Vehicle driving mode calibration method and device

Abstract

The embodiment of the invention provides a calibration method and device for a vehicle driving mode, and the method comprises the steps: obtaining related performance parameters of a vehicle in a target driving mode, generating initial accelerator pedal characteristic data in the target driving mode according to the related performance parameters, and setting the initial accelerator pedal characteristic data in the target driving mode; the accelerator pedal characteristic data comprises driving torque curves under different accelerator pedal opening degrees, the driving torque curves are corresponding relation curves of driving torque and vehicle speed, performing data simulation processing according to the initial accelerator pedal characteristic data, and outputting target accelerator pedal characteristic data under a target driving mode according to a simulation processing result. The automatic calibration of the accelerator pedal characteristic data in the target driving mode is simply and flexibly completed by processing and simulating the acquired target power associated data, so that the performance of the target driving mode is guaranteed while the calibration efficiency and uniformity of the target driving mode are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle driving mode calibration, and in particular to a vehicle driving mode calibration method and device. Background Art

[0002] Pedal Map (accelerator pedal characteristic map) is a key part of the automotive electronic control unit (ECU) that converts the driver's accelerator pedal input into a drive system signal. It takes into account acceleration definition, vehicle status and driving mode to optimize driving experience and performance. By adjusting the Pedal Map, the vehicle's response curve to pedal input can be changed, affecting the smoothness, economy and power of acceleration.

[0003] In the prior art, Pedal Map can be implemented through nonlinear functions, which allows the ECU to adjust the acceleration response characteristics according to different driving conditions and requirements.

[0004] However, in the process of designing Pedal Maps for specific situations such as driving experience or vehicle performance, some existing methods are not flexible or difficult to implement in the early adjustment and setting work due to the lack of sufficient data support, and the judgment of the calibration results is too subjective, and there is no unified evaluation standard. Summary of the invention

[0005] In view of the above problems, a method and device for calibrating a vehicle driving mode is proposed to overcome the above problems or at least partially solve the above problems, including:

[0006] A method for calibrating a vehicle driving mode, characterized in that the method comprises:

[0007] Acquiring relevant performance parameters of the vehicle in the target driving mode, wherein the relevant performance parameters include one or more of driving resistance coefficient, vehicle mass, tire radius, motor external characteristics and acceleration data;

[0008] generating initial accelerator pedal characteristic data under the target driving mode according to the relevant performance parameters; wherein the accelerator pedal characteristic data includes a driving torque curve under different accelerator pedal openings, and the driving torque curve is a corresponding relationship curve between the driving torque and the vehicle speed;

[0009] Data simulation processing is performed according to the initial accelerator pedal characteristic data, and target accelerator pedal characteristic data under the target driving mode is output according to the result of the simulation processing.

[0010] Optionally, after generating the initial accelerator pedal characteristic data in the target driving mode according to the relevant performance parameters, the method further includes:

[0011] Among the driving torques under different accelerator pedal openings, the value of the designated vehicle speed interval is modified to be the maximum driving torque under the corresponding accelerator pedal opening.

[0012] Optionally, before performing data simulation processing according to the initial accelerator pedal characteristic data, the method further includes:

[0013] According to the relevant performance parameters, a resistance torque curve of the vehicle and a maximum vehicle speed at different accelerator pedal openings are obtained; wherein the resistance torque curve is a corresponding relationship curve between resistance torque and vehicle speed;

[0014] The performing data simulation processing according to the initial accelerator pedal characteristic data comprises:

[0015] Verifying whether the intersection of the driving torque curve under different accelerator pedal openings and the resistance torque curve is the maximum vehicle speed under different accelerator pedal openings, and obtaining a preliminary simulation result according to the first verification result;

[0016] Verify whether the preliminary simulation result meets the business constraint condition, so as to obtain the result of the simulation processing according to the second verification result; wherein the business constraint condition includes whether the preliminary simulation result is smooth.

[0017] Optionally, obtaining a preliminary simulation result according to the first verification result includes:

[0018] When the intersection of the driving torque curve and the resistance torque curve under the different accelerator pedal openings is the maximum vehicle speed under the different accelerator pedal openings, local interpolation processing is performed on the initial accelerator pedal characteristic data to obtain a preliminary simulation result.

[0019] Or when the intersection of the driving torque curve at different accelerator pedal openings and the resistance torque curve is the maximum vehicle speed at different accelerator pedal openings, the driving torque curve at different accelerator pedal openings is used as the preliminary simulation result.

[0020] Optionally, obtaining the result of the simulation processing according to the second verification result includes:

[0021] When the preliminary simulation result does not satisfy the business constraint condition, a piecewise linear approximation process is performed on the preliminary simulation result to obtain the simulation process result.

