Accelerator pedal throttle depth calibration method, device, storage medium and vehicle

Abstract

The present application discloses a throttle depth calibration method, device, storage medium and vehicle for an accelerator pedal, and belongs to the field of automobile technology. During vehicle driving, when the brake pedal is stepped on, the collected first throttle depth and second throttle depth are obtained; the target throttle depth to be calibrated is determined, and the target throttle depth is at least one of the first throttle depth and the second throttle depth; the cumulative depth deviation corresponding to the target throttle depth is adjusted according to the comparison result between the target throttle depth and the threshold; the first throttle depth and the second throttle depth collected when the accelerator pedal is stepped on are obtained, and the first throttle depth is subtracted from the corresponding cumulative depth deviation to obtain the final first throttle depth, and the second throttle depth is subtracted from the corresponding cumulative depth deviation to obtain the final second throttle depth. The present application can eliminate depth deviation through self-learning, can improve the accuracy of throttle depth, and improve driving safety and response speed.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a throttle depth calibration method, device, storage medium and vehicle for an accelerator pedal. Background Art

[0002] A depth sensor is set on the accelerator pedal. By calculating the voltage value collected by the depth sensor, the accelerator depth can be obtained, so that the vehicle acceleration control can be performed according to the accelerator depth. The voltage value when the accelerator pedal is not pressed is regarded as the zero position of the accelerator pedal.

[0003] However, there are certain mechanical deviations in the assembly and manufacturing of the accelerator pedal, and the zero-position voltage value of each vehicle's accelerator pedal when it is not pressed has certain deviations. As the vehicle is used, the mechanical travel of the accelerator pedal will continue to shift due to wear, vibration, etc., resulting in certain deviations in the zero-position voltage value of the same vehicle.

[0004] If the zero position of the accelerator pedal is too large, it may cause a light press of the accelerator but still be recognized as a large throttle depth, causing the vehicle to accelerate faster; if the zero position of the accelerator pedal is too small, it may cause the throttle idle travel to become larger, which may cause a heavy press of the accelerator but still be recognized as a small throttle depth, causing the vehicle to accelerate slower. Summary of the invention

[0005] The present application provides a throttle depth calibration method, device, storage medium and vehicle for an accelerator pedal, which are used to solve the problem that the zero position of the accelerator pedal is biased, resulting in a bias in the collected throttle depth. The technical solution is as follows:

[0006] According to a first aspect of the present application, a method for calibrating the throttle depth of an accelerator pedal is provided, the method comprising:

[0007] When the brake pedal is depressed during vehicle driving, a first throttle depth and a second throttle depth are acquired, wherein the first throttle depth corresponds to a first throttle pedal signal, and the second throttle depth corresponds to a second throttle pedal signal;

[0008] determining a target throttle depth that needs to be calibrated, wherein the target throttle depth is at least one of the first throttle depth and the second throttle depth;

[0009] adjusting the accumulated depth deviation corresponding to the target throttle depth according to the comparison result between the target throttle depth and the threshold;

[0010] A first throttle depth and a second throttle depth collected when the accelerator pedal is depressed are obtained, and a corresponding accumulated depth deviation is subtracted from the first throttle depth to obtain a final first throttle depth, and a corresponding accumulated depth deviation is subtracted from the second throttle depth to obtain a final second throttle depth.

[0011] In a possible implementation, adjusting the accumulated depth deviation corresponding to the target throttle depth according to the comparison result between the target throttle depth and a threshold value includes:

[0012] If the target throttle depth is greater than or equal to a first positive threshold, increasing the accumulated depth deviation corresponding to the target throttle depth by a first value;

[0013] If the target throttle depth is less than or equal to the first negative threshold, the accumulated depth deviation corresponding to the target throttle depth is reduced by a second value.

[0014] In a possible implementation, determining a target throttle depth that needs to be calibrated includes:

[0015] Obtain a preset reasonable deviation range, wherein the minimum value within the reasonable deviation range is negative and the maximum value is positive;

[0016] If the value of the first throttle depth is within the reasonable deviation range and the duration is greater than the first duration, determining that the first throttle depth is the target throttle depth that needs to be calibrated; and / or,

[0017] If the value of the second throttle depth falls within the reasonable deviation range and the duration is greater than the first duration, the second throttle depth is determined to be the target throttle depth that needs to be calibrated.

