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

Abstract

The application discloses a kind of off-road vehicle starting power evaluation calculation method considering accelerator pedal displacement, comprising the following steps: vehicle accelerator pedal opening, accelerator pedal displacement, acceleration and vehicle speed change with time data, judge whether to meet the need to be measured by external displacement sensor accelerator pedal stroke, meet then smooth processing data to S20, otherwise to S40;Correct data and divide into multiple data groups A1 according to time, screen data to obtain data group A2, to S30;From data group A2, obtain the starting and ending point of pedal, obtain data group A3, calculate pedal and starting power duration, end;Remove the data of pedal and divide into multiple data groups B1 according to time, screen data to obtain data group B2, to S50;From data group B2, obtain the starting and ending point of pedal, obtain data group B3, calculate pedal and starting power duration, end;Also disclosed are corresponding devices, storage media and vehicles;Meet research and development needs, realize to reduce comparison difficulty and accurate comparison evaluation performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile performance evaluation, in particular to a calculation method and device for evaluating the starting power of an off-road vehicle considering the displacement of an accelerator pedal, a storage medium and a vehicle. BACKGROUND

[0002] With the rapid development of the automobile industry, off-road vehicles, which combine off-road performance and driving pleasure, have become one of the important indicators for measuring the competitiveness of vehicles. During the research and development of off-road vehicles, testing the starting power and acceleration of sample vehicles and competitive vehicles is a key step in evaluating vehicle performance and optimizing design. However, in actual operation, different types of vehicles have different ways of controlling the accelerator, which brings challenges to the unified processing and comparative analysis of test data. Specifically, off-road vehicle samples developed by manufacturers usually use an electronic accelerator system, which can accurately capture the driver's full acceleration intention by directly reading the signal of the electronic accelerator opening degree of 100%. However, in the research and testing of competitive vehicles, researchers have to rely on external sensors to monitor the displacement of the accelerator pedal, and when the sensor detects the maximum displacement, the driver's full acceleration intention is indirectly inferred. This method has relatively weak accuracy and real-time performance, and is easily disturbed by external factors.

[0003] The prior art relies on manual screening and comparison of electronic accelerator opening degree signals and power data obtained from external sensors to evaluate the starting power, which not only has a large workload and low efficiency, but also is prone to data errors or omissions due to human factors, thereby affecting the accurate evaluation of the starting power and acceleration performance of the vehicle. Especially when a large amount of test data needs to be compared and analyzed, this manual method is not sufficient and cannot meet the efficient and accurate research and development needs. Moreover, the data analysis and processing of the two methods cannot be completely unified, further increasing the difficulty of comparison. SUMMARY

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

[0005] To achieve the above purpose, according to the first aspect of the present application, a calculation method for evaluating the starting power of an off-road vehicle considering the displacement of an accelerator pedal is provided, comprising the following steps:

[0006] S10, measuring the data of the accelerator pedal opening degree, the accelerator pedal displacement, the acceleration and the vehicle speed changing with time by a test equipment, judging whether the accelerator pedal position stroke needs to be measured by an external displacement sensor, if yes, performing a smoothing filter processing on the data and entering S20, otherwise entering S40;

[0007] S20, the data is corrected, the corrected data is split into multiple data groups A1 according to time continuity, data rejection and screening are performed to obtain data group A2, and processing is completed to enter S30;

[0008] S30, the starting point A of the pedal is obtained from the data group A2 t3 , the end point A of the pedal is obtained t4 , a new data group A3 is obtained, the pedal duration and starting power duration are calculated, and the data processing is ended;

[0009] S40, the data without pedal is removed, the remaining data is split into multiple data groups B1 according to time continuity, data rejection and screening are performed to obtain data group B2, and processing is completed to enter S50;

[0010] S50, the starting point B of the pedal is obtained from the data group B2 t3 , the end point B of the pedal is obtained t4 , a new data group B3 is obtained, the pedal duration and starting power duration are calculated, and the data processing is ended.