[0022] Or when the preliminary simulation result satisfies the business constraint condition, the preliminary simulation result is used as the result of the simulation processing.

[0023] Optionally, before verifying whether the intersection of the driving torque curve and the resistance torque curve under the different accelerator pedal openings is the maximum vehicle speed under the different accelerator pedal openings, the method further includes:

[0024] The driving torque corresponding to the missing vehicle speed interval in the initial accelerator pedal characteristic data is expanded by an interpolation algorithm.

[0025] Optionally, outputting target accelerator pedal characteristic data in the target driving mode according to the result of the simulation processing includes:

[0026] A smoothing operation is performed on the result of the simulation process to obtain target accelerator pedal characteristic data in the target driving mode, and the target accelerator pedal characteristic data is output.

[0027] A vehicle driving mode calibration device, the device comprising:

[0028] A parameter acquisition module, which acquires relevant performance parameters of the vehicle in the target driving mode, wherein the relevant performance parameters include one or more of driving resistance coefficient, vehicle mass, tire radius, motor external characteristics and acceleration data;

[0029] a data processing module, configured to generate initial accelerator pedal characteristic data under the target driving mode according to the relevant performance parameters; wherein the accelerator pedal characteristic data includes a driving torque curve under different accelerator pedal openings, and the driving torque curve is a corresponding relationship curve between the driving torque and the vehicle speed;

[0030] The data simulation module is used to perform data simulation processing according to the initial accelerator pedal characteristic data, and output target accelerator pedal characteristic data under the target driving mode according to the result of the simulation processing.

[0031] An electronic device comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the vehicle driving mode calibration method as described above when executed by the processor.

[0032] A readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle driving mode calibration method as described above is implemented.

[0033] The embodiments of the present invention have the following advantages:

[0034] In an embodiment of the present invention, relevant performance parameters of the vehicle in a target driving mode are obtained, the relevant performance parameters including one or more of driving resistance coefficient, vehicle mass, tire radius, motor external characteristics and acceleration data; initial throttle pedal characteristic data in the target driving mode are generated based on the relevant performance parameters; the throttle pedal characteristic data include a driving torque curve under different throttle pedal openings, the driving torque curve being a corresponding relationship curve between driving torque and vehicle speed; data simulation processing is performed based on the initial throttle pedal characteristic data, and based on a result of the simulation processing, target throttle pedal characteristic data in the target driving mode is output, thereby achieving automatic calibration of the throttle pedal characteristic data in the target driving mode in a simple and flexible manner by processing and simulating the acquired target power-related data, thereby improving the efficiency and uniformity of the target driving mode calibration while ensuring the performance of the target driving mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0036] Figure 1 It is a step flow chart of the accelerator pedal map design method based on driving experience;

[0037] Figure 2 is a flowchart of steps of a method for calibrating a vehicle driving mode provided by some embodiments of the present invention;

[0038] Figure 3 is a flowchart of the steps of a method for implementing a pedal map in a vehicle comfort mode provided by some embodiments of the present invention;

[0039] Figure 4 It is a structural block diagram of a device for calibrating a vehicle driving mode provided in some embodiments of the present invention. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In a study on the design method of accelerator pedal map based on driving experience, a method of designing accelerator pedal map is described, which maps five typical actual driving conditions, namely coasting, starting acceleration, constant speed, re-acceleration and deceleration, to five areas of the acceleration response map, so as to quickly achieve the development goal of driving experience in all speed and pedal domains. By matching the parameters representing the driver's intention, such as the accelerator pedal travel, and the parameters representing the vehicle's motion characteristics, such as the vehicle speed and acceleration, with the accelerator pedal opening, vehicle speed and torque in the accelerator pedal map, a mathematical relationship is established. The schematic diagram of the design steps is shown below. Figure 1 As shown.

[0042] Obviously, this approach may be inflexible or difficult to implement in the early stages of adjustment and setting due to a lack of sufficient data support.

[0043] Reference Figure 2 , shows a flow chart of the steps of a vehicle driving mode calibration method provided by some embodiments of the present invention, which may specifically include the following steps:

[0044] Step 101, obtaining relevant performance parameters of the vehicle in the target driving mode, wherein the relevant performance parameters include one or more of driving resistance coefficient, vehicle mass, tire radius, motor external characteristics and acceleration data.

[0045] The vehicle may have multiple driving modes, which may include a comfort mode, a sports mode, etc. In the embodiment of the present application, the target driving mode may be a comfort mode.

[0046] Therefore, the relevant performance parameters of the vehicle driving mode in the comfort mode can be obtained first. This process can be called the data extraction stage. Specifically, the relevant performance parameters may include one or more of the driving resistance coefficient, vehicle mass, tire radius, motor external characteristics, and acceleration data.