[0018] In a possible implementation, the method further includes:

[0019] After determining the target throttle depth, detecting the duration of the brake pedal being depressed;

[0020] If the duration of the brake pedal being depressed is greater than or equal to the second duration, the step of adjusting the accumulated depth deviation corresponding to the target throttle depth according to the comparison result between the target throttle depth and a threshold is triggered.

[0021] In a possible implementation, the method further includes:

[0022] detecting whether the first throttle depth and the second throttle depth are within their respective normal operating ranges;

[0023] If the first throttle depth and / or the second throttle depth are within their respective normal working ranges, triggering the step of determining a target throttle depth that needs to be calibrated;

[0024] If both the first throttle depth and the second throttle depth are not within their respective normal operating ranges, it is determined that a fault has occurred.

[0025] In a possible implementation, the acquiring the collected first throttle depth includes:

[0026] Acquire a first accelerator pedal depth curve corresponding to the first accelerator pedal signal, wherein the first accelerator pedal depth curve is a curve representing a corresponding relationship between a voltage value of the first accelerator pedal signal and an accelerator depth;

[0027] When the brake pedal is depressed, obtaining a first voltage value collected from the first accelerator pedal signal;

[0028] The throttle depth corresponding to the first voltage value is searched in the first throttle pedal depth curve, and the throttle depth is determined as a first throttle depth.

[0029] In a possible implementation, the acquiring the collected second throttle depth includes:

[0030] Acquire a second accelerator pedal depth curve corresponding to the second accelerator pedal signal, where the second accelerator pedal depth curve is a curve representing a corresponding relationship between a voltage value of the second accelerator pedal signal and an accelerator depth;

[0031] When the brake pedal is depressed, obtaining a second voltage value collected from the second accelerator pedal signal;

[0032] The throttle depth corresponding to the second voltage value is searched in the second throttle pedal depth curve, and the throttle depth is determined as the second throttle depth.

[0033] According to a second aspect of the present application, a throttle depth calibration device for an accelerator pedal is provided, the device comprising:

[0034] an acquisition module, configured to acquire a first throttle depth and a second throttle depth collected when a brake pedal is depressed during vehicle driving, wherein the first throttle depth corresponds to a first throttle pedal signal, and the second throttle depth corresponds to a second throttle pedal signal;

[0035] a determination module, configured to determine a target throttle depth that needs to be calibrated, wherein the target throttle depth is at least one of the first throttle depth and the second throttle depth;

[0036] An adjustment module, configured to adjust the accumulated depth deviation corresponding to the target throttle depth according to a comparison result between the target throttle depth and a threshold;

[0037] The calibration module is used to obtain the first throttle depth and the second throttle depth collected when the throttle pedal is pressed, subtract the corresponding accumulated depth deviation from the first throttle depth to obtain the final first throttle depth, and subtract the corresponding accumulated depth deviation from the second throttle depth to obtain the final second throttle depth.

[0038] According to a third aspect of the present application, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the throttle depth calibration method of the accelerator pedal as described above.

[0039] According to a fourth aspect of the present application, a vehicle is provided, comprising the throttle depth calibration device for the throttle pedal described above.

[0040] The beneficial effects of the technical solution provided by this application include at least:

[0041] When the brake pedal is pressed, the cumulative depth deviation corresponding to the first throttle depth and the cumulative depth deviation corresponding to the second throttle depth can be adjusted. Then, the first throttle depth and the second throttle depth collected when the throttle pedal is pressed are obtained, and the first throttle depth is subtracted from the corresponding cumulative depth deviation to obtain the final first throttle depth, and the second throttle depth is subtracted from the corresponding cumulative depth deviation to obtain the final second throttle depth. In other words, each time the brake pedal is pressed, the depth deviation within a reasonable deviation range will be corrected according to a certain step size, and finally the depth deviation will be eliminated through self-learning, which can improve the accuracy of the throttle depth and improve driving safety and response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 is a schematic diagram of an accelerator pedal depth curve according to some exemplary embodiments;

[0044] Figure 2 is a flow chart of a throttle depth calibration method for an accelerator pedal provided by an embodiment of the present application;

[0045] Figure 3 is a flow chart of a method for calibrating the throttle depth of an accelerator pedal provided by an embodiment of the present application;

[0046] Figure 4is a schematic diagram of a throttle depth calibration method for an accelerator pedal provided by an embodiment of the present application;

[0047] Figure 5 It is a structural block diagram of a throttle depth calibration device for an accelerator pedal provided in one embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0049] like Figure 2 As shown, it shows a method flow chart of a throttle depth calibration method for an accelerator pedal provided by an embodiment of the present application, and the throttle depth calibration method for an accelerator pedal can be applied to a vehicle. The throttle depth calibration method for an accelerator pedal may include:

[0050] Step 201, when the brake pedal is pressed during vehicle driving, a first throttle depth and a second throttle depth are acquired, wherein the first throttle depth corresponds to a first throttle pedal signal, and the second throttle depth corresponds to a second throttle pedal signal.