[0011] Further, the method for performing smoothing filtering processing on the data in S10 is:

[0012] First, the acceleration pedal displacement ratio is calculated, The first m and the last n data including the detection point are selected in time sequence, wherein m is equal to n and both are greater than or equal to 10, and the average value of the m+n+1 data groups is taken; due to the limitation of the number of objective data, there may be cases that m and n are not equal, and m or n is less than 10; after the acceleration pedal displacement ratio, acceleration and speed of the collected data are subjected to the above smoothing processing, the smoothing data is obtained to replace the original collected data.

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

[0014] q data before the starting point time from the data subjected to smoothing processing in S10 are selected, the q data represent the state that the acceleration pedal is not stepped, wherein q is obtained through experiment, zero drift value L is obtained through statistical analysis of the q data, the corrected acceleration pedal displacement ratio is obtained by subtracting the zero drift value L from the original value of all acceleration pedal displacement ratios, and the corrected acceleration pedal displacement ratio, acceleration and speed are split into corresponding multiple data groups A1 according to time continuity.

[0015] Further, the method for performing data rejection and screening in S20, the specific steps are:

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

[0017] S2, set the data collection frequency and duration, and filter the data set A12 with stable acceleration pedal displacement ratio variance from the data set A11 ， and record the corresponding start time A t1 and end time A t2 ;

[0018] S3, the start time A t1 is the time from when the driver starts pressing the acceleration pedal to when the acceleration pedal is stably pressed, and the normal reaction time t A is obtained through experiments t1 , and data with A A less than t A is filtered to obtain a new data set A13;

[0019] S4, considering that all test conditions are starting, the starting speed V t1 is obtained through experiments A , and data with A t3 corresponding speed less than V t4 is filtered from the A13 data set to obtain a data set A2.

[0020] Further, the starting point A A开始 of the pedal and the ending point A A结束 of the pedal are obtained from the data set A2 in S30, and a new data set A3 is obtained, and the method for calculating the pedal duration and the starting power duration is:

[0021] A graph of the relationship between the acceleration pedal displacement ratio and the time is drawn, and the slope k t1 and K t3 corresponding to the starting point of the pedal and the ending point of the pedal are obtained through experiments, respectively. t1 from the start time A A结束 of the data set A2 until the last point with a slope greater than K t4 is found, which is the ending point of the pedal, and the time is recorded as A t3 , and a new data set A3 is obtained, the starting time of the data set A3 is A t4 , and the ending time is A smooth ;

[0022] Since the experimental data has been smoothed, the starting point of the pedal may move forward and the ending point of the pedal may move backward, so a time difference T t4 is obtained through experiments to eliminate the pedal time movement error, and the pedal duration is A t3 -A smooth -2T; Find the corresponding moment of acceleration from the data set A3 and record it as A t5 , and calculate the time it takes to step on the pedal to reach the set acceleration as A t5 -A t3 -T smooth The vehicle starting power is compared and evaluated by the time it takes to reach the set acceleration.

[0023] Furthermore, in S40, the non-pedaling data is removed, and the remaining data is divided into multiple data groups B1 according to time continuity. The method for removing and screening the data to obtain the data group B2 is as follows:

[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 the pedal pressed 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 eliminated 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 to complete, the starting speed V is obtained through experiments B , filter out B from the B14 data set t1 The corresponding speed is less than V B and obtain data set B2.

[0026] Furthermore, in the step 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 pedaling 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 , 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 group B3 and record it as B t5 , and calculate the time it takes to step on the pedal to reach the set acceleration as B t5 -Bt3 The time to reach the set acceleration is compared with the vehicle starting power.