[0047] In actual applications, during the data extraction phase, the target vehicle's driving resistance coefficient, vehicle mass, tire radius, acceleration data of competing vehicles at different accelerator pedal openings in comfort mode, and the target vehicle's motor external characteristics can be obtained first. Among them, the motor external characteristics can be a curve of the corresponding relationship between the driving torque and the vehicle speed of the target vehicle when the accelerator pedal opening is 100%.

[0048] In one example, after the data extraction is completed, the extracted data can be judged to determine whether the extracted data is complete, that is, whether the obtained relevant performance parameters include the target vehicle's driving resistance coefficient, vehicle mass, tire radius, acceleration data of competing vehicles at different accelerator pedal openings in comfort mode, and the target vehicle's motor external characteristics.

[0049] Step 102, generating initial accelerator pedal characteristic data under the target driving mode based on the relevant performance parameters; wherein the accelerator pedal characteristic data includes a driving torque curve under different accelerator pedal openings, and the driving torque curve is a corresponding relationship curve between the driving torque and the vehicle speed.

[0050] After obtaining the relevant performance parameters of the vehicle driving mode in the comfort mode, the initial accelerator pedal characteristic data of the target vehicle in the target driving mode can be generated according to the obtained relevant performance parameters. The accelerator pedal characteristic data can include a driving torque curve under different accelerator pedal openings, and the driving torque curve can be a corresponding relationship curve between the driving torque and the vehicle speed. This process can be called a data processing stage.

[0051] In practical applications, during the data processing stage, calculations can be performed based on the acquired target vehicle's driving resistance coefficient A / B / C, vehicle mass m, tire radius r, and acceleration data of competing vehicles at different accelerator pedal openings in comfort mode.

[0052] First, the acceleration map (Figure) can be obtained through the acceleration data of competing vehicles at different accelerator pedal openings. The acceleration map is the vehicle speed V at different accelerator pedal openings. speed The corresponding relationship curve of acceleration a, different accelerator pedal opening corresponds to a vehicle speed V speed The corresponding relationship curve of acceleration a, the horizontal axis of the curve can represent the vehicle speed, and the vertical axis can represent the acceleration, and then the driving resistance f can be calculated by the formula resistance and the driving torque T at different accelerator pedal openings drive , the calculation formula is as follows:

[0053] f resistance =AV speed 2 +BV speed +C (1)

[0054]

[0055] At the same time, by transforming formulas (1) and (2), we can obtain:

[0056] T drive =m·a·r+(AV speed 2 +BV speed +C)·r) (3)

[0057] Therefore, the corresponding relationship curve between vehicle speed and driving torque at different accelerator pedal openings can be obtained through formula (3), that is, the driving torque curve at different accelerator pedal openings, that is, the initial accelerator pedal characteristic data.

[0058] In some embodiments of the present invention, after generating the initial accelerator pedal characteristic data in the target driving mode according to the relevant performance parameters, the method further includes:

[0059] Among the driving torques under different accelerator pedal openings, the value of the designated vehicle speed interval is modified to be the maximum driving torque under the corresponding accelerator pedal opening.

[0060] After obtaining the initial accelerator pedal characteristic data under the target driving mode, the driving torque curve under different accelerator pedal openings can be adjusted, and the driving torque value under different accelerator pedal openings corresponding to the specified vehicle speed range can be modified to the maximum driving torque value under the corresponding accelerator pedal opening.

[0061] In actual applications, the designated vehicle speed range can generally be a low vehicle speed range, that is, the driving torque value corresponding to the lower vehicle speed range under different accelerator pedal openings is modified to the maximum driving torque value under the corresponding accelerator pedal opening, so that when the target driving mode is the comfort mode, the driving experience in the low vehicle speed range is better.

[0062] Step 103 , performing data simulation processing according to the initial accelerator pedal characteristic data, and outputting target accelerator pedal characteristic data in the target driving mode according to the result of the simulation processing.

[0063] Specifically, data simulation processing is performed based on the initial accelerator pedal characteristic data. The driving torque value in the specified vehicle speed range under different accelerator pedal openings in the initial accelerator pedal characteristic data may be modified to a maximum driving torque value under the corresponding accelerator pedal opening, and then the data may be simulated. Based on the result of the simulation processing, the target accelerator pedal characteristic data under the target driving mode may be output, thereby obtaining the target accelerator pedal characteristic data.

[0064] It should be noted that the operation of performing data simulation processing can be understood as an operation of adjusting and optimizing the initial accelerator pedal characteristic data according to the target driving mode. The process of performing data simulation processing can be called a data simulation stage.

[0065] In some embodiments of the present invention, before performing data simulation processing according to the initial accelerator pedal characteristic data, the method further includes:

[0066] Step 104, obtaining a resistance torque curve of the vehicle and a maximum vehicle speed at different accelerator pedal openings according to the relevant performance data; wherein the resistance torque curve is a corresponding relationship curve between resistance torque and vehicle speed.

