Dynamic adjustment method and device for initial value of accelerator pedal, equipment and storage medium

Abstract

The invention discloses a dynamic adjustment method, device and equipment for an initial value of an accelerator pedal and a storage medium, and relates to the technical field of automobile control, and the dynamic adjustment method for the initial value of the accelerator pedal comprises the steps that the vehicle key state, sensor data and vehicle speed data are obtained; according to the vehicle key state and the vehicle speed data, the adjustment state of an accelerator pedal initial value is obtained; and according to the sensor data and the adjustment state, a target adjustment amount is determined, and dynamic adjustment of the initial value of the accelerator pedal is completed. According to the method, the defect that the opening degree of the accelerator pedal is calculated through a fixed initial value is overcome, the initial value of the accelerator pedal is dynamically adjusted through a self-adaptive initial value method, the accuracy of opening degree calculation of the accelerator pedal is improved, the driving experience is optimized, and the safety of an automobile is enhanced.

Description

Technical Field

[0001] The present application relates to the field of automobile control technology, and in particular to a method, device, equipment and storage medium for dynamically adjusting an initial value of an accelerator pedal. Background Art

[0002] With the development of automobile technology, the requirements for driving experience and safety are getting higher and higher. As a key component that transmits the driver's intention, the accurate calculation of the accelerator pedal opening is crucial to the dynamic response of the vehicle. In automobile control, accurately identifying the free release state of the accelerator pedal (i.e. the state when the pedal is fully released) is crucial to ensure accurate accelerator pedal opening calculation and vehicle performance.

[0003] At present, the calculation of the accelerator pedal opening generally adopts a fixed initial value, which is a theoretical value obtained by the average voltage value of the output signal in the free release state in multiple durability cycle tests. This method is simple and easy to implement, but it ignores factors such as the consistency difference of the sensor, the difference in the installation position, and the wear and replacement of the sensor during use, all of which may cause the free release position of the accelerator pedal to change.

[0004] Therefore, the method of fixing the initial value has significant problems in practical applications. When the free release position of the accelerator pedal changes, the fixed value cannot accurately reflect the actual position of the current pedal, resulting in the accelerator pedal having free travel or torque output when the pedal is not pressed, which not only affects the driving experience but also may bring safety hazards. Therefore, how to accurately calculate the accelerator pedal opening has become an urgent problem to be solved. Summary of the invention

[0005] The purpose of this application is to provide a method, device, equipment and storage medium for dynamically adjusting the initial value of the accelerator pedal, aiming to solve the technical problem of how to accurately calculate the opening of the accelerator pedal.

[0006] To achieve the above objectives, the present application proposes a method for dynamically adjusting the initial value of an accelerator pedal, the method comprising:

[0007] Get vehicle key status, sensor data, and vehicle speed data;

[0008] According to the vehicle key state and the vehicle speed data, obtaining an adjustment state of an initial value of an accelerator pedal;

[0009] According to the sensor data and the adjustment state, a target adjustment amount is determined to complete the dynamic adjustment of the initial value of the accelerator pedal.

[0010] In one embodiment, obtaining the adjustment state of the initial value of the accelerator pedal according to the vehicle key state and the vehicle speed data includes:

[0011] If the vehicle key state is changed from the off state and maintained in the on state, the adjustment state of the accelerator pedal initial value is the power-on adjustment state;

[0012] If the vehicle key state is changed from the on state and maintained in the off state, the adjustment state of the accelerator pedal initial value is determined according to the vehicle speed data.

[0013] In one embodiment, determining the adjustment state of the accelerator pedal initial value according to the vehicle speed data includes:

[0014] Obtaining a preset vehicle speed threshold;

[0015] Obtaining a target vehicle speed according to the vehicle speed data;

[0016] If the target vehicle speed is greater than or equal to the preset vehicle speed threshold, the adjustment state of the accelerator pedal initial value is a power-off adjustment state.

[0017] In one embodiment, if the target vehicle speed is greater than or equal to the preset vehicle speed threshold, the adjustment state of the accelerator pedal initial value is before the power-off adjustment state, and further includes:

[0018] If the target vehicle speed is less than the preset vehicle speed threshold, then exiting the adjustment control of the accelerator pedal initial value;

[0019] If the vehicle key state is not in the on state when the electronic control unit start signal is obtained, the adjustment control of the accelerator pedal initial value is exited.

[0020] In one embodiment, after the adjustment state of the initial value of the accelerator pedal is the power-on adjustment state, the method further includes:

[0021] Get preset filtering parameters;

[0022] Obtaining a current voltage value and a historical voltage value according to the sensor data;

[0023] According to the historical voltage value and the preset filtering parameter, the current voltage value is filtered to obtain a target filtering value;

[0024] A filtering difference value is obtained based on the target filtering value and the historical voltage value.

[0025] In one embodiment, after obtaining the filtering difference value based on the target filtering value and the historical voltage value, the method further includes:

[0026] Obtaining a preset time interval and a preset voltage threshold;

[0027] Obtaining the target time by recording the preset filtering parameters;

[0028] When the target time is within the preset time interval, if the filtered difference value is greater than the preset voltage threshold, then exiting the adjustment control of the accelerator pedal initial value;

[0029] When the target time is within the preset time interval, if the filtered difference value is less than or equal to the preset voltage threshold, the accelerator pedal initial value is dynamically adjusted.

[0030] In one embodiment, after dynamically adjusting the initial value of the accelerator pedal, the method further includes:

[0031] Obtaining a preset limit value, an initial voltage value, a preset error value, and a first reference adjustment value;

[0032] If the target filtering value is less than the preset limit value, a fault signal is issued;

[0033] If the target filtered value is greater than the preset limit value and less than the initial voltage value, a target difference value is obtained based on the initial voltage value and the target filtered value;

[0034] If the target difference value is greater than the preset error value, a first target voltage value is obtained according to the initial voltage value and the reference adjustment value, and the first target voltage value is used as the initial value of the accelerator pedal.