[0051] When the driver steps on the brake pedal during vehicle driving, it means that the accelerator pedal is released, and the throttle depth of the accelerator pedal can be calibrated at this time. Specifically, a depth sensor will collect the first voltage value of the first accelerator pedal signal, and send the first voltage value to the Electronic Control Unit (ECU), and the ECU will generate the first accelerator depth P1 according to the first voltage value; another depth sensor will collect the voltage value of the second accelerator pedal signal, and send the second voltage value to the ECU, and the ECU will generate the second accelerator depth P2 according to the second voltage value.

[0052] Step 202: determining a target throttle depth that needs to be calibrated, where the target throttle depth is at least one of a first throttle depth and a second throttle depth.

[0053] Specifically, the ECU may pre-set a calibration condition for the throttle depth. If the first throttle depth P1 meets the calibration condition, the first throttle depth is determined as the target throttle depth; if the second throttle depth P2 meets the calibration condition, the second throttle depth is determined as the target throttle depth; if both the first throttle depth P1 and the second throttle depth P2 meet the calibration condition, the first throttle depth P1 and the second throttle depth P2 are determined as the target throttle depths.

[0054] When the accelerator pedal is released and the brake pedal is pressed, if there is no deviation in the zero position of the accelerator pedal, the theoretical values ​​of the first accelerator depth P1 and the second accelerator depth P2 should be 0%. Therefore, a reasonable deviation range can be set. If the first accelerator depth P1 and / or the second accelerator depth P2 are not within the reasonable deviation range, it is determined that the calibration condition is met and step 203 is executed; if the first accelerator depth P1 and / or the second accelerator depth P2 are within the reasonable deviation range, it is determined that the non-calibration condition is met and the process ends. Among them, the reasonable deviation range can be set according to actual needs and is not limited in this embodiment.

[0055] Step 203: adjusting the accumulated depth deviation corresponding to the target throttle depth according to the comparison result between the target throttle depth and the threshold.

[0056] The accumulated depth deviation is the depth deviation accumulated after multiple calibrations and is stored in the memory. The first throttle depth P1 corresponds to the first accumulated depth deviation, and the second throttle depth P2 corresponds to the second accumulated depth deviation.

[0057] The threshold is a value set according to actual needs, and this embodiment does not limit its specific value.

[0058] If the target throttle depth is the first throttle depth P1, the first accumulated depth deviation is adjusted and the first accumulated depth deviation stored in the memory is updated; if the target throttle depth is the second throttle depth P2, the second accumulated depth deviation is adjusted and the second accumulated depth deviation stored in the memory is updated.

[0059] Step 204, obtaining the first throttle depth and the second throttle depth collected when the accelerator pedal is pressed, subtracting the corresponding accumulated depth deviation from the first throttle depth to obtain the final first throttle depth, and subtracting the corresponding accumulated depth deviation from the second throttle depth to obtain the final second throttle depth.

[0060] When the brake pedal is released and the accelerator pedal is pressed, the collected first throttle depth and second throttle depth are obtained, and the first throttle depth P1 is subtracted from the corresponding first accumulated depth deviation so as to calibrate the first throttle depth P1 to obtain the calibrated first throttle depth P1; the second throttle depth P2 is subtracted from the corresponding second accumulated depth deviation so as to calibrate the second throttle depth P2 to obtain the calibrated second throttle depth P2; and the vehicle is accelerated and controlled according to the calibrated first throttle depth P1 and / or second throttle depth P2.

[0061] To summarize, the throttle depth calibration method for the accelerator pedal provided in the embodiment of the present application can adjust the cumulative depth deviation corresponding to the first throttle depth and the cumulative depth deviation corresponding to the second throttle depth when the brake pedal is stepped on, and then obtain the first throttle depth and the second throttle depth collected when the accelerator pedal is stepped on, subtract the corresponding cumulative depth deviation from the first throttle depth to obtain the final first throttle depth, and subtract the corresponding cumulative depth deviation from the second throttle depth to obtain the final second throttle depth. That is to say, each time the brake pedal is stepped on, the depth deviation within a reasonable deviation range will be corrected according to a certain step size, and finally the depth deviation will be eliminated through self-learning, which can improve the accuracy of the throttle depth and improve driving safety and response speed.