[0067] Specifically, calculations can be performed based on the relevant performance data obtained in the data extraction phase to obtain the resistance torque curve of the target vehicle and the maximum vehicle speed at different accelerator pedal openings. The resistance torque curve can be a corresponding relationship curve between the resistance torque and the vehicle speed.

[0068] In practical applications, the acceleration map can be obtained by using the target vehicle's driving resistance coefficient A / B / C and tire radius r obtained in the data extraction stage, and the acceleration data of competing vehicles at different accelerator pedal openings (the acceleration map has been explained above and will not be repeated here). Combined with the above formula (1), the drag torque F and vehicle speed V are obtained. speed The corresponding relationship formula is as follows:

[0069] F=(AV speed 2 +BV speed +C)*r (4)

[0070] Then, the corresponding resistance torque curve can be obtained according to formula (4).

[0071] At the same pedal opening, as the vehicle speed increases, the vehicle acceleration will gradually decrease until the acceleration reaches 0, and the vehicle reaches the maximum speed at the accelerator pedal opening. In the acquired acceleration map, the corresponding relationship curve between vehicle speed and acceleration can be obtained, so the vehicle speed at different accelerator pedal openings corresponding to the acceleration of 0 in the acceleration map can be used as the maximum vehicle speed at different accelerator pedal openings to be obtained.

[0072] The performing data simulation processing according to the initial accelerator pedal characteristic data comprises:

[0073] Sub-step 21, verifying whether the intersection of the driving torque curve and the resistance torque curve under different accelerator pedal openings is the maximum vehicle speed under different accelerator pedal openings, and obtaining a preliminary simulation result based on the first verification result.

[0074] In the data simulation stage, the initial accelerator pedal characteristic data including the intersection of the driving torque curve and the resistance torque curve at different accelerator pedal openings can be checked to see whether it is the maximum vehicle speed at different accelerator pedal openings.

[0075] Specifically, before the data simulation process is performed, the resistance torque curve and the maximum vehicle speed under different accelerator pedal openings have been obtained. The driving torque curve is a corresponding relationship curve between vehicle speed and driving torque, and the resistance torque curve is a corresponding relationship curve between vehicle speed and resistance torque. Therefore, the intersection of the driving torque curve and the resistance torque curve under different accelerator pedal openings is the point where the driving torque and the resistance torque are equal under different accelerator pedal openings. At the same time, the corresponding vehicle speed when the driving torque and the resistance torque are equal under different accelerator pedal openings is also obtained.

[0076] In practical applications, when the resistance torque is equal to a certain accelerator pedal driving torque, the vehicle no longer has the torque that can generate acceleration. At this time, the vehicle reaches the maximum speed under the accelerator pedal opening.

[0077] Therefore, the vehicle speed corresponding to the intersection point under different accelerator pedal openings is obtained through the intersection point of the driving torque curve and the resistance torque curve under different accelerator pedal openings, and compared with the maximum vehicle speed under different accelerator pedal openings obtained above to check whether they are equal.

[0078] In some embodiments of the present invention, obtaining a preliminary simulation result according to the first verification result includes:

[0079] When the intersection of the driving torque curve and the resistance torque curve under the different accelerator pedal openings is the maximum vehicle speed under the different accelerator pedal openings, performing local interpolation processing on the initial accelerator pedal characteristic data to obtain a preliminary simulation result;

[0080] Or when the intersection of the driving torque curve at different accelerator pedal openings and the resistance torque curve is the maximum vehicle speed at different accelerator pedal openings, the driving torque curve at different accelerator pedal openings is used as the preliminary simulation result.

[0081] When the intersection of the driving torque curve and the resistance torque curve at different throttle pedal openings is the maximum vehicle speed at different throttle pedal openings, that is, when the first verification result is unequal, the initial throttle pedal characteristic data can be locally interpolated, that is, the driving torque curve at different throttle pedal openings can be locally interpolated, and the driving torque curve at different throttle pedal openings after local interpolation can be used as the preliminary simulation result.

[0082] As an example, local interpolation may be performed via the Catmull-Röhm spline algorithm.

[0083] When the intersection of the driving torque curve and the resistance torque curve at different accelerator pedal openings is the maximum vehicle speed at different accelerator pedal openings, that is, when the first verification result is equal, the driving torque curve at different accelerator pedal openings can be directly used as the preliminary simulation result for subsequent operations.

[0084] In some embodiments of the present invention, before verifying whether the intersection of the driving torque curve and the resistance torque curve under different accelerator pedal openings is the maximum vehicle speed under the different accelerator pedal openings, the method further includes:

[0085] The driving torque corresponding to the missing vehicle speed interval in the initial accelerator pedal characteristic data is expanded by an interpolation algorithm.