[0035] In one embodiment, if the target vehicle speed is greater than or equal to the preset vehicle speed threshold, after the adjustment state of the accelerator pedal initial value is the power-off adjustment state, the method further includes:

[0036] Obtaining a target filtering value, a preset limit value, an initial voltage value, a preset error value, and a second reference adjustment value;

[0037] If the target filtered value is greater than the initial voltage value, a second target voltage value is obtained according to the initial voltage value and the second reference adjustment value, and the second target voltage value is used as the initial value of the accelerator pedal;

[0038] If the target filtered value is less than the initial voltage value, the adjustment control of the accelerator pedal initial value is exited.

[0039] In one embodiment, obtaining the second reference adjustment value includes:

[0040] Obtain reference adjustment table;

[0041] Obtaining posture data according to the sensor data;

[0042] Obtaining a vehicle stability performance value according to the vehicle speed data and the position and posture data;

[0043] A second reference adjustment value is obtained according to the vehicle stability performance value and the reference adjustment table, wherein the reference adjustment table contains a mapping relationship between the vehicle stability performance value and the second reference adjustment value.

[0044] In addition, to achieve the above-mentioned purpose, the present application also proposes a device for dynamically adjusting the initial value of an accelerator pedal, the device comprising:

[0045] An acquisition module, used to acquire vehicle key status, sensor data and vehicle speed data;

[0046] An obtaining module, used for obtaining an adjustment state of an initial value of an accelerator pedal according to the vehicle key state and the vehicle speed data;

[0047] The completion module is used to determine the target adjustment amount according to the sensor data and the adjustment state, and complete the dynamic adjustment of the initial value of the accelerator pedal.

[0048] In addition, to achieve the above-mentioned purpose, the present application also proposes a dynamic adjustment device for the initial value of the accelerator pedal, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the dynamic adjustment method for the initial value of the accelerator pedal as described above.

[0049] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the dynamic adjustment method of the initial value of the accelerator pedal as described above are implemented.

[0050] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the method for dynamically adjusting the initial value of the accelerator pedal as described above are implemented.

[0051] One or more technical solutions proposed in this application have at least the following technical effects:

[0052] This application first obtains the vehicle key status, sensor data and vehicle speed data to provide the necessary information basis for the dynamic adjustment of the initial value of the accelerator pedal. Then, based on the vehicle key status and vehicle speed data, determine whether the initial value of the accelerator pedal needs to be adjusted, as well as the specific state of the adjustment, to provide direction for subsequent adjustments. Finally, based on the sensor data and the determined adjustment state, calculate the target adjustment amount, and dynamically adjust the initial value of the accelerator pedal to adapt to the current vehicle state. This application can respond to changes in the vehicle state in real time and dynamically adjust the initial value of the accelerator pedal, thereby ensuring that the calculation of the accelerator pedal opening is more accurate and improving the responsiveness and safety of the vehicle. This method solves the shortcomings of the traditional fixed initial value method in dealing with sensor changes and vehicle state differences, making the control of the accelerator pedal more flexible and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0054] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0055] Figure 1 A flowchart diagram of a first embodiment of a method for dynamically adjusting an initial value of an accelerator pedal according to the present application;

[0056] Figure 2 A flow chart of a second embodiment of a method for dynamically adjusting the initial value of an accelerator pedal provided in the present application;

[0057] Figure 3 This is a flow chart of a third embodiment of a method for dynamically adjusting an initial value of an accelerator pedal according to the present application;

[0058] Figure 4 A schematic diagram of determining an adjustment state of a method for dynamically adjusting an initial value of an accelerator pedal according to an embodiment of the present application;

[0059] Figure 5 This is a schematic diagram of the module structure of the device for dynamically adjusting the initial value of the accelerator pedal according to an embodiment of the present application;

[0060] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the method for dynamically adjusting the initial value of the accelerator pedal in the embodiment of the present application.

[0061] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0062] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0063] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0064] With the development of automobile technology, the requirements for driving experience and safety are getting higher and higher. As a key component for conveying the driver's intention, the accurate calculation of the opening of the accelerator pedal is crucial to the dynamic response of the vehicle. In automobile control, accurately identifying the free release state of the accelerator pedal (that is, the state when the pedal is fully released) is crucial to ensure accurate calculation of the accelerator pedal opening and vehicle performance. At present, the calculation of the accelerator pedal opening generally adopts a fixed initial value, which is a theoretical value obtained by the average voltage value of the output signal in the free release state in multiple endurance cycle tests. This method is simple and easy to implement, but it ignores factors such as differences in sensor consistency, differences in installation positions, and wear and replacement of sensors during use, all of which may cause changes in the free release position of the accelerator pedal.

[0065] The main solution of the embodiment of the present application is: this embodiment provides the necessary information basis for the dynamic adjustment of the initial value of the accelerator pedal by obtaining the vehicle key status, sensor data and vehicle speed data. Then, according to the vehicle key status and vehicle speed data, determine whether the initial value of the accelerator pedal needs to be adjusted, as well as the specific state of the adjustment, to provide direction for subsequent adjustments. Finally, based on the sensor data and the determined adjustment state, calculate the target adjustment amount, and dynamically adjust the initial value of the accelerator pedal to adapt to the current vehicle state. This embodiment can respond to changes in the vehicle state in real time and dynamically adjust the initial value of the accelerator pedal, thereby ensuring that the calculation of the accelerator pedal opening is more accurate and improving the responsiveness and safety of the vehicle. This method solves the shortcomings of the traditional fixed initial value method in dealing with sensor changes and vehicle state differences, making the control of the accelerator pedal more flexible and accurate.