[0029] According to a second aspect of the present application, there is provided a calculation device for evaluating the starting power of an off-road vehicle considering the displacement of an accelerator pedal, comprising:

[0030] The first main module: the data of the accelerator pedal opening, the accelerator pedal displacement, the acceleration and the vehicle speed changing with time are measured by a test device respectively, it is judged whether the accelerator pedal position stroke measured by an external displacement sensor is needed, if yes, the data is smoothed and filtered to enter S20, otherwise, it enters S40;

[0031] The second main module: the data is corrected, the corrected data is split into a plurality of data groups A1 according to time continuity, data elimination and screening are performed to obtain data group A2, and the processing is completed to enter S30;

[0032] The third main module: the starting point A t3 of the accelerator pedal and the end point A t4 of the accelerator pedal are obtained from the data group A2, a new data group A3 is obtained, the accelerator pedal time and the starting power time are calculated, and the data processing is ended;

[0033] The fourth main module: the data of the accelerator pedal is removed, the remaining data is split into a plurality of data groups B1 according to time continuity, data elimination and screening are performed to obtain data group B2, and the processing is completed to enter S50;

[0034] The fifth main module: the starting point B t3 of the accelerator pedal and the end point B t4 of the accelerator pedal are obtained from the data group B2, a new data group B3 is obtained, the accelerator pedal time and the starting power time are calculated, and the data processing is ended.

[0035] According to a third aspect of the present application, it also relates to a computer storage medium, which stores a computer program, and the computer program is executed by a processor to realize the calculation method of the starting power of the off-road vehicle considering the displacement of the accelerator pedal.

[0036] According to a fourth aspect of the present application, it also relates to a vehicle, which comprises a starting power evaluation calculation device for implementing the calculation method of the starting power of the off-road vehicle considering the displacement of the accelerator pedal.

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

[0038] 1.The application provides a method for evaluating the starting power of an off-road vehicle by considering the displacement of the accelerator pedal, which comprises the following steps: measuring the displacement of the accelerator pedal, acceleration, vehicle speed and accelerator pedal opening degree, and performing unified smoothing processing, data splitting and data screening on the data to reduce the difficulty of data processing and meet the efficient and accurate research and development requirements.

[0039] 2.The application provides a method for evaluating the starting power of an off-road vehicle by considering the displacement of the accelerator pedal, which comprises the following steps: measuring the displacement of the accelerator pedal, acceleration, vehicle speed and accelerator pedal opening degree, and performing unified smoothing processing, data splitting and data screening on the data to reduce the difficulty of data processing and meet the efficient and accurate research and development requirements. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 The workflow diagram provided by the preferred embodiment of the application;

[0041] Figure 2 The starting power evaluation calculation device structure schematic provided by the preferred embodiment of the application;

[0042] Figure 3 The data recording schematic diagram provided by the preferred embodiment of the application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the embodiments of the application clearer, the technical scheme in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the application. In addition, the technical features in each embodiment or single embodiment provided by the application can be combined with each other arbitrarily to form a feasible technical scheme, and such combination is not subject to the order of steps and / or structure composition mode, but must be based on the implementation by those skilled in the art. When the combination of technical schemes appears contradictory or unfeasible, it should be considered that such combination of technical schemes does not exist and is not within the scope of protection required by the application.

[0044] In the current off-road vehicle research and development stage, in order to accurately evaluate the starting power acceleration performance of the off-road vehicle prototype and the competitive product, an efficient and accurate automatic testing and data analysis method is needed. This method aims to solve the problems of low efficiency, easy error and influence on evaluation accuracy in traditional manual data screening, and can effectively distinguish the difference between the electric control throttle opening degree signal and the external sensor accelerator pedal displacement signal in data processing.

[0045] Please refer toFigure 1 The application relates to a method for evaluating the starting power of an off-road vehicle by considering the displacement of an accelerator pedal, and specifically comprises the following steps:

[0046] S10, data of accelerator pedal opening, accelerator pedal displacement, acceleration and vehicle speed changing with time are measured by a test device, whether the accelerator pedal position stroke measured by an external displacement sensor is required is judged, if yes, the data is subjected to smoothing filtering treatment and enters S20, otherwise, S40 is entered.