[0086] That is, before verifying whether the intersection of the driving torque curve and the resistance torque curve under different accelerator pedal openings is the maximum vehicle speed under the different accelerator pedal openings, the driving torque corresponding to the missing vehicle speed range in the initial accelerator pedal characteristic data can also be expanded by an interpolation algorithm.

[0087] In actual applications, after obtaining the initial accelerator pedal characteristic data through calculation using the target vehicle's driving resistance coefficient, vehicle mass, tire radius, and acceleration data of competing vehicles at different accelerator pedal openings in comfort mode, the acceleration data of competing vehicles at different accelerator pedal openings in comfort mode may not contain acceleration data corresponding to all vehicle speed ranges. Therefore, an interpolation algorithm can be used to expand the driving torque corresponding to the missing speed range in the initial accelerator pedal characteristic data.

[0088] As an example, the driving torque may be calculated using a piecewise cubic Hermite interpolation algorithm to expand the driving torque corresponding to the missing vehicle speed interval in the initial accelerator pedal characteristic data.

[0089] The piecewise cubic Hermite interpolation algorithm is mainly used for smooth interpolation of one-dimensional data, and can well maintain the shape characteristics of the data, avoiding the oscillation phenomenon that may be caused by other interpolation methods. It is particularly suitable for data sets that need to maintain monotonicity or avoid unnecessary fluctuations, such as pedal map scene data. Therefore, the vehicle drive torque can be calibrated without historical data training or analysis in the absence of historical data of the target vehicle.

[0090] Sub-step 22, verifying whether the preliminary simulation result meets the business constraint condition, so as to obtain the result of the simulation processing according to the second verification result; wherein the business constraint condition includes whether the preliminary simulation result is smooth.

[0091] After obtaining the preliminary simulation results, it can be checked whether the preliminary simulation results meet the business constraints, which may include whether the driving torque curve under different accelerator pedal openings corresponding to the preliminary simulation results has a local depression, that is, whether it is smooth.

[0092] In some embodiments of the present invention, obtaining the result of the simulation processing according to the second verification result includes:

[0093] In the case where the preliminary simulation result does not satisfy the business constraint condition, performing piecewise linear approximation processing on the preliminary simulation result to obtain the simulation processing result;

[0094] Or when the preliminary simulation result satisfies the business constraint condition, the preliminary simulation result is used as the result of the simulation processing.

[0095] When the preliminary simulation result does not satisfy the business constraint condition, that is, when the second verification result is not satisfied, the preliminary simulation result is subjected to piecewise linear approximation processing, and the preliminary simulation result after the piecewise linear approximation processing is used as the result of the simulation processing.

[0096] In practical applications, the Fourier transform identification method can be used to verify whether the preliminary simulation results meet the business constraints. If not, the driving torque curve under different throttle pedal openings can be piecewise linearly approximated to process the local areas where there are depressions in the driving torque curve under different throttle pedal openings, so that the driving torque curve under different throttle pedal openings is initially smoothed, and the preliminary simulation results after piecewise linear approximation processing are used as the results of the simulation processing.

[0097] When the preliminary simulation result satisfies the business constraint condition, that is, when the second verification result is satisfied, the preliminary simulation result can be directly used as the result of the simulation processing.

[0098] As an example, the constraint conditions for the driving torque curve under different accelerator pedals may also include the following:

[0099] 1. Any driving torque curve cannot exceed the motor external characteristic. The motor external characteristic can be a curve showing the corresponding relationship between driving torque and vehicle speed when the accelerator pedal opening is 100%. That is, the driving torque corresponding to the driving torque curve under any pedal opening at the same vehicle speed cannot exceed the driving torque when the accelerator pedal opening is 100%.

[0100] 2. The driving torque curve under different accelerator pedal openings must be strictly monotonically decreasing as the speed increases after passing the low-speed range.

[0101] 3. The vehicle speed range corresponding to the driving torque curve under different accelerator pedal openings cannot be lower than 0 and exceed the maximum vehicle speed threshold. For example, the vehicle speed range must be within the speed range of [0,280].

[0102] In one example, after obtaining the result of the simulation processing, it is also possible to check whether the driving torque curves under different accelerator pedal openings meet the requirement that they can only be equal and cannot intersect. That is, the driving torque curves under different accelerator pedal openings can overlap, but cannot have intersections. If the result of the simulation processing meets this requirement, the target accelerator pedal characteristic data under the target driving mode is output according to the result of the simulation processing.

