Accelerator pedal position self-learning control system and method

Abstract

The invention relates to the field of new energy automobile control systems, in particular to an accelerator pedal position self-learning control system and method.The accelerator pedal position self-learning control system comprises a body control module (BCM), a vehicle control unit (VCU), a first accelerator pedal and a second accelerator pedal, and is characterized in that the BSM and the VCU are in signal connection through a CAN bus; the VCU is connected with the first accelerator pedal and the second accelerator pedal through power lines, a downward and upward self-learning control strategy of the accelerator pedals is used, and the problems that at the present stage, when a driver does not step on the accelerator pedal, the opening degree of an accelerator is larger than 0%, the driver already steps on the accelerator pedal to the end, and the accelerator pedal is damaged are solved. However, the opening degree of the accelerator is not 100%, so that the dynamic responsiveness of the vehicle and the driving safety of the vehicle are ensured.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicle control systems, and in particular to an accelerator pedal position self-learning control system and method. Background Art

[0002] The driving torque input of pure electric vehicles comes from the electronic accelerator pedal, and its throttle opening directly affects the driver's driving experience and safety. The throttle opening is calculated by sampling the VCU accelerator pedal voltage. The electronic accelerator pedal is usually initially calibrated, and then the program calibration data is written into the controller memory. However, the accelerator pedal signal is prone to errors, zero drift and failures, as well as wear and tear of matching parts after long-term use. It is easy for the driver to have a throttle opening greater than 0% when the driver has not stepped on the accelerator pedal. In addition, it is also easy for the driver to have stepped on the accelerator pedal to the bottom, but the throttle opening is not 100%. The vehicle's acceleration responsiveness is affected, which will also affect driving safety. Summary of the invention

[0003] The present invention provides an accelerator pedal position self-learning control system and method, which uses an accelerator pedal downward and upward self-learning control strategy to solve the current situation where the throttle opening is greater than 0% when the driver has not stepped on the accelerator pedal, and the driver has stepped on the accelerator pedal to the bottom but the throttle opening is not 100%, thereby ensuring the vehicle's dynamic responsiveness and vehicle driving safety.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an accelerator pedal position self-learning control system, including a body controller BCM, a vehicle controller VCU, a first accelerator pedal and a second accelerator pedal, the BSM and the VCU are connected via a CAN bus signal, and the VCU and the first accelerator pedal and the second accelerator pedal are connected via a power cord.

[0005] Further defined, a method for a self-learning control system of an accelerator pedal position comprises the following specific steps:

[0006] Step S1: When the VCU receives the following signal, the VCU performs a learning strategy for the accelerator pedal position to the minimum position to determine whether all of the following conditions are met:

[0007] A: The vehicle is in a powered-off state;

[0008] B: The seats in the car are in a weightless state;

[0009] C: The seat belt is not locked;

[0010] D: All doors are locked;

[0011] E: The vehicle is in neutral gear;

[0012] F: The handbrake is in the pulled up state;

[0013] If all the above conditions are met, the VCU sends the accelerator pedal to the minimum position learning enable flag, and keeps the BCM in the awake state, and keeps sending related signals;

[0014] Step S2, the VCU outputs two power supply signals to supply power to the first accelerator pedal and the second accelerator pedal respectively, and at the same time collects the accelerator pedal signals of the two paths in real time and compares them with the minimum voltage value stored in the memory, at this time, the calculation formula of the pedal will be updated, and the VCU will also store the minimum voltage synchronously;

[0015] Step S3, an instrument prompt is provided. When the VCU detects a change in the minimum position, the vehicle will not start immediately after the driver turns the key, but the instrument prompts the driver to learn the maximum position of the driving pedal and prompt the driver to step on the accelerator to the bottom;

[0016] Step S4: When the driver steps on the accelerator pedal to the bottom for a certain period of time, the VCU saves and updates the stable maximum voltage signals of the two accelerator pedals collected in real time;

[0017] Step S5: When the vehicle is in dynamic driving, the VCU will collect two pedal signals in real time.

[0018] When the voltage signal of any route is less than the current minimum voltage signal stored in the rerouted accelerator pedal, the minimum voltage value is updated and stored. When the voltage signal of any route is greater than the current maximum voltage signal stored in the rerouted accelerator pedal, the maximum voltage value is updated and stored and processed in real time. At the same time, the formula for calculating the accelerator pedal will also be updated in real time.