[0066] It should be noted that the execution subject of the embodiment of the present application may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, an electronic control unit, etc. The following takes the electronic control unit as an example to illustrate this embodiment and the following embodiments.

[0067] Based on this, the embodiment of the present application provides a method for dynamically adjusting the initial value of the accelerator pedal, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for dynamically adjusting the initial value of the accelerator pedal of the present application.

[0068] In this embodiment, the method for dynamically adjusting the initial value of the accelerator pedal includes steps S10 to S30:

[0069] Step S10, obtaining vehicle key status, sensor data and vehicle speed data;

[0070] It should be noted that the vehicle key status can be the state of the ignition switch, which indicates which stage the vehicle's ignition system is in, such as off, ACC (accessory mode), ON, START. Changes in the key status can trigger the ECU to perform different diagnostic and initialization procedures to set and adjust various systems of the vehicle. Sensor data can be operating parameters of various devices. Sensors convert physical quantities (such as temperature, pressure, position, etc.) into electrical signals. The ECU understands the current state of the vehicle by reading these sensor data. Vehicle speed data can be provided by a vehicle speed sensor, which can be the real-time speed of the vehicle.

[0071] It can be understood that by monitoring the switch status of the vehicle key to identify the vehicle's startup and running stages, while collecting information from various sensors such as engine speed, temperature, air flow, etc., as well as real-time monitoring of the vehicle's driving speed through the vehicle speed sensor, these data together provide the ECU with comprehensive vehicle status information for precise control and adjustment.

[0072] Step S20, obtaining an adjustment state of an initial value of an accelerator pedal according to the vehicle key state and the vehicle speed data;

[0073] It should be noted that the adjustment state of the initial value of the accelerator pedal can be a state in which the electronic control unit (ECU) decides whether and how to adjust the initial value of the accelerator pedal (i.e., the voltage value corresponding to the accelerator pedal being fully released) after comprehensive judgment based on the two parameters of the vehicle key state and the vehicle speed data. This state is used to determine whether the initial value of the accelerator pedal needs to be dynamically changed to adapt to the current vehicle conditions, such as when the vehicle is started, running or shut down, to ensure that the calculation of the opening of the accelerator pedal is more accurate, thereby improving vehicle performance and responsiveness.

[0074] It is understandable that the need to adjust the initial voltage value of the accelerator pedal is determined based on the current position of the vehicle key (such as start, run or off) and the actual speed of the vehicle to ensure accurate measurement of the accelerator pedal opening, thereby adapting to different driving conditions and optimizing vehicle performance.

[0075] Step S30, determining a target adjustment amount according to the sensor data and the adjustment state, and completing the dynamic adjustment of the initial value of the accelerator pedal.

[0076] It should be noted that the target adjustment amount can be a specific value calculated by the electronic control unit (ECU) for updating the initial value of the accelerator pedal based on the adjustment state of the sensor data and the initial value of the accelerator pedal. This amount is obtained by the ECU after comparing the real-time sensor reading (such as the voltage value of the accelerator pedal position sensor) with the preset reference value or the value after the last adjustment. The purpose is to ensure that the initial position of the accelerator pedal can be accurately reflected in the control strategy of the ECU, thereby achieving dynamic optimization of the accelerator pedal response characteristics.

[0077] It is understandable that based on real-time sensor information and current adjustment requirements, a specific adjustment value is calculated to update the initial voltage value of the accelerator pedal to ensure that the accelerator pedal opening measurement matches the actual driving conditions, thereby achieving more precise vehicle control and response.

[0078] This embodiment provides a method for dynamically adjusting the initial value of the accelerator pedal. This embodiment provides the necessary information basis for the dynamic adjustment of the initial value of the accelerator pedal by obtaining the vehicle key status, sensor data and vehicle speed data. Then, according to the vehicle key status and vehicle speed data, it is determined whether the initial value of the accelerator pedal needs to be adjusted, as well as the specific state of the adjustment, to provide direction for subsequent adjustments. Finally, based on the sensor data and the determined adjustment state, the target adjustment amount is calculated, and the initial value of the accelerator pedal is dynamically adjusted to adapt to the current vehicle state. This embodiment can respond to changes in the vehicle state in real time and dynamically adjust the initial value of the accelerator pedal, thereby ensuring that the calculation of the accelerator pedal opening is more accurate and improving the responsiveness and safety of the vehicle. This method solves the shortcomings of the traditional fixed initial value method in dealing with sensor changes and vehicle state differences, making the control of the accelerator pedal more flexible and accurate.

[0079] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 2 , Figure 2 This is a flow chart of a second embodiment of the method for dynamically adjusting the initial value of the accelerator pedal of the present application. Step S20 of the method for dynamically adjusting the initial value of the accelerator pedal includes steps S21 to S22:

[0080] Step S21, if the vehicle key state is changed from the off state and maintained in the on state, the adjustment state of the accelerator pedal initial value is the power-on adjustment state;

[0081] It should be noted that the power-on adjustment state can be when the vehicle key is switched from the off state to the on state and remains in the on state, the electronic control unit (ECU) sets the adjustment state of the initial value of the accelerator pedal to the need for adjustment after power-on. In this state, the ECU will adjust the initial value of the accelerator pedal (i.e. the voltage value when the pedal is fully released) according to the preset logic and parameters to ensure that the opening of the accelerator pedal can be accurately detected and responded to when the vehicle is started and running. This adjustment is usually to compensate for the change in the initial value caused by factors such as sensor aging, wear or installation differences to maintain the consistency and reliability of vehicle performance.