[0062] like Figure 3 As shown, it shows a flow chart of a throttle depth calibration method for an accelerator pedal provided by an embodiment of the present application, and the throttle depth calibration method for an accelerator pedal can be applied to a vehicle. The throttle depth calibration method for an accelerator pedal may include:

[0063] Step 301, when the brake pedal is pressed during vehicle driving, a first throttle depth and a second throttle depth are acquired, wherein the first throttle depth corresponds to a first throttle pedal signal, and the second throttle depth corresponds to a second throttle pedal signal.

[0064] When the driver steps on the brake pedal while the vehicle is driving, it means that the accelerator pedal is released. At this time, the throttle depth of the accelerator pedal can be calibrated.

[0065] Among them, obtaining the collected first throttle depth may include: obtaining a first throttle pedal depth curve corresponding to the first throttle pedal signal, the first throttle pedal depth curve being a curve representing the corresponding relationship between the voltage value of the first throttle pedal signal and the throttle depth; when the brake pedal is pressed, obtaining a first voltage value collected for the first throttle pedal signal; searching the first throttle pedal depth curve for the throttle depth corresponding to the first voltage value, and determining the throttle depth as the first throttle depth.

[0066] The accelerator pedal depth curve (Pedal Map, MAP) is a curve that represents the corresponding relationship between the voltage value of the accelerator pedal signal and the accelerator depth. The voltage value of the accelerator pedal signal is acquired by the depth sensor. Generally speaking, the same accelerator pedal depth curve can be set for the same model of accelerator pedals and stored in the memory for use by the ECU. For ease of distinction, in this embodiment, the accelerator pedal depth curve corresponding to the first accelerator depth P1 is referred to as the first accelerator pedal depth curve, and the accelerator pedal depth curve corresponding to the second accelerator depth P2 is referred to as the second accelerator pedal depth curve, which will not be repeated below.

[0067] Specifically, a depth sensor collects a first voltage value of a first accelerator pedal signal, and sends the first voltage value to the ECU. The ECU searches for the accelerator depth corresponding to the first voltage value in the first accelerator pedal depth curve, and determines the found accelerator depth as the first accelerator depth P1.

[0068] Among them, obtaining the collected second throttle depth may include: obtaining a second throttle pedal depth curve corresponding to the second throttle pedal signal, the second throttle pedal depth curve being a curve representing the corresponding relationship between the voltage value of the second throttle pedal signal and the throttle depth; when the brake pedal is pressed, obtaining a second voltage value collected for the second throttle pedal signal; searching the second throttle pedal depth curve for the throttle depth corresponding to the second voltage value, and determining the throttle depth as the second throttle depth.

[0069] Specifically, another depth sensor collects the second voltage value of the second accelerator pedal signal, sends the second voltage value to the ECU, and the ECU searches the second accelerator pedal depth curve for the accelerator depth corresponding to the second voltage value, and determines the found throttle depth as the second throttle depth P2.

[0070] After obtaining the first throttle depth P1 and the second throttle depth P2, the ECU may further detect whether the first throttle depth P1 and the second throttle depth P2 are within their respective normal operating ranges; if the first throttle depth P1 and / or the second throttle depth P2 are within their respective normal operating ranges, step 302 is triggered for execution; if both the first throttle depth P1 and the second throttle depth P2 are not within their respective normal operating ranges, it is determined that a fault has occurred.

[0071] Generally speaking, the same normal operating range can be set for the accelerator pedal of the same model and stored in the memory for use by the ECU.

[0072] In this embodiment, the first throttle depth P1 and the second throttle depth P2 are calibrated independently, so it is necessary to detect whether the first throttle depth P1 is within its corresponding normal working range, and whether the second throttle depth P2 is within its corresponding normal working range.

[0073] If the first throttle depth P1 is within its corresponding normal working range, it is determined that the self-learning condition is met, triggering the execution of step 302; if the first throttle depth P1 is not within its corresponding normal working range, it is determined that a fault occurs and the non-self-learning condition is met.

[0074] If the second throttle depth P2 is within its corresponding normal working range, it is determined that the self-learning condition is met, triggering the execution of step 302; if the second throttle depth P2 is not within its corresponding normal working range, it is determined that a fault occurs and the non-self-learning condition is met.