[0019] It is further defined that the signal voltage range of the first accelerator pedal signal is V1min-V1max, and the signal voltage range of the second accelerator pedal signal is V2min-V2max. V1min, V1max, V2min and V2max are the original data stored in the controller and can be calibrated and modified. The signal opening of the first accelerator pedal = (Vx1-V1min) / (V1max-V1min), the signal opening of the second accelerator pedal is (Vx2-V2min) / (V2max–V2min). Vx1 and Vx2 are voltage signals collected in real time. The total accelerator pedal opening signal = the first accelerator pedal signal opening*0.5+the second accelerator pedal signal opening*0.5.

[0020] Further limitation: In step S2, if Vx1 < V1min, then V1min is updated to Vx1; if Vx2 < V2min, then V2min is updated to Vx2. At this time, the formula for calculating the throttle pedal is as follows: The signal opening of the first throttle pedal = (Vx1 - V1min) / (V1max - Vx1), and the signal opening of the second throttle pedal = (Vx2 - V2min) / (V2max - Vx2). That is, at this time, the minimum position of the vehicle's throttle pedal has changed, and for the minimum voltage value, the VCU will re-save and store it, and when powering on next time, it will continue to calculate the throttle opening. If Vx1 > V1min and Vx2 > V2min, similarly, the calculation formula of the pedal will also be updated, and the VCU will also synchronously store the minimum voltage value.

[0021] Further limitation: Before the driver starts the vehicle, if the foot has stepped on the throttle pedal with a large opening, and at the same time steps on the brake pedal, after turning the key to power on and when the vehicle start conditions are met, the following operations are performed: The VCU detects and judges whether the following conditions are simultaneously met:

[0022] A1: The throttle and brake are stepped on simultaneously

[0023] B1: The gravity sensor is in a loaded state;

[0024] C1: The vehicle is in the off-on start state;

[0025] After all the above conditions are met, the VCU will process the current throttle opening = 0%, to avoid the dangerous situation of the vehicle rushing out immediately after starting and shifting gears. At this time, if the driver continues to step on the throttle pedal deeply, the throttle opening will increase on the basis of 0%. As long as the driver releases the driving pedal during this process, the VCU will immediately perform step S5 for dynamic learning, and then the accelerator pedal will immediately return to the normal calculation state.

[0026] Further limitation: The ranges of Vlmin, V2min, Vlmax, and V2max can all be calibrated.

[0027] The beneficial effects of adopting the above technical solutions are as follows:

[0028] 1. The present invention sets control strategies for various situations of the accelerator pedal, enabling the accelerator pedal to perform self-learning both downward and upward. At the same time, it provides an instrument prompt to let the driver actively step on the throttle pedal to the bottom, and the VCU performs a learning strategy for the maximum value of the accelerator pedal; it can ensure that the driver can reach 100% throttle opening after stepping on the throttle, thus ensuring the correctness of torque output and the power performance of the whole vehicle. Description of the Drawings

[0029] Figure 1It is a simple connection diagram of the components of the present invention;

[0030] Figure 2 It is a logic flow chart of the control method of the present invention. DETAILED DESCRIPTION

[0031] The specific implementation methods of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention and facilitating its implementation.

[0032] The present invention is an accelerator pedal position self-learning control system and method, which uses an accelerator pedal downward and upward self-learning control strategy to solve the current situation where the throttle opening is greater than 0% when the driver has not stepped on the accelerator pedal, and the driver has stepped on the accelerator pedal to the bottom but the throttle opening is not 100%, thereby ensuring the vehicle's dynamic responsiveness and vehicle driving safety.

[0033] Specifically, Figure 1-Figure 2 As shown, it includes a body controller BCM, a vehicle controller VCU, a first accelerator pedal and a second accelerator pedal. The BSM and the VCU are connected through CAN bus signals, and the VCU and the first accelerator pedal and the second accelerator pedal are connected through power lines, wherein the BCM is responsible for sending key signals on, start, driver gravity status signals, seat belt signals, door signals and other signals to the VCU through the CAN bus; the VCU is connected to the two accelerator pedals, and the VCU outputs power to supply power to the first accelerator pedal and the second accelerator pedal signals, and collects the first accelerator pedal signals and the second accelerator pedal signals in real time to analyze and calculate the throttle opening value, and the first pedal signal and the second pedal signal are both voltage signal inputs For VCU, the signal voltage range of the first accelerator pedal signal is V1min-V1max, and the signal voltage range of the second accelerator pedal signal is V2min-V2max. V1min, V1max, V2min and V2max are the original data stored in the controller, which can be calibrated and modified. The signal opening of the first accelerator pedal = (Vx1-V1min) / (V1max-V1min), the signal opening of the second accelerator pedal is (Vx2-V2min) / (V2max–V2min), Vx1 and Vx2 are the voltage signals collected in real time, and the total accelerator pedal opening signal = the first accelerator pedal signal opening * 0.5 + the second accelerator pedal signal opening * 0.5. The specific steps are as follows:

[0034] Step S1: When the VCU receives the following signal, the VCU performs a learning strategy for the accelerator pedal position to the minimum position to determine whether all of the following conditions are met:

[0035] A: The whole vehicle is in the power-off state;

[0036] B: The seats in the vehicle are in a zero-gravity state;

[0037] C: The seat belt is in an unlocked state;

[0038] D: All vehicle doors are in the locked state;

[0039] E: The gear of the whole vehicle is in neutral;

[0040] F: The handbrake is in the pulled-up state;

[0041] If all the above conditions are met, the VCU sends the learning enable flag bit of the accelerator pedal to the minimum position, and at the same time keeps the BCM in the wake-up state and will always send relevant signals;

[0042] Step S2, the CU outputs two power supply signals to supply power to the first accelerator pedal and the second accelerator pedal respectively. At the same time, it real-time collects the accelerator pedal signals of the two paths and compares them with the minimum voltage values stored in the memory. For example: if Vx1 < V1min, then V1min is updated to Vx1; if Vx2 < V2min, then V2min is updated to Vx2. At this time, the calculation formula of the throttle pedal is: the signal opening of the first accelerator pedal = (Vx1 - V1min) / (V1max - Vx1), and the signal opening of the second accelerator pedal = (Vx2 - V2min) / (V2max - Vx2). That is, at this time, the minimum position of the vehicle throttle pedal has changed, and for the minimum voltage value, the VCU will re-save and store it, and will continue to calculate the throttle opening when powering on next time. If Vx1 > V1min and Vx2 > V2min, similarly, the calculation formula of the pedal will also be updated, and the VCU will also synchronously store the minimum value voltage. Among them, V1min and V2min have a limited range and cannot change too much. Therefore, the change range of V1min and V2min is limited, and this change range limit can be calibrated. For example, the change ranges of V1min and V2min are V1min - 0.2 - V1min + 0.2 and V2min - 0.2 - V2min + 0.2.

[0043] Step S3, there is an instrument prompt. When the VCU detects that the minimum position has changed, after the driver turns the key, the whole vehicle will not start immediately, but the instrument will prompt the driver to perform the maximum position learning of the driving pedal and prompt the driver to step on the accelerator pedal to the bottom;

[0044] Step S4, when the driver steps on the accelerator pedal to the bottom and keeps it for a certain period of time, the VCU will save and update the stable two-way maximum voltage signals of the throttle collected in real time;

[0045] Step S5, when the vehicle is in dynamic driving, that is, the whole vehicle is in ready state, the VCU will collect two pedal signals in real time. When the voltage signal of any one path is less than the current minimum voltage signal stored in the redirected accelerator pedal, the minimum voltage value is updated and stored. When the voltage signal of any one path is greater than the current maximum voltage signal stored in the redirected accelerator pedal, the maximum voltage value is updated and stored, and processed in real time. At the same time, the formula for calculating the accelerator pedal will also be updated in real time.

[0046] Special circumstances are inevitable. Special circumstances refer to when the driver has stepped on the accelerator pedal with a large opening before starting the vehicle, and has also stepped on the brake pedal at the same time. After turning the key and powering on, the vehicle start conditions are met. At this time, the VCU detects and determines whether the following conditions are met:

[0047] A1: The accelerator and brake are pressed at the same time; B1: The gravity sensor is in a load-bearing state; C1: The vehicle is in an off-on starting state. When the above conditions are met, the VCU will process the current throttle opening as 0% to avoid the dangerous situation that the vehicle rushes out immediately after starting and shifting gears. At this time, if the driver continues to step on the accelerator pedal deeply, the throttle opening will be increased on the basis of 0%. During this process, as long as the driver releases the driving pedal, the VCU will immediately proceed to step S5 for dynamic learning, and then the accelerator pedal will immediately return to the normal calculation state, which solves the problem that the accelerator pedal cannot reach the 100% position, affecting the vehicle's power performance, and also solves the safety problem that the accelerator pedal is not pressed, resulting in the throttle opening of the vehicle and the vehicle automatically performing unexpected acceleration.

[0048] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above-mentioned concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. An accelerator pedal position self-learning control system, comprising a body controller BCM, a vehicle controller VCU, a first accelerator pedal and a second accelerator pedal, characterized in that: The BSM and the VCU are connected via CAN bus signals, and the VCU and the first accelerator pedal and the second accelerator pedal are connected via power lines.