[0082] It is understandable that when the vehicle key is switched from the off state and remains in the on state, that is, the vehicle is ready to start or has been started, the adjustment state of the initial value of the accelerator pedal is called the power-on adjustment state. At this time, the electronic control unit (ECU) will adjust the initial voltage value of the accelerator pedal according to the sensor data and the vehicle status to ensure the responsiveness and accuracy of the accelerator pedal after the vehicle is started, and compensate for the deviation caused by sensor changes or different vehicle conditions.

[0083] As an example, after the adjustment state of the initial value of the accelerator pedal is the power-on adjustment state, it also includes: obtaining preset filtering parameters; obtaining a current voltage value and a historical voltage value according to the sensor data; filtering the current voltage value according to the historical voltage value and the preset filtering parameters to obtain a target filtering value; and obtaining a filtering difference value based on the target filtering value and the historical voltage value.

[0084] Among them, the current voltage value can be the voltage value actually measured by the sensor at a certain moment, reflecting the current position state of the accelerator pedal. The historical voltage value can be the voltage value after the last filtering or the historical data under similar conditions, which is used to compare with the target filtering value to determine the voltage change. The target filtering value can be the voltage value obtained after processing by the filtering algorithm based on the historical voltage value, the current voltage value and the preset filtering parameters, which is used to reduce noise and fluctuations and more accurately reflect the actual position of the accelerator pedal. The filtering difference value can be the difference between the target filtering value and the historical voltage value, which is used to measure the degree of change in the voltage value after filtering. The specific calculation formula can be:

[0085] u filter(t) =(u (t) -u filter(t-1) )×k f +u filter(t-1)

[0086] Among them, u filter(t) is the target filter value, u filter(t-1) is the historical voltage value, k f are the preset filter parameters.

[0087] Specifically, first obtain the preset filtering parameters, then calculate the current voltage value and the historical voltage value according to the sensor data. Next, use the historical voltage value and the preset filtering parameters to filter the current voltage value to obtain the target filtering value. By comparing the target filtering value and the historical voltage value, calculate the filtering difference value.

[0088] As an example, after obtaining the filter difference value based on the target filter value and the historical voltage value, it also includes: obtaining a preset time interval and a preset voltage threshold; obtaining the target time by obtaining the preset filter parameter recording time; when the target time is in the preset time interval, if the filter difference value is greater than the preset voltage threshold, exiting the adjustment control of the accelerator pedal initial value; when the target time is in the preset time interval, if the filter difference value is less than or equal to the preset voltage threshold, dynamically adjusting the accelerator pedal initial value.

[0089] Among them, the preset voltage threshold can be a set voltage value used to judge the stability and reliability of sensor data. When the filter difference value of the sensor data (the difference between the voltage value after filtering and the historical voltage value) exceeds this threshold, it is considered that the sensor data is unstable or abnormal, so the adjustment control of the initial value of the accelerator pedal is exited to avoid safety hazards caused by incorrect adjustments. The preset time interval can be a set time range, which is used to determine when to check whether the filter difference value meets the conditions for adjusting the initial value of the accelerator pedal. Check the filter difference value within a period of time to determine whether to dynamically adjust the initial value of the accelerator pedal. The target time can be a specific time point obtained by recording the time according to the preset filter parameters. At this time point, check whether the filter difference value is within the range of the preset voltage threshold. If the filter difference value is within the preset voltage threshold range (less than or equal to the preset voltage threshold), the system will dynamically adjust the initial value of the accelerator pedal; if it is not within this range (greater than the preset voltage threshold), the adjustment control is exited.

[0090] Specifically, a voltage threshold and a time interval are first set, and then the difference (filter difference value) between the filtered voltage value and the historical voltage value is checked at the time point (target time) when the filter parameters are recorded. If the difference value exceeds the preset voltage threshold within the target time point, it means that the voltage value is unstable, and the adjustment of the initial value of the accelerator pedal will be stopped to ensure safety; if the difference value is less than or equal to the preset voltage threshold, it means that the voltage value is stable, and the initial value of the accelerator pedal will be dynamically adjusted. It ensures that the initial value of the accelerator pedal is dynamically adjusted when the voltage value is stable to improve the accuracy and responsiveness of vehicle control.

[0091] As an example, after dynamically adjusting the initial value of the accelerator pedal, it also includes: obtaining a preset limit value, an initial voltage value, a preset error value and a first reference adjustment value; if the target filter value is less than the preset limit value, a fault signal is issued; if the target filter value is greater than the preset limit value and less than the initial voltage value, a target difference value is obtained based on the initial voltage value and the target filter value; if the target difference value is greater than the preset error value, a first target voltage value is obtained based on the initial voltage value and the reference adjustment value, and the first target voltage value is used as the initial value of the accelerator pedal.

[0092] The preset limit value may be a safety or performance parameter used to define a safe lower limit for the voltage value. If the target filter value is lower than the limit value, it may indicate a fault or abnormal condition. The initial voltage value may be an ideal or nominal voltage value when the accelerator pedal is in a fully released position, which is used to compare with the actual measured value to determine whether the initial value of the accelerator pedal needs to be adjusted. The preset error value may be a maximum allowable error range, which is used to determine whether the difference between the target filter value and the initial voltage value is large enough to require adjustment. The first reference adjustment value may be a preset adjustment parameter, which is used to calculate a new initial value of the accelerator pedal when the target difference value exceeds the preset error value. The fault signal may be a fault signal issued when the target filter value is less than the preset limit value, indicating a possible system fault or performance problem, requiring further inspection or repair. The target difference value may be the difference between the target filter value and the initial voltage value, which is used to determine whether the initial value of the accelerator pedal needs to be adjusted. The first target voltage value may be a new target voltage value calculated based on the initial voltage value and the first reference adjustment value when the target difference value exceeds the preset error value, and this value will be used as the updated initial value of the accelerator pedal.