[0075] Step 302: determining a target throttle depth that needs to be calibrated, where the target throttle depth is at least one of a first throttle depth and a second throttle depth.

[0076] The ECU may pre-set a calibration condition for the throttle depth. If the first throttle depth P1 meets the calibration condition, the first throttle depth is determined as the target throttle depth; if the second throttle depth P2 meets the calibration condition, the second throttle depth is determined as the target throttle depth; if both the first throttle depth P1 and the second throttle depth P2 meet the calibration condition, the first throttle depth P1 and the second throttle depth P2 are determined as the target throttle depths.

[0077] When the accelerator pedal is released and the brake pedal is pressed, if there is no deviation in the zero position of the accelerator pedal, the theoretical values ​​of the first accelerator depth P1 and the second accelerator depth P2 should be 0%. Therefore, a reasonable deviation range can be set. If the first accelerator depth P1 and / or the second accelerator depth P2 are not within the reasonable deviation range, it is determined that the calibration condition is met and step 203 is executed; if the first accelerator depth P1 and / or the second accelerator depth P2 are within the reasonable deviation range, it is determined that the non-calibration condition is met and the process ends. Among them, the reasonable deviation range can be set according to actual needs and is not limited in this embodiment.

[0078] Specifically, determining the target throttle depth that needs to be calibrated may include: obtaining a preset reasonable deviation range, the minimum value within the reasonable deviation range is negative, and the maximum value is positive; if the value of the first throttle depth is within the reasonable deviation range and the duration is greater than the first duration, then determining that the first throttle depth is the target throttle depth that needs to be calibrated; and / or, if the value of the second throttle depth is within the reasonable deviation range and the duration is greater than the first duration, then determining that the second throttle depth is the target throttle depth that needs to be calibrated.

[0079] The absolute values ​​of the minimum and maximum values ​​within the reasonable deviation range can be equal or different. For example, if the minimum value is -5% and the maximum value is 5%, the reasonable deviation range is [-5%, 5%]; for another example, if the minimum value is -6% and the maximum value is 4%, the reasonable deviation range is [-6%, 4%].

[0080] The first duration can be set according to actual needs, for example, 2 seconds. By setting the first duration, calibration can be performed after determining that there is a continuous depth deviation, avoiding misjudgment caused by occasional jumps, and improving the accuracy of judgment.

[0081] Taking the reasonable deviation range of [-5%, 5%] and the first duration of 2 seconds as an example, if the first throttle depth P1≤5% and the first throttle depth P1≥-5%, and the duration is ≥2 seconds, then the first throttle depth P1 is determined to be the target throttle depth that needs to be calibrated; if the second throttle depth P2≤5% and the second throttle depth P2≥-5%, and the duration is ≥2 seconds, then the second throttle depth P2 is determined to be the target throttle depth that needs to be calibrated.

[0082] In this embodiment, after determining the target throttle depth, the duration of the brake pedal being pressed can be detected; if the duration of the brake pedal being pressed is greater than or equal to the second duration, step 303 or 304 is triggered. The second duration can be set according to actual needs, for example, to 2 seconds. By setting the second duration, calibration can be performed after determining that there is a continuous brake signal, avoiding misjudgment caused by the jump of the brake signal, and improving the accuracy of the judgment.

[0083] Optionally, it is also possible to simultaneously determine whether there is a continuous depth deviation and whether there is a continuous brake signal. For example, it is possible to determine whether the values ​​of the first throttle depth P1 and / or the second throttle depth P2 are within a reasonable deviation range and whether the brake pedal is depressed within the second time period.

[0084] Step 303: If the target throttle depth is greater than or equal to the first positive threshold, the accumulated depth deviation corresponding to the target throttle depth is increased by a first value.

[0085] The accumulated depth deviation is the depth deviation accumulated after multiple calibrations and is stored in the memory. The first throttle depth P1 corresponds to the first accumulated depth deviation, and the second throttle depth P2 corresponds to the second accumulated depth deviation.

[0086] The first positive threshold is a value set according to actual needs, and this embodiment does not limit its specific value.

[0087] If the target throttle depth is the first throttle depth P1, the value of the first throttle depth P1 is compared with the first positive threshold value. If the value of the first throttle depth P1 is greater than or equal to the first positive threshold value, it is determined that the first cumulative depth deviation needs to be adjusted; if the value of the first throttle depth P1 is less than the first positive threshold value, it is determined that the first cumulative depth deviation does not need to be adjusted.