[0047] Specifically, excel test data of accelerator pedal opening (measured by a message signal), accelerator pedal displacement (measured by a displacement sensor), acceleration and vehicle speed changing with time are measured by a test device, wherein the time interval of each adjacent point of the excel matrix data can be 0.01s, and original record data are obtained.

[0048] Since the acceleration pedal opening signal value is 0-100%, the accelerator pedal displacement is converted into an accelerator pedal displacement ratio for convenient and direct data comparison. Since the physical sensor has an accuracy error, 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%). Data recording can be performed in the manner of Figure 3 .

[0049] Since the accelerator pedal displacement signal is measured by an external sensor, there are many data burrs, and therefore, the data needs to be subjected to smoothing filtering treatment. The method for smoothing filtering treatment of the data in S10 is as follows:

[0050] m and n are equal and greater than or equal to 10, the average value of the m+n+1 groups of data is obtained; wherein, due to the limitation of the number of objective data, 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 subjected to the above smoothing treatment to obtain smoothing data to replace the original collected data.

[0051] When m = n = 10, the 10 points preceding and following the point (accelerator pedal displacement ratio, acceleration, vehicle speed) are taken in chronological order, for a total of 21 points, and the average is calculated. When the time interval between each adjacent point is 0.01s, if the point is within the first 0.01-0.1s of the collected data, if fewer than 10 points are taken in chronological order, the remaining available points are taken, followed by the remaining 10 points, and the average of all points including the point is calculated. If the point is within the last 0.01-0.1s of the collected data, if fewer than 10 points are taken in chronological order, the remaining available points are taken, followed by the remaining 10 points, and the average of all points including the point is calculated.

[0052] 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.

[0053] Because the use of "accelerator pedal displacement" to record the accelerator pedal travel has zero drift, it is necessary to correct the accelerator pedal displacement ratio in each set of data. However, for the "accelerator pedal opening" recording of the accelerator pedal travel, 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] From the smoothed data obtained in S10, q data before the starting point are selected. These q data represent the state where the accelerator pedal is not depressed, where q is obtained experimentally (q can be 50). Statistical analysis is performed on these q data to obtain a zero drift value L. The zero drift value L is subtracted from the original value of all accelerator pedal displacement ratios to obtain corrected accelerator pedal displacement ratios. The corrected accelerator pedal displacement ratios, acceleration, and vehicle speed are then split into corresponding multiple data groups A1 based on time continuity.

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

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

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

[0058] Specifically, based on the "variance stability" of the accelerator pedal, the data is filtered and the data in the variance stable segment is selected. The data group A11 can be filtered as follows. The data acquisition frequency is 100Hz, that is, there are 100 time points 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. The minimum time of each data starting time in the data segment group is selected and recorded as A t1 , and the maximum moment among the end moments is recorded as A t2 , intercept the data A t1 Moment and A t2 The data between the times constitute a new data group A12.

[0059] S3, the starting time A t1 The time it takes for the driver to step on the accelerator pedal steadily from the beginning to the end is the normal reaction time t obtained from the experiment. A , filter out A t1 Less than t A The data is used to obtain a new data set A13, and the normal reaction time t A You can take 2s;

[0060] S4, considering that the test conditions are all starting, the starting speed V is obtained through experiments. A , the starting speed V A It can be 1.5km / 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 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 accelerator pedal displacement ratio and time, and obtain the slope k corresponding to the pedaling start point and the pedaling end point through experiments. A开始 With K A结束 , the data in the data group A2 are 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 starting point of pedaling. The time is recorded as A t3; from the data set A2 data from the start time A t1 Push back until the last point of the slope greater than K A结束 , the time record is A t4 , get a new data set A3, the start time of the data set A3 is A t3 , the end time is A t4 ;

[0064] Specifically, k A开始 Can be 6, generally forward 40 point data obtained, K A结束 Can be 7, generally backward 90 point data obtained.