[0093] Specifically, it is first checked whether the target filter value is lower than the preset limit value, and if so, a fault signal is issued. If the target filter value is above the preset limit value but lower than the initial voltage value, a target difference value is calculated. If this difference value exceeds the preset error value, indicating that adjustment is required, the first target voltage value is calculated using the initial voltage value and the first reference adjustment value, and is set as the new initial value of the accelerator pedal to ensure accurate response of the accelerator pedal.

[0094] Step S22: if the vehicle key state is changed from the on state and maintained in the off state, the adjustment state of the accelerator pedal initial value is determined according to the vehicle speed data.

[0095] It is understandable that when the vehicle key is switched from the on state to the off state and maintained, that is, when the vehicle is about to be shut down or has been shut down, the vehicle speed data will be used to determine whether the initial value of the accelerator pedal needs to be adjusted to ensure that the initial position of the accelerator pedal can be accurately reflected when the vehicle is started next time, thereby maintaining the consistency and reliability of vehicle performance.

[0096] When the vehicle key is switched from the off state and remains in the on state, this embodiment recognizes this change and enters the power-on adjustment state, at which time the adjustment process of the initial value of the accelerator pedal is triggered to ensure that the reading of the accelerator pedal is accurate when the vehicle is started. On the contrary, when the vehicle key is switched from the on state and remains in the off state, it is determined whether the initial value of the accelerator pedal needs to be adjusted based on the vehicle speed data, which usually involves the state before the vehicle is turned off to ensure that the initial position of the pedal is accurate when the next start is started. By monitoring the state change of the vehicle key, this embodiment can intelligently determine when to adjust the initial value of the accelerator pedal. When the vehicle is started (the key is turned from off to on), active adjustments are made to cope with possible changes in the pedal position; and when the vehicle is turned off (the key is turned from on to off), it is determined whether it is necessary to make adjustments based on the vehicle speed data. Such a design not only ensures the performance and safety of the vehicle when it is started, but also ensures the consistency and reliability of the accelerator pedal between different driving cycles.

[0097] Based on the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned second embodiment can refer to the above introduction, and will not be repeated in the following. Figure 3 , Figure 3 This is a flow chart of a third embodiment of the method for dynamically adjusting the initial value of the accelerator pedal of the present application. Step S22 of the method for dynamically adjusting the initial value of the accelerator pedal includes steps A21 to A23:

[0098] Step A21, obtaining a preset vehicle speed threshold;

[0099] It should be noted that the preset vehicle speed threshold may be a pre-set speed limit value, which is used to determine whether the vehicle is in a specific operating state. When the actual vehicle speed reaches or exceeds this threshold, it is considered that the vehicle is in a state where certain adjustments can be made.

[0100] It is understandable that a critical value of vehicle speed is preset, and this value is used to determine whether the vehicle is in a state suitable for adjusting the initial value of the accelerator pedal. When the actual speed of the vehicle reaches or exceeds this preset vehicle speed threshold, it is considered that the vehicle is in a stable driving state, so that the initial value of the accelerator pedal can be adjusted safely. The setting of this threshold helps to ensure that the adjustment operation will not be performed when the vehicle is started or in an unstable state at low speed, thereby avoiding possible misadjustment and safety hazards.

[0101] Step A22, obtaining a target vehicle speed according to the vehicle speed data;

[0102] It should be noted that the target vehicle speed can be the actual speed of the vehicle at a specific moment, measured by a vehicle speed sensor. This speed value will be used to compare with a preset vehicle speed threshold to determine whether the initial value of the accelerator pedal needs to be adjusted.

[0103] It is understandable that the current speed of the vehicle is monitored and recorded in real time, and this speed value is the so-called "target speed". This target speed is a key parameter in the process of dynamically adjusting the initial value of the accelerator pedal. It is used to compare with the preset speed threshold to determine whether the conditions for adjusting the initial value of the accelerator pedal are met. In this way, it can be ensured that the initial value adjustment will only be performed when the vehicle reaches a certain speed, that is, it is in a relatively stable and safe driving state, thereby optimizing the vehicle's control performance and ensuring driving safety.

[0104] Step A23: If the target vehicle speed is greater than or equal to the preset vehicle speed threshold, the adjustment state of the accelerator pedal initial value is a power-off adjustment state.

[0105] It should be noted that the power-off adjustment state can be a specific adjustment state, which is activated when the vehicle key state is changed from the on state and remains in the off state, and the actual vehicle speed is greater than or equal to the preset vehicle speed threshold (i.e., it is determined that effective driving control is performed). In the power-off adjustment state, a specific adjustment logic is executed to update or calibrate the initial value of the accelerator pedal, which usually occurs after the vehicle is turned off or the power is cut off, to ensure that the initial position of the accelerator pedal can be accurately reflected at the next start, thereby maintaining the consistency and reliability of vehicle performance.

[0106] It is understood that when the actual driving speed of the vehicle (target speed) reaches or exceeds the preset safety speed standard (preset speed threshold), the adjustment state of the initial value of the accelerator pedal will be set to "power-off adjustment state". This is a safety measure to ensure that the initial value of the accelerator pedal is adjusted after effective driving to optimize vehicle performance and response, while avoiding unnecessary adjustments at low speed or unstable conditions, thereby ensuring driving safety.