[0103] In some embodiments of the present invention, outputting the target accelerator pedal characteristic data in the target driving mode according to the result of the simulation processing includes:

[0104] A smoothing operation is performed on the result of the simulation process to obtain target accelerator pedal characteristic data in the target driving mode, and the target accelerator pedal characteristic data is output.

[0105] After obtaining the result of the simulation processing, it can be known from the above that the result of the simulation processing may be processed by piecewise linear approximation and preliminary smoothing may not be performed. Therefore, the obtained result of the simulation processing can be further smoothed to obtain the target accelerator pedal characteristic data in the target driving mode and output the target accelerator pedal characteristic data. The target driving mode can be a comfort mode, and this process can be called a data smoothing stage.

[0106] In practical applications, the driving torque curves under different accelerator pedals corresponding to the simulation results can be convolved with Gaussian smoothing, that is, the pedal map can be convolved with Gaussian smoothing, and then the pedal map in the comfort mode can be output.

[0107] In an embodiment of the present invention, relevant performance parameters of the vehicle in a target driving mode are obtained, the relevant performance parameters including one or more of driving resistance coefficient, vehicle mass, tire radius, motor external characteristics and acceleration data; initial throttle pedal characteristic data in the target driving mode are generated based on the relevant performance parameters; the throttle pedal characteristic data include a driving torque curve under different throttle pedal openings, the driving torque curve being a corresponding relationship curve between driving torque and vehicle speed; data simulation processing is performed based on the initial throttle pedal characteristic data, and based on a result of the simulation processing, target throttle pedal characteristic data in the target driving mode is output, thereby achieving automatic calibration of the throttle pedal characteristic data in the target driving mode in a simple and flexible manner by processing and simulating the acquired target power-related data, thereby improving the efficiency and uniformity of the target driving mode calibration while ensuring the performance of the target driving mode.

[0108] Reference Figure 3, shows a flow chart of the steps of a pedal map implementation method in a vehicle comfort mode provided by some embodiments of the present invention, in order to enable those skilled in the art to better understand the above steps, the following is combined with the attached Figure 3 The embodiments of the present invention are described as examples, but it should be understood that the embodiments of the present invention are not limited thereto. The specific steps may be as follows:

[0109] 1. Data extraction stage

[0110] 1. First, obtain the target vehicle's driving resistance coefficient, vehicle mass, tire radius, acceleration data of the competitor's vehicle in comfort mode, and the target vehicle's motor external characteristics;

[0111] 2. Verify whether the data is complete, that is, verify whether all the above data have been obtained.

[0112] 2. Data Processing Stage

[0113] 3. First, based on the acquired data, the driving torque at different accelerator pedal openings is calculated according to the formula to obtain the corresponding curve (i.e., the initial accelerator pedal characteristic data). Then, the drag torque of the target vehicle is calculated according to the formula to obtain the drag torque curve. Then, the acceleration map is obtained based on the acceleration data of the competitor's vehicle in the comfort mode, and the maximum vehicle speed at different accelerator pedal openings is obtained from it.

[0114] 4. The driving torque curve at different accelerator pedal openings in the low-speed range is flattened to the maximum torque at the corresponding accelerator pedal opening.

[0115] 3. Data Simulation Phase

[0116] 5. For the speed points where the acceleration is missing, the driving torque is calculated using the piecewise cubic Hermite interpolation algorithm to expand the driving torque corresponding to the actual speed range;

[0117] 6. Check whether the intersection of the resistance torque curve and the driving torque curve under different accelerator pedal openings is the maximum vehicle speed that can be reached under different accelerator pedal openings. If yes, go to step 8; if not, go to step 7;

[0118] 7. Perform local interpolation using the Catmull-Röhm spline algorithm to find the intersection point (x * ,f(x * )) and its two adjacent points are interpolated, and then step 8 is executed;

[0119] 8. Check whether the pedal map under different accelerator pedal openings (i.e., the driving torque curve under different accelerator pedal openings corresponding to the preliminary simulation results) meets the business constraints (i.e., business constraints). If so, execute step 10; if not, execute step 9;

[0120] 9. Perform piecewise linear approximation on the local concave area of ​​the pedal map at different accelerator pedal openings identified by Fourier transform, and execute step 10;

[0121] 10. Confirm that the pedal maps under different accelerator pedal openings (i.e. the driving torque curves under different accelerator pedal openings corresponding to the simulation results) can only be equal and cannot intersect;

[0122] 4. Data Smoothing Stage

[0123] 11. Perform convolution Gaussian smoothing on the pedal map with different accelerator pedal openings (i.e., the driving torque curve under different accelerator pedal openings corresponding to the simulation results);

[0124] 12. Output the driving torque curve under different pedal openings (i.e., the driving torque curve under different accelerator pedal openings corresponding to the target accelerator pedal characteristic data), i.e., the pedal map under the comfort mode.