[0065] Because the experimental data is smoothed, the start point of the pedal will move forward and the end point of the pedal will move backward, so a time difference T smooth Is needed to eliminate the pedal time moving error, generally 0.12s, based on which the pedal duration is A t4 -A t3 -2T smooth ; from the data set A3, find the time corresponding to the set acceleration record A t5 , and calculate the time from stepping on the pedal to reaching the set acceleration A t5 -A t3 -T smooth , the time to reach the set acceleration is used to compare and evaluate the starting power of the vehicle.

[0066] Specifically, the time required to reach 1m / s 2 , 2m / s 2 , 3m / s 2 And other accelerations can be selected, and the data is compared with other vehicle data.

[0067] S40, remove the data of not stepping on the pedal, and split the remaining data into multiple data sets B1 according to the time continuity, and get data set B2 by data rejection and screening, and enter S50 after processing

[0068] The method for removing the data of not stepping on the pedal in S40, splitting the remaining data into multiple data sets B1 according to the time continuity, and getting data set B2 by data rejection and screening is:

[0069] The maximum value P% of the accelerator pedal opening degree when not stepping on the accelerator is obtained by experiment, P generally takes 0.5, and P can be flexibly adjusted according to the test result. Remove the data of not stepping on the pedal in S10, and split the remaining data into multiple data sets B1 according to the time continuity;

[0070] The data set B 11, the data set B 12, the starting time B t1 , the ending time B t2 and the data set B 13 are obtained in the same way as the data set B 1 and the method of data elimination and screening in S20. B The maximum opening degree and the minimum opening degree difference of the accelerator pedal in the data set B 13 are screened, the data with a difference less than a set value is retained, and a new data set B 14 is obtained, and the set value is generally 1%. t1 Considering that the test working conditions are all starting, the starting speed V B is obtained through experiments, and the data corresponding to the speed less than V B is screened from the B 14 data set and a data set B 2 is obtained, and the starting speed V t1 is generally 2km / h.

[0071] Specifically, the data with a time length less than one working condition in the data set B 1 is eliminated to obtain a data set B 11 (the time of one working condition is generally 8s); the data set B 12 with stable variance of the displacement ratio of the accelerator pedal is screened from the data set B 11 by setting the data collection frequency and time length, and the corresponding starting time B t2 and the ending time B t1 are recorded.

[0072] Specifically, the data is screened according to the “variance stability” of the accelerator pedal, and the data of the stable variance section is selected, and the data set B 11 can be screened as follows. The data collection frequency is 100Hz, that is, there are 100 time points recorded in 1s. In each data of the data set B 11, 3s data with a variance less than 0.3 is found, and a data section group is formed, the smallest time in the starting time of each data in the data section group is recorded as B t2 , the largest time in the ending time is recorded as B t1 , and the data between B t2 is intercepted to form a new data set B 12.

[0073] The starting time B t1 is the time length from the time when the driver starts to step on the accelerator pedal to the time when the accelerator pedal is stably stepped on, and the normal reaction time t B is obtained through experiments, and the data with B t1 less than t B is screened to obtain a new data set B 13, and the normal reaction time t B may be 2s.

[0074] S50, the starting point B t3 of stepping on the pedal and the ending 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 the step 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 pedaling 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 , 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 group B3 and record it as B t5 , and calculate the time it takes to step on the pedal to reach the set acceleration as B t5 -B t3 The vehicle starting power is compared and evaluated by the time it takes to reach the set acceleration.

[0078] Please refer to Figure 2 As a second aspect of the present invention, a device for calculating and evaluating the starting power of an off-road vehicle taking into account the displacement of an accelerator pedal is provided, comprising:

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

[0080] The second main module: corrects the data, splits the corrected data into multiple data groups A1 according to time continuity, removes and filters the data to obtain data group A2, and enters 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 starting power time, and end the data processing;

[0082] The fourth main module: removes the non-pedaling data, splits the remaining data into multiple data groups B1 according to time continuity, removes and filters the data to obtain data group B2, and enters S50 after processing is completed;

[0083] Fifth main module: obtaining the start point B of the accelerator pedal from the data set B2 t3 , the end point B of the accelerator pedal t4 , and obtaining a new data set B3, calculating the accelerator pedal duration and the start power duration, and ending the data processing.