[0107] As an example, if the target vehicle speed is greater than or equal to the preset vehicle speed threshold, the adjustment state of the accelerator pedal initial value is before the power-off adjustment state, and also includes: if the target vehicle speed is less than the preset vehicle speed threshold, then exit the adjustment control of the accelerator pedal initial value; if the vehicle key state is not in the on state when the electronic control unit start signal is obtained, then exit the adjustment control of the accelerator pedal initial value.

[0108] Among them, the on state usually refers to the state in which the vehicle key switch is in a state capable of starting the vehicle, that is, the key is turned to or the start button is pressed, so that the vehicle's electronic control unit (ECU) and other related systems are activated and ready to run. Among the multiple positions of the car key, the on state is usually located at the "ON" mark, at which time the vehicle's electrical system is powered but the engine has not yet started. If the vehicle key is not in the on state, that is, in other states such as off or ACC (accessory mode), the adjustment control of the initial value of the accelerator pedal will not be performed, because these systems need to be adjusted when the vehicle is fully started and ready to run.

[0109] Specifically, the actual speed of the vehicle, i.e., the target speed, is continuously monitored. At the same time, there is a preset speed threshold, which is the minimum speed requirement for adjusting the initial value of the accelerator pedal. If the target speed is lower than the preset speed threshold, the vehicle is considered to be in a state that is not suitable for adjustment (it may be because the vehicle has not reached a sufficient speed or is driving at a low speed, such as idling, parking, etc.), so the adjustment control process of the initial value of the accelerator pedal will be exited. On the other hand, when the ECU receives the start signal and is ready to perform the self-check and initialization process, it will check the state of the vehicle key. If the vehicle key is not in the open state at this time (i.e., not in the "ON" position, but may be in the "OFF", "ACC" or "LOCK" position), it means that the vehicle is not authorized or ready to start. In this case, for safety and logic considerations, the adjustment control process of the initial value of the accelerator pedal will also be exited. In summary, these two conditions ensure that the adjustment of the initial value of the accelerator pedal is only performed when the vehicle is in a suitable driving state and starting state, avoiding unnecessary adjustments under inappropriate conditions, thereby ensuring the accuracy and safety of vehicle control.

[0110] As an example, if the target vehicle speed is greater than or equal to the preset vehicle speed threshold, then after the adjustment state of the initial value of the accelerator pedal is the power-off adjustment state, it also includes: obtaining a target filter value, a preset limit value, an initial voltage value, a preset error value and a second reference adjustment value; if the target filter value is greater than the initial voltage value, then according to the initial voltage value and the second reference adjustment value, a second target voltage value is obtained, and the second target voltage value is used as the initial value of the accelerator pedal; if the target filter value is less than the initial voltage value, then the adjustment control of the initial value of the accelerator pedal is exited.

[0111] The second reference adjustment value may be a preset adjustment parameter used to calculate a new accelerator pedal initial value when the target filter value is greater than the initial voltage value. The second target voltage value may be a new target voltage value calculated based on the initial voltage value and the second reference adjustment value when the target filter value is greater than the initial voltage value, and this value will be used as the updated accelerator pedal initial value.

[0112] Specifically, the parameters of the target filter value, the preset limit value, the initial voltage value, the preset error value and the second reference adjustment value are first obtained. If the target filter value exceeds the initial voltage value, a new voltage value, namely the second target voltage value, is calculated using the initial voltage value and the second reference adjustment value, and is set as the new initial value of the accelerator pedal. On the contrary, if the target filter value is lower than the initial voltage value, no adjustment is made, and the adjustment control process of the initial value of the accelerator pedal is directly exited. This is for safety reasons to prevent the actual pedal opening output when the accelerator pedal is not pressed after the next power-on.

[0113] As an example, obtaining a second reference adjustment value includes: obtaining a reference adjustment table; obtaining posture data based on the sensor data; obtaining a vehicle stability performance value based on the vehicle speed data and the posture data; obtaining a second reference adjustment value based on the vehicle stability performance value and the reference adjustment table, wherein the reference adjustment table contains a mapping relationship between the vehicle stability performance value and the second reference adjustment value.

[0114] Among them, the reference adjustment table can be a predefined table or database, which contains the mapping relationship between different vehicle smoothness performance values ​​and corresponding reference adjustment values. This table is used to guide how to adjust the initial value of the accelerator pedal according to the smoothness performance of the vehicle. Posture data can refer to data collected from sensors, which usually includes information such as the position and posture (such as tilt angle) of the vehicle. Posture data can help the system understand the current state of the vehicle, which is crucial for evaluating the smoothness performance of the vehicle. The vehicle smoothness performance value can be a comprehensive indicator, which is calculated based on vehicle speed data and posture data to evaluate the stability and smoothness of the vehicle during driving. This value reflects the driving performance of the vehicle under specific conditions and is an important factor in determining how to adjust the initial value of the accelerator pedal.

[0115] Specifically, first, a reference adjustment table is obtained, which defines the relationship between the vehicle's smooth performance value and the corresponding adjustment value. Then, the vehicle's smooth performance value is calculated using the position data (such as the vehicle's position and posture) and vehicle speed data collected by the sensor. This value reflects the stability and driving smoothness of the vehicle in the current state. Finally, according to the calculated smooth performance value, the corresponding second reference adjustment value is searched in the reference adjustment table. This value will be used to adjust the initial value of the accelerator pedal to optimize the vehicle's driving performance and response.