2. The method of the accelerator pedal position self-learning control system according to claim 1, characterized in that: The specific steps are as follows: Step S1: When the VCU receives the following signal, the VCU performs a learning strategy for the accelerator pedal position to the minimum position to determine whether all of the following conditions are met: A: The vehicle is in a powered-off state; B: The seats in the car are in a weightless state; C: The seat belt is not locked; D: All doors are locked; E: The vehicle is in neutral gear; F: The handbrake is in the pulled up state; If all the above conditions are met, the VCU sends the accelerator pedal to the minimum position learning enable flag, and keeps the BCM in the awake state, and keeps sending related signals; Step S2, the VCU outputs two power supply signals to supply power to the first accelerator pedal and the second accelerator pedal respectively, and at the same time collects the accelerator pedal signals of the two paths in real time and compares them with the minimum voltage value stored in the memory, at this time, the calculation formula of the pedal will be updated, and the VCU will also store the minimum voltage synchronously; Step S3, an instrument prompt is provided. When the VCU detects a change in the minimum position, the vehicle will not start immediately after the driver turns the key, but the instrument prompts the driver to learn the maximum position of the driving pedal and prompt the driver to step on the accelerator to the bottom; Step S4: When the driver steps on the accelerator pedal to the bottom for a certain period of time, the VCU saves and updates the stable maximum voltage signals of the two accelerator pedals collected in real time; Step S5, when the vehicle is in dynamic driving, the VCU will collect two pedal signals in real time. When the voltage signal of any one path is less than the current minimum voltage signal stored in the redirected accelerator pedal, the minimum voltage value is updated and stored. When the voltage signal of any one path is greater than the current maximum voltage signal stored in the redirected accelerator pedal, the maximum voltage value is updated and stored, and processed in real time. At the same time, the formula for calculating the accelerator pedal will also be updated in real time.

3. The method of the accelerator pedal position self-learning control system according to claim 2, characterized in that: The signal voltage range of the first accelerator pedal signal is V1min-V1max, and the signal voltage range of the second accelerator pedal signal is V2min-V2max. V1min, V1max, V2min and V2max are the original data stored in the controller and can be calibrated and modified. The signal opening of the first accelerator pedal = (Vx1-V1min) / (V1max-V1min), the signal opening of the second accelerator pedal is (Vx2-V2min) / (V2max–V2min), Vx1 and Vx2 are voltage signals collected in real time, and the total accelerator pedal opening signal = the first accelerator pedal signal opening*0.5+the second accelerator pedal signal opening*0.

5.

4. The method of the accelerator pedal position self-learning control system according to claim 3, characterized in that: In step S2, if Vx1 < V1min, then V1min is updated to Vx1; if Vx2 < V2min, then V2min is updated to Vx2. At this time, the formula for calculating the accelerator pedal is: the signal opening of the first accelerator pedal = (Vx1 - V1min) / (V1max - Vx1), and the signal opening of the second accelerator pedal = (Vx2 - V2min) / (V2max - Vx2). That is, at this time, the minimum position of the vehicle's accelerator pedal has changed, and for the minimum voltage value, the VCU will re-save and store it, and when powering on next time, it will continue to calculate the accelerator opening. If Vx1 > V1min and Vx2 > V2min, similarly, the calculation formula of the pedal will also be updated, and the VCU will also synchronously store the minimum voltage value.

5. The method of the accelerator pedal position self-learning control system according to claim 2, characterized in that: Before the driver starts the vehicle, if the foot has stepped on the accelerator pedal with a large opening, and at the same time steps on the brake pedal, after turning the key to power on and meeting the vehicle start conditions, the following operations are performed: The VCU detects and judges whether the following conditions are simultaneously met: A1: The accelerator and brake are stepped on simultaneously B1: The gravity sensor is in a loaded state; C1: The vehicle is in the off-on start state; When all the above conditions are met, the VCU will process the current accelerator opening as 0%, to avoid the dangerous situation that the vehicle rushes out immediately after starting and shifting gears. At this time, if the driver continues to step on the accelerator pedal deeply, the accelerator opening will increase on the basis of 0%. As long as the driver releases the driving pedal during this process, the VCU will immediately perform step S5 for dynamic learning, and then the accelerator pedal will immediately return to the normal calculation state.

6. The method of the accelerator pedal position self-learning control system according to claim 3, characterized in that: The ranges of V1min, V2min, V1max, and V2max can all be calibrated.

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