[0088] If the first accumulated depth deviation needs to be adjusted, the first accumulated depth deviation can be increased by a first value, and the first accumulated depth deviation stored in the memory can be updated. The first value can be set according to actual needs, for example, to 0.5%. Assuming that the first accumulated depth deviation is recorded as D1, the adjusted first accumulated depth deviation is D1+0.5%.

[0089] Step 304: If the target throttle depth is less than or equal to the first negative threshold, the accumulated depth deviation corresponding to the target throttle depth is reduced by a second value.

[0090] The first negative threshold is a value set according to actual needs, and this embodiment does not limit its specific value.

[0091] If the target throttle depth is the second throttle depth P2, the value of the second throttle depth P2 is compared with the first negative threshold value. If the value of the second throttle depth P2 is less than or equal to the first negative threshold value, it is determined that the second cumulative depth deviation needs to be adjusted; if the value of the second throttle depth P2 is greater than the first negative threshold value, it is determined that the second cumulative depth deviation does not need to be adjusted.

[0092] If the second accumulated depth deviation needs to be adjusted, the second accumulated depth deviation can be reduced by a second value, and the second accumulated depth deviation stored in the memory is updated. The second value can be set according to actual needs, for example, to 0.5%. Assuming that the second accumulated depth deviation is recorded as D2, the adjusted second accumulated depth deviation is D2-0.5%.

[0093] In this embodiment, upper and lower limits of the first cumulative depth deviation and the second cumulative depth deviation may also be set. If the first cumulative depth deviation and / or the second cumulative depth deviation reaches their respective upper and lower limits, no further adjustment is performed.

[0094] Step 305, obtaining the first throttle depth and the second throttle depth collected when the accelerator pedal is pressed, subtracting the corresponding accumulated depth deviation from the first throttle depth to obtain the final first throttle depth, and subtracting the corresponding accumulated depth deviation from the second throttle depth to obtain the final second throttle depth.

[0095] When the brake pedal is released and the accelerator pedal is pressed, the collected first throttle depth and second throttle depth are obtained, and the first throttle depth P1 is subtracted from the corresponding first cumulative depth deviation D1 so as to calibrate the first throttle depth P1 to obtain the calibrated first throttle depth P1; the second throttle depth P2 is subtracted from the corresponding second cumulative depth deviation D2 so as to calibrate the second throttle depth P2 to obtain the calibrated second throttle depth P2; and the vehicle is accelerated and controlled according to the calibrated first throttle depth P1 and / or second throttle depth P2.

[0096] To summarize, the throttle depth calibration method for the accelerator pedal provided in the embodiment of the present application can adjust the cumulative depth deviation corresponding to the first throttle depth and the cumulative depth deviation corresponding to the second throttle depth when the brake pedal is stepped on, and then obtain the first throttle depth and the second throttle depth collected when the accelerator pedal is stepped on, subtract the corresponding cumulative depth deviation from the first throttle depth to obtain the final first throttle depth, and subtract the corresponding cumulative depth deviation from the second throttle depth to obtain the final second throttle depth. That is to say, each time the brake pedal is stepped on, the depth deviation within a reasonable deviation range will be corrected according to a certain step size, and finally the depth deviation will be eliminated through self-learning, which can improve the accuracy of the throttle depth and improve driving safety and response speed.

[0097] Figure 4 A simplified flow chart of the throttle depth calibration method is shown, wherein the first duration and the second duration are both 2 seconds, the reasonable deviation range is [-5%, 5%], the first value is 0.5%, and the second value is -0.5%.

[0098] (1) Determine whether the voltage values ​​of accelerator pedal 1 and accelerator pedal 2 are within the normal working range. If so, go to (2); otherwise, go to (1).

[0099] (2) Determine whether the brake pedal is pressed. If so, proceed to (3); otherwise, proceed to (2).

[0100] (3) Determine whether -5% ≤ first throttle depth P1 ≤ 5%, and -5% ≤ second throttle depth P2 ≤ 5%, and the duration is ≥ 2 seconds. If so, proceed to (4); otherwise, proceed to (3).

[0101] (4) Determine whether the brake pedal is depressed for a duration of ≥ 2 seconds. If so, proceed to (5) or (6); otherwise, proceed to (4).

[0102] (5) For the first throttle depth P1, if P1≤-0.5%, the first accumulated depth deviation D1 is updated to D1-0.5%; if P1≥0.5%, the first accumulated depth deviation D1 is updated to D1+0.5%. The final first throttle depth P1=P1-D1.