[0116] This embodiment first determines a speed standard as a basis for judging whether the vehicle is in a state suitable for adjusting the initial value of the accelerator pedal. Then the actual driving speed of the vehicle is monitored in real time for comparison with the preset vehicle speed threshold. Finally, when the vehicle speed reaches or exceeds the safety threshold, the adjustment state of the initial value of the accelerator pedal will be set to the "power-off adjustment state" after power is turned off. This embodiment can intelligently determine whether the initial value of the accelerator pedal needs to be adjusted by monitoring the vehicle speed in real time and comparing it with the preset threshold. When the vehicle is driving steadily at a certain speed, it is considered that the vehicle has been effectively driven, and thus enters the "power-off adjustment state" after power is turned off. Such a design can ensure that the initial value adjustment of the accelerator pedal will not be performed when the vehicle is started or in an unstable state at low speed, avoiding possible misadjustments and safety hazards, and improving driving safety and vehicle control accuracy.

[0117] For example, in order to help understand the implementation process of the method for dynamically adjusting the initial value of the accelerator pedal obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 4 , Figure 4 A schematic diagram of adjusting state determination of a method for dynamically adjusting an initial value of an accelerator pedal is provided, specifically:

[0118] When the vehicle key is switched from the OFF state to the ON state and remains in the ON state, the ECU sets the adjustment state of the accelerator pedal initial value to the "Power-On Adjustment State". This means that when the vehicle is started, the ECU will adjust the initial value of the accelerator pedal as needed to ensure that the response of the accelerator pedal corresponds accurately to the actual pedal position. When the vehicle key is switched from the ON state to the OFF state and remains in the OFF state, the ECU needs to determine whether to enter the "Power-Off Adjustment State" based on the vehicle speed data. To do this, the ECU obtains a preset vehicle speed threshold and calculates the target vehicle speed based on the vehicle speed data. If the target vehicle speed is greater than or equal to the preset vehicle speed threshold, the ECU sets the adjustment state of the accelerator pedal initial value to the "Power-Off Adjustment State". This usually means that before the vehicle is turned off, if the vehicle is still running above a certain speed, the ECU will adjust the accelerator pedal initial value to ensure accuracy at the next start. If the target vehicle speed is less than the preset vehicle speed threshold, the ECU will exit the adjustment control of the accelerator pedal initial value and will not make any adjustments. The ECU will also exit the adjustment control of the accelerator pedal initial value if it detects that the vehicle key is not in the ON state when obtaining the start signal. This is a safety measure to ensure that no unnecessary adjustments are made when the vehicle is not started correctly or the key is not in the ON state.

[0119] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the dynamic adjustment method of the initial value of the accelerator pedal of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0120] This application also provides a dynamic adjustment device for the initial value of the accelerator pedal, please refer to Figure 5 , the dynamic adjustment device of the initial value of the accelerator pedal comprises:

[0121] An acquisition module 10 is used to acquire vehicle key status, sensor data and vehicle speed data;

[0122] An obtaining module 20 is used to obtain an adjustment state of an initial value of an accelerator pedal according to the vehicle key state and the vehicle speed data;

[0123] The completion module 30 is used to determine a target adjustment amount according to the sensor data and the adjustment state, and complete the dynamic adjustment of the initial value of the accelerator pedal.

[0124] The dynamic adjustment device for the initial value of the accelerator pedal provided in the present application adopts the dynamic adjustment method for the initial value of the accelerator pedal in the above embodiment, which can solve the technical problem of how to accurately calculate the opening of the accelerator pedal. Compared with the prior art, the beneficial effects of the dynamic adjustment device for the initial value of the accelerator pedal provided in the present application are the same as the beneficial effects of the dynamic adjustment method for the initial value of the accelerator pedal provided in the above embodiment, and other technical features in the dynamic adjustment device for the initial value of the accelerator pedal are the same as the features disclosed in the above embodiment method, which will not be described in detail here.

[0125] The present application provides a device for dynamically adjusting the initial value of an accelerator pedal, the device for dynamically adjusting the initial value of an accelerator pedal comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for dynamically adjusting the initial value of an accelerator pedal in the above-mentioned embodiment one.

[0126] Reference below Figure 6 , which shows a schematic diagram of the structure of a dynamic adjustment device for the initial value of the accelerator pedal suitable for implementing the embodiment of the present application. The dynamic adjustment device for the initial value of the accelerator pedal in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The dynamic adjustment device of the initial value of the accelerator pedal shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0127] like Figure 6 As shown, the dynamic adjustment device for the initial value of the accelerator pedal may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the dynamic adjustment device for the initial value of the accelerator pedal are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the dynamic adjustment device for the initial value of the accelerator pedal to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a dynamic adjustment device for the initial value of the accelerator pedal with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0128] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0129] The dynamic adjustment device for the initial value of the accelerator pedal provided by the present application adopts the dynamic adjustment method for the initial value of the accelerator pedal in the above embodiment, which can solve the technical problem of how to accurately calculate the opening of the accelerator pedal. Compared with the prior art, the beneficial effects of the dynamic adjustment device for the initial value of the accelerator pedal provided by the present application are the same as the beneficial effects of the dynamic adjustment method for the initial value of the accelerator pedal provided by the above embodiment, and other technical features in the dynamic adjustment device for the initial value of the accelerator pedal are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0130] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0131] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0132] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the method for dynamically adjusting the initial value of the accelerator pedal in the above-mentioned embodiment.

[0133] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0134] The computer-readable storage medium may be included in the device for dynamically adjusting the initial value of the accelerator pedal; or may exist independently without being assembled into the device for dynamically adjusting the initial value of the accelerator pedal.

[0135] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the dynamic adjustment device of the initial value of the accelerator pedal, the dynamic adjustment device of the initial value of the accelerator pedal: obtains the vehicle key status, sensor data and vehicle speed data; obtains the adjustment status of the initial value of the accelerator pedal according to the vehicle key status and the vehicle speed data; determines the target adjustment amount according to the sensor data and the adjustment status, and completes the dynamic adjustment of the initial value of the accelerator pedal.

