To eliminate the pedaling time movement error, based on this, the pedaling time is obtained as A t4 -A t3 -2T smooth ; Find the corresponding moment of the set acceleration from the data set A3 and record it as A t5 , and calculate the time it takes to reach the set acceleration by pressing the pedal as A t5 -A t3 -T smooth The vehicle starting power is compared and evaluated by the time to reach the set acceleration.

6. The off-road vehicle starting power evaluation calculation method considering accelerator pedal displacement according to claim 4, characterized in that: In the step S40, the data not being stepped on the pedal is removed, and the remaining data is divided into a plurality of data groups B1 according to time continuity, and the method of removing and screening the data to obtain the data group B2 is as follows: The maximum value P% of the accelerator pedal opening when the accelerator is not pressed is obtained through experiments, the data in S10 without pressing the pedal is removed, and the remaining data is divided into multiple data groups B1 according to time continuity; The data in the data group B1 are removed and screened in the same manner as in S20 to obtain data groups B11 and B12. t1 , end time B t2 and data group B13; the difference between the maximum opening and the minimum opening of the accelerator pedal in the data group B13 is screened, the data with a difference less than the set value is retained, and a new data group B14 is obtained; considering that the test conditions are all starting, the starting speed V is obtained through experiments B , select B from the B14 data set t1 The corresponding speed is less than V B and obtain data set B2.

7. The off-road vehicle starting power evaluation calculation method considering accelerator pedal displacement according to claim 5 or 6, characterized in that: In S50, the pedaling starting point B is obtained from the data set B2. t3 , pedaling end point B t4 , and obtain a new data set B3. The method for calculating the pedaling time and starting power is: The starting point corresponding to the data group B2 is the pedal starting point time, recorded as B t3 , obtain the pedaling end point B t4 The method and the step S30 for obtaining the pedaling end point A t4 The method is the same as that of , and a new data set B3 is obtained; Based on the above data, the pedaling time is B t4 -B t3 ; Find the corresponding moment of the set acceleration from the data set B3 and record it as B t5 , and calculate the time it takes to reach the set acceleration by pressing the pedal as B t5 -B t3 The vehicle starting power is compared and evaluated by the time to reach the set acceleration.

8. An off-road vehicle starting power evaluation and calculation device taking into account the accelerator pedal displacement, characterized in that: include: The first main module: using the test equipment to measure the accelerator pedal opening, accelerator pedal displacement, acceleration and speed of the vehicle over time, and judging whether the accelerator pedal position travel needs to be measured by an external displacement sensor. If so, the data is smoothed and filtered to enter S20, otherwise, it enters S40; The second main module: correct the data, split the corrected data into multiple data groups A1 according to time continuity, remove and screen the data to obtain data group A2, and enter S30 after the processing is completed; The third main module: Get the pedaling starting point A from data set A2 t3 , pedaling end point A t4 , and obtain a new data set A3, calculate the pedaling time and the starting power time, and end the data processing; The fourth main module: remove the data of not stepping on the pedal, split the remaining data into multiple data groups B1 according to time continuity, remove and filter the data to obtain data group B2, and enter S50 after the processing is completed; Fifth main module: Obtain pedaling starting point B from data set B2 t3 , pedaling end point B t4 , and obtain a new data group B3, calculate the pedaling time and the starting power time, and end the data processing.

9. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the off-road vehicle starting power evaluation calculation method taking into account the accelerator pedal displacement as described in any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: It comprises a starting power evaluation calculation device, and the starting power evaluation calculation device is used to implement the method according to any one of claims 1-7.

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