[0103] (6) For the second throttle depth P2, if P2≤-0.5%, the second accumulated depth deviation D2 is updated to D2+0.5%; if P2≥0.5%, the second accumulated depth deviation D2 is updated to D2-0.5%. The final second throttle depth P2=P2-D2.

[0104] like Figure 5As shown, it shows a structural block diagram of a throttle depth calibration device for an accelerator pedal provided by an embodiment of the present application, and the throttle depth calibration device for an accelerator pedal can be applied to a vehicle. The throttle depth calibration device for an accelerator pedal may include:

[0105] An acquisition module 510 is used to acquire a first throttle depth and a second throttle depth when the brake pedal is depressed during vehicle driving, wherein the first throttle depth corresponds to a first throttle pedal signal and the second throttle depth corresponds to a second throttle pedal signal;

[0106] A determination module 520, configured to determine a target throttle depth that needs to be calibrated, the target throttle depth being at least one of a first throttle depth and a second throttle depth;

[0107] An adjustment module 530, configured to adjust the accumulated depth deviation corresponding to the target throttle depth according to a comparison result between the target throttle depth and the threshold;

[0108] The calibration module 540 is used to obtain the first throttle depth and the second throttle depth collected when the accelerator pedal is pressed, subtract the corresponding accumulated depth deviation from the first throttle depth to obtain the final first throttle depth, and subtract the corresponding accumulated depth deviation from the second throttle depth to obtain the final second throttle depth.

[0109] In an optional embodiment, the adjustment module 530 is further configured to:

[0110] If the target throttle depth is greater than or equal to the first positive threshold, increasing the accumulated depth deviation corresponding to the target throttle depth by a first value;

[0111] If the target throttle depth is less than or equal to the first negative threshold, the accumulated depth deviation corresponding to the target throttle depth is reduced by a second value.

[0112] In an optional embodiment, the determination module 520 is further configured to:

[0113] Get the preset reasonable deviation range, the minimum value in the reasonable deviation range is negative and the maximum value is positive;

[0114] If the value of the first throttle depth is within a reasonable deviation range and the duration is greater than the first duration, then the first throttle depth is determined to be a target throttle depth that needs to be calibrated; and / or,

[0115] If the value of the second throttle depth is within a reasonable deviation range and the duration is greater than the first duration, the second throttle depth is determined to be a target throttle depth that needs to be calibrated.

[0116] In an optional embodiment, the device further comprises:

[0117] The detection module is used to detect the duration of the brake pedal being pressed down after determining the target throttle depth; if the duration of the brake pedal being pressed down is greater than or equal to the second duration, it triggers the execution of the step of adjusting the cumulative depth deviation corresponding to the target throttle depth according to the comparison result between the target throttle depth and the threshold.

[0118] In an optional embodiment, the detection module is further used to:

[0119] Detecting whether the first throttle depth and the second throttle depth are within their respective normal working ranges;

[0120] If the first throttle depth and / or the second throttle depth are within their respective normal working ranges, triggering the step of determining a target throttle depth that needs to be calibrated;

[0121] If both the first throttle depth and the second throttle depth are not within their respective normal operating ranges, it is determined that a fault has occurred.

[0122] In an optional embodiment, the acquisition module 510 is further configured to:

[0123] Acquire a first accelerator pedal depth curve corresponding to the first accelerator pedal signal, where the first accelerator pedal depth curve is a curve representing a corresponding relationship between a voltage value of the first accelerator pedal signal and an accelerator depth;

[0124] When the brake pedal is depressed, obtaining a first voltage value collected from a first accelerator pedal signal;

[0125] A throttle depth corresponding to the first voltage value is searched in the first throttle pedal depth curve, and the throttle depth is determined as a first throttle depth.

[0126] In an optional embodiment, the acquisition module 510 is further configured to:

[0127] Acquire a second accelerator pedal depth curve corresponding to the second accelerator pedal signal, where the second accelerator pedal depth curve is a curve representing a corresponding relationship between a voltage value of the second accelerator pedal signal and an accelerator depth;

[0128] When the brake pedal is depressed, obtaining a second voltage value collected from a second accelerator pedal signal;

[0129] A throttle depth corresponding to the second voltage value is searched in the second throttle pedal depth curve, and the throttle depth is determined as a second throttle depth.