[0136] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0138] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0139] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for dynamically adjusting the initial value of the accelerator pedal, and can solve the technical problem of how to accurately calculate the opening of the accelerator pedal. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the method for dynamically adjusting the initial value of the accelerator pedal provided by the above-mentioned embodiment, and will not be described in detail here.

[0140] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the method for dynamically adjusting the initial value of the accelerator pedal as described above.

[0141] The computer program product provided by the present application can solve the technical problem of how to accurately calculate the accelerator pedal opening. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the dynamic adjustment method of the accelerator pedal initial value provided by the above embodiment, which will not be repeated here.

[0142] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for dynamically adjusting the initial value of an accelerator pedal, characterized in that: The method comprises: Get vehicle key status, sensor data, and vehicle speed data; According to the vehicle key state and the vehicle speed data, obtaining an adjustment state of an initial value of an accelerator pedal; According to the sensor data and the adjustment state, a target adjustment amount is determined to complete the dynamic adjustment of the initial value of the accelerator pedal.

2. The method according to claim 1, characterized in that The step of obtaining the adjustment state of the initial value of the accelerator pedal according to the vehicle key state and the vehicle speed data includes: If the vehicle key state is changed from the off state and maintained in the on state, the adjustment state of the accelerator pedal initial value is the power-on adjustment state; If the vehicle key state is changed from the on state and maintained in the off state, the adjustment state of the accelerator pedal initial value is determined according to the vehicle speed data.

3. The method according to claim 2, characterized in that The step of determining the adjustment state of the initial value of the accelerator pedal according to the vehicle speed data comprises: Obtaining a preset vehicle speed threshold; Obtaining a target vehicle speed according to the vehicle speed data; If the target vehicle speed is greater than or equal to the preset vehicle speed threshold, the adjustment state of the accelerator pedal initial value is a power-off adjustment state.

4. The method according to claim 3, characterized in that If the target vehicle speed is greater than or equal to the preset vehicle speed threshold, the adjustment state of the accelerator pedal initial value is before the power-off adjustment state, and further includes: If the target vehicle speed is less than the preset vehicle speed threshold, then exiting the adjustment control of the accelerator pedal initial value; If the vehicle key state is not in the on state when the electronic control unit start signal is obtained, the adjustment control of the accelerator pedal initial value is exited.

5. The method according to claim 2, characterized in that After the adjustment state of the initial value of the accelerator pedal is the power-on adjustment state, the method further includes: Get preset filtering parameters; Obtaining a current voltage value and a historical voltage value according to the sensor data; According to the historical voltage value and the preset filtering parameter, the current voltage value is filtered to obtain a target filtering value; A filtering difference value is obtained based on the target filtering value and the historical voltage value.

6. The method according to claim 5, characterized in that After obtaining the filtering difference value based on the target filtering value and the historical voltage value, the method further includes: Obtaining a preset time interval and a preset voltage threshold; Obtaining the target time by recording the preset filtering parameters; When the target time is within the preset time interval, if the filtered difference value is greater than the preset voltage threshold, then exiting the adjustment control of the accelerator pedal initial value; When the target time is within the preset time interval, if the filtered difference value is less than or equal to the preset voltage threshold, the accelerator pedal initial value is dynamically adjusted.

7. The method according to claim 6, characterized in that After dynamically adjusting the initial value of the accelerator pedal, the method further includes: Obtaining a preset limit value, an initial voltage value, a preset error value, and a first reference adjustment value; If the target filtering value is less than the preset limit value, a fault signal is issued; If the target filtered value is greater than the preset limit value and less than the initial voltage value, a target difference value is obtained based on the initial voltage value and the target filtered value; If the target difference value is greater than the preset error value, a first target voltage value is obtained according to the initial voltage value and the reference adjustment value, and the first target voltage value is used as the initial value of the accelerator pedal.

8. The method according to claim 3, characterized in that If the target vehicle speed is greater than or equal to the preset vehicle speed threshold, then after the adjustment state of the accelerator pedal initial value is the power-off adjustment state, the method further includes: Obtaining a target filtering value, a preset limit value, an initial voltage value, a preset error value, and a second reference adjustment value; If the target filtered value is greater than the initial voltage value, a second target voltage value is obtained according to the initial voltage value and the second reference adjustment value, and the second target voltage value is used as the initial value of the accelerator pedal; If the target filtered value is less than the initial voltage value, the adjustment control of the accelerator pedal initial value is exited.

9. The method according to claim 8, characterized in that The obtaining of the second reference adjustment value comprises: Obtain reference adjustment table; Obtaining posture data according to the sensor data; Obtaining a vehicle stability performance value according to the vehicle speed data and the position and posture data; A second reference adjustment value is obtained according to the vehicle stability performance value and the reference adjustment table, wherein the reference adjustment table contains a mapping relationship between the vehicle stability performance value and the second reference adjustment value.

10. A dynamic adjustment device for the initial value of an accelerator pedal, characterized in that: The device comprises: An acquisition module, used to acquire vehicle key status, sensor data and vehicle speed data; An obtaining module, used for obtaining an adjustment state of an initial value of an accelerator pedal according to the vehicle key state and the vehicle speed data; The completion module is used to determine the target adjustment amount according to the sensor data and the adjustment state, and complete the dynamic adjustment of the initial value of the accelerator pedal.

11. A device for dynamically adjusting the initial value of an accelerator pedal, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for dynamically adjusting the initial value of the accelerator pedal as claimed in any one of claims 1 to 9.

12. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for dynamically adjusting the initial value of the accelerator pedal according to any one of claims 1 to 9 are implemented.

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