[0125] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0126] Reference Figure 4 , shows a schematic structural diagram of a vehicle driving mode calibration device provided in some embodiments of the present invention, which may specifically include the following modules:

[0127] The parameter acquisition module 401 is used to acquire relevant performance parameters of the vehicle in the target driving mode, wherein the relevant performance parameters include one or more of driving resistance coefficient, vehicle mass, tire radius, motor external characteristics and acceleration data;

[0128] The data processing module 402 is used to generate initial accelerator pedal characteristic data in the target driving mode according to the relevant performance parameters; wherein the accelerator pedal characteristic data includes a driving torque curve under different accelerator pedal openings, and the driving torque curve is a corresponding relationship curve between the driving torque and the vehicle speed;

[0129] The target data acquisition module 403 is used to perform data simulation processing according to the initial accelerator pedal characteristic data, and output target accelerator pedal characteristic data under the target driving mode according to the result of the simulation processing.

[0130] In one embodiment of the present invention, after generating the initial accelerator pedal characteristic data in the target driving mode according to the relevant performance parameters, the method further includes:

[0131] The driving torque modification module is used to modify the value of the specified vehicle speed interval in the driving torque under different accelerator pedal openings to the maximum driving torque under the corresponding accelerator pedal opening.

[0132] In one embodiment of the present invention, before performing data simulation processing according to the initial accelerator pedal characteristic data, the method further includes:

[0133] A resistance torque and maximum vehicle speed acquisition module, used to obtain the resistance torque curve of the vehicle and the maximum vehicle speed under different accelerator pedal openings according to the relevant performance parameters; wherein the resistance torque curve is a corresponding relationship curve between the resistance torque and the vehicle speed;

[0134] The target data acquisition module 403 includes:

[0135] A preliminary simulation submodule, for verifying whether the intersection of the driving torque curve and the resistance torque curve under different accelerator pedal openings is the maximum vehicle speed under different accelerator pedal openings, and obtaining a preliminary simulation result according to a first verification result;

[0136] The simulation result acquisition submodule is used to verify whether the preliminary simulation result meets the business constraint condition, so as to obtain the result of the simulation processing according to the second verification result; wherein the business constraint condition includes whether the preliminary simulation result is smooth.

[0137] In one embodiment of the present invention, the preliminary simulation submodule includes:

[0138] a preliminary simulation result acquisition unit, configured to perform local interpolation processing on the initial accelerator pedal characteristic data to obtain a preliminary simulation result when the intersection of the driving torque curve and the resistance torque curve under the different accelerator pedal openings is the maximum vehicle speed under the different accelerator pedal openings;

[0139] Or when the intersection of the driving torque curve at different accelerator pedal openings and the resistance torque curve is the maximum vehicle speed at different accelerator pedal openings, the driving torque curve at different accelerator pedal openings is used as the preliminary simulation result.

[0140] In one embodiment of the present invention, the simulation result acquisition submodule includes:

[0141] A simulation result acquisition unit, configured to perform piecewise linear approximation processing on the preliminary simulation result to obtain the result of the simulation processing if the preliminary simulation result does not meet the business constraint condition;

[0142] Or when the preliminary simulation result satisfies the business constraint condition, the preliminary simulation result is used as the result of the simulation processing.

[0143] In one embodiment of the present invention, before verifying whether the intersection of the driving torque curve and the resistance torque curve under different accelerator pedal openings is the maximum vehicle speed under the different accelerator pedal openings, the method further includes:

[0144] The missing vehicle speed expansion module is used to expand the driving torque corresponding to the missing vehicle speed interval in the initial accelerator pedal characteristic data through an interpolation algorithm.

[0145] In one embodiment of the present invention, the target data acquisition module 403 includes:

[0146] The smoothing operation submodule is used to perform a smoothing operation on the result of the simulation processing to obtain the target accelerator pedal characteristic data under the target driving mode, and output the target accelerator pedal characteristic data.

[0147] In one embodiment of the present invention, the relevant performance parameters include any one or more of the following:

[0148] Driving resistance coefficient, vehicle mass, tire radius, motor external characteristics, and acceleration data.

[0149] In an embodiment of the present invention, relevant performance parameters of the vehicle in a target driving mode are obtained, the relevant performance parameters including one or more of driving resistance coefficient, vehicle mass, tire radius, motor external characteristics and acceleration data; initial throttle pedal characteristic data in the target driving mode are generated based on the relevant performance parameters; the throttle pedal characteristic data include a driving torque curve under different throttle pedal openings, the driving torque curve being a corresponding relationship curve between driving torque and vehicle speed; data simulation processing is performed based on the initial throttle pedal characteristic data, and based on a result of the simulation processing, target throttle pedal characteristic data in the target driving mode is output, thereby achieving automatic calibration of the throttle pedal characteristic data in the target driving mode in a simple and flexible manner by processing and simulating the acquired target power-related data, thereby improving the efficiency and uniformity of the target driving mode calibration while ensuring the performance of the target driving mode.