[0084] As a third aspect of the present application, it also relates to a computer storage medium, which stores a computer program, and the computer program is executed by a processor to implement the off-road vehicle start power evaluation calculation method considering the accelerator pedal displacement.

[0085] As a fourth aspect of the present application, it also relates to a vehicle, which comprises a start power evaluation calculation device for implementing the off-road vehicle start power evaluation calculation method considering the accelerator pedal displacement.

[0086] Those skilled in the art can easily understand that the above description is only the preferred embodiment of the present application, and is not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for calculating the starting power of an off-road vehicle considering the displacement of the accelerator pedal, characterized in that: The following steps are involved: S10, measuring the accelerator pedal opening, accelerator pedal displacement, acceleration, and vehicle speed over time using a test device, and determining whether the accelerator pedal position and travel need to be measured using an external displacement sensor. If so, smoothing and filtering the data is performed and the process proceeds to S20; otherwise, the process proceeds to 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 then proceed to 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 starting power time, and end the data processing; S40, remove the data of no pedaling, split the remaining data into multiple data groups B1 according to time continuity, remove and filter the data to obtain data group B2, and then proceed to 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 of these m+n+1 groups of data is taken; however, due to the limitation of the number of objective data, there is a case 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: q data before the starting point are selected from the smoothed data obtained in S10. These q data represent a state where the accelerator pedal is not depressed, where q is obtained experimentally. Statistical analysis is performed on these q data to obtain a zero drift value L. The zero drift value L is subtracted from the original value of all accelerator pedal displacement ratios to obtain corrected accelerator pedal displacement ratios. The corrected accelerator pedal displacement ratios, acceleration, and vehicle speed are then split into corresponding multiple data groups A1 based on temporal 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 includes 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 starting time A t1 and end time A t2 ; S3, the starting time A t1 The time it takes for the driver to step on the accelerator pedal steadily from the beginning to the end is the normal reaction time t obtained from the experiment. 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 starting, the starting speed V is obtained through experiments. A , filter out 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 accelerator pedal displacement ratio and time, and obtain the slope k corresponding to the pedaling start point and the pedaling end point through experiments. A开始 With K A结束 , the data in the data group A2 are 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 starting 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 data set A3 starting time is A t3 , end time is A t4 ; Since the experimental data is smoothed, the starting point of pedaling will move forward and the end point of pedaling will move 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 acceleration from the data set A3 and record it as A t5 , and calculate the time it takes to step on the pedal to reach the set acceleration as A t5 -A t3 -T smooth The vehicle starting power is compared and evaluated by the time it takes 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 pedaling is removed, and the remaining data is divided into multiple data groups B1 according to time continuity. The method for removing and filtering 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 the pedal pressed 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 eliminated 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 to complete, the starting speed V is obtained through experiments B , filter out 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 the step 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 pedaling 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 , 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 step on the pedal to reach the set acceleration as B t5 -B t3 The vehicle starting power is compared and evaluated by the time it takes to reach the set acceleration.

8. A device for calculating and evaluating the starting power of an off-road vehicle taking into account the displacement of the accelerator pedal, characterized in that: include: The first main module: using the test equipment to measure the accelerator pedal opening, accelerator pedal displacement, acceleration and vehicle speed over time, and determine whether the accelerator pedal position and travel need to be measured by an external displacement sensor. If so, smoothing and filtering the data are performed and the process proceeds to S20; otherwise, the process proceeds to S40; The second main module: corrects the data, splits the corrected data into multiple data groups A1 according to time continuity, removes and filters the data to obtain data group A2, and enters 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 starting power time, and end the data processing; The fourth main module: removes the non-pedaling data, splits the remaining data into multiple data groups B1 according to time continuity, removes and filters the data to obtain data group B2, and enters S50 after processing is completed; The fifth main module: Get the 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 and calculation method considering the accelerator pedal displacement as described in any one of claims 1 to 7 is implemented.

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

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