[0150] Some embodiments of the present invention further provide an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the above method is implemented when the computer program is executed by the processor.

[0151] Some embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above method is implemented.

[0152] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0153] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0154] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0155] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0156] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0157] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0158] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0159] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0160] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the above elements.

[0161] The above provides a detailed introduction to a vehicle driving mode calibration method and device. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for calibrating a vehicle driving mode, characterized in that: The method comprises: Acquiring relevant performance parameters of the vehicle in the target driving mode, wherein the relevant performance parameters include one or more of driving resistance coefficient, vehicle mass, tire radius, motor external characteristics and acceleration data; generating initial accelerator pedal characteristic data under the target driving mode according to the relevant performance parameters; wherein the accelerator pedal characteristic data includes a driving torque curve under different accelerator pedal openings, and the driving torque curve is a corresponding relationship curve between the driving torque and the vehicle speed; Data simulation processing is performed according to the initial accelerator pedal characteristic data, and target accelerator pedal characteristic data under the target driving mode is output according to the result of the simulation processing.

2. The method according to claim 1, characterized in that After generating the initial accelerator pedal characteristic data in the target driving mode according to the relevant performance parameters, the method further includes: Among the driving torques under different accelerator pedal openings, the value of the designated vehicle speed interval is modified to be the maximum driving torque under the corresponding accelerator pedal opening.

3. The method according to claim 1, characterized in that Before performing data simulation processing according to the initial accelerator pedal characteristic data, the method further includes: According to the relevant performance parameters, a resistance torque curve of the vehicle and a maximum vehicle speed at different accelerator pedal openings are obtained; wherein the resistance torque curve is a corresponding relationship curve between resistance torque and vehicle speed; The performing data simulation processing according to the initial accelerator pedal characteristic data comprises: Verifying whether the intersection of the driving torque curve under different accelerator pedal openings and the resistance torque curve is the maximum vehicle speed under different accelerator pedal openings, and obtaining a preliminary simulation result according to the first verification result; Verify whether the preliminary simulation result meets the business constraint condition, so as to obtain the result of the simulation processing according to the second verification result; wherein the business constraint condition includes whether the preliminary simulation result is smooth.

4. The method according to claim 3, characterized in that The obtaining of preliminary simulation results according to the first verification result includes: When the intersection of the driving torque curve and the resistance torque curve under the different accelerator pedal openings is the maximum vehicle speed under the different accelerator pedal openings, performing local interpolation processing on the initial accelerator pedal characteristic data to obtain a preliminary simulation result; Or when the intersection of the driving torque curve at different accelerator pedal openings and the resistance torque curve is the maximum vehicle speed at different accelerator pedal openings, the driving torque curve at different accelerator pedal openings is used as the preliminary simulation result.

5. The method according to claim 3, characterized in that: The step of obtaining the result of the simulation processing according to the second verification result includes: In the case where the preliminary simulation result does not satisfy the business constraint condition, performing piecewise linear approximation processing on the preliminary simulation result to obtain the simulation processing result; Or when the preliminary simulation result satisfies the business constraint condition, the preliminary simulation result is used as the result of the simulation processing.

6. The method according to claim 3, characterized in that Before verifying whether the intersection of the driving torque curve and the resistance torque curve under different accelerator pedal openings is the maximum vehicle speed under the different accelerator pedal openings, the method further includes: The driving torque corresponding to the missing vehicle speed interval in the initial accelerator pedal characteristic data is expanded by an interpolation algorithm.

7. The method according to any one of claims 1 to 6, characterized in that: Outputting target accelerator pedal characteristic data in the target driving mode according to the result of the simulation processing includes: A smoothing operation is performed on the result of the simulation process to obtain target accelerator pedal characteristic data in the target driving mode, and the target accelerator pedal characteristic data is output.

8. A vehicle driving mode calibration device, characterized in that: The device comprises: A parameter acquisition module, used to obtain relevant performance parameters of the vehicle under the target driving mode; a data processing module, configured to generate initial accelerator pedal characteristic data under the target driving mode according to the relevant performance parameters; wherein the accelerator pedal characteristic data includes a driving torque curve under different accelerator pedal openings, and the driving torque curve is a corresponding relationship curve between the driving torque and the vehicle speed; The data simulation module is used to perform data simulation processing according to the initial accelerator pedal characteristic data, and output target accelerator pedal characteristic data under the target driving mode according to the result of the simulation processing.

9. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the vehicle driving mode calibration method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle driving mode calibration method according to any one of claims 1 to 7 is implemented.

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