[0130] To summarize, the throttle depth calibration device for the accelerator pedal provided in the embodiment of the present application can adjust the cumulative depth deviation corresponding to the first throttle depth and the cumulative depth deviation corresponding to the second throttle depth when the brake pedal is stepped on, and then obtain the first throttle depth and the second throttle depth collected when the accelerator pedal is stepped on, subtract the corresponding cumulative depth deviation from the first throttle depth to obtain the final first throttle depth, and subtract the corresponding cumulative depth deviation from the second throttle depth to obtain the final second throttle depth. That is to say, each time the brake pedal is stepped on, the depth deviation within a reasonable deviation range will be corrected according to a certain step size, and finally the depth deviation will be eliminated through self-learning, which can improve the accuracy of the throttle depth and improve driving safety and response speed.

[0131] An embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the throttle depth calibration method of the accelerator pedal as described above.

[0132] An embodiment of the present application provides a vehicle, comprising a throttle depth calibration device for any of the above-mentioned throttle pedals.

[0133] It should be noted that: the throttle depth calibration device for the throttle pedal provided in the above embodiment only uses the division of the above functional modules as an example when calibrating the throttle depth of the throttle pedal. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the throttle depth calibration device for the throttle pedal is divided into different functional modules to complete all or part of the functions described above. In addition, the throttle depth calibration device for the throttle pedal provided in the above embodiment and the throttle depth calibration method embodiment of the throttle pedal belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0134] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0135] The above description is not intended to limit the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A method for calibrating the throttle depth of an accelerator pedal, characterized in that: The method comprises: When the brake pedal is depressed during vehicle driving, a first throttle depth and a second throttle depth are acquired, wherein the first throttle depth corresponds to a first throttle pedal signal, and the second throttle depth corresponds to a second throttle pedal signal; determining a target throttle depth that needs to be calibrated, wherein the target throttle depth is at least one of the first throttle depth and the second throttle depth; adjusting the accumulated depth deviation corresponding to the target throttle depth according to the comparison result between the target throttle depth and the threshold; A first throttle depth and a second throttle depth collected when the accelerator pedal is depressed are obtained, and a corresponding accumulated depth deviation is subtracted from the first throttle depth to obtain a final first throttle depth, and a corresponding accumulated depth deviation is subtracted from the second throttle depth to obtain a final second throttle depth.

2. The accelerator depth calibration method of the accelerator pedal according to claim 1, characterized in that: The step of adjusting the accumulated depth deviation corresponding to the target throttle depth according to the comparison result between the target throttle depth and the threshold value comprises: If the target throttle depth is greater than or equal to a first positive threshold, increasing the accumulated depth deviation corresponding to the target throttle depth by a first value; If the target throttle depth is less than or equal to the first negative threshold, the accumulated depth deviation corresponding to the target throttle depth is reduced by a second value.

3. The accelerator depth calibration method of the accelerator pedal according to claim 1, characterized in that: The step of determining the target throttle depth that needs to be calibrated includes: Obtain a preset reasonable deviation range, wherein the minimum value within the reasonable deviation range is negative and the maximum value is positive; If the value of the first throttle depth is within the reasonable deviation range and the duration is greater than the first duration, determining that the first throttle depth is the target throttle depth that needs to be calibrated; and / or, If the value of the second throttle depth falls within the reasonable deviation range and the duration is greater than the first duration, the second throttle depth is determined to be the target throttle depth that needs to be calibrated.

4. The accelerator depth calibration method of the accelerator pedal according to claim 1, characterized in that: The method further comprises: After determining the target throttle depth, detecting the duration of the brake pedal being depressed; If the duration of the brake pedal being depressed is greater than or equal to the second duration, the step of adjusting the accumulated depth deviation corresponding to the target throttle depth according to the comparison result between the target throttle depth and a threshold is triggered.

5. The accelerator depth calibration method of the accelerator pedal according to claim 1, characterized in that: The method further comprises: detecting whether the first throttle depth and the second throttle depth are within their respective normal operating ranges; If the first throttle depth and / or the second throttle depth are within their respective normal working ranges, triggering the step of determining a target throttle depth that needs to be calibrated; If both the first throttle depth and the second throttle depth are not within their respective normal operating ranges, it is determined that a fault has occurred.

6. The accelerator depth calibration method of an accelerator pedal according to any one of claims 1 to 5, characterized in that: The acquiring the collected first throttle depth includes: Acquire a first accelerator pedal depth curve corresponding to the first accelerator pedal signal, wherein the first accelerator pedal depth curve is a curve representing a corresponding relationship between a voltage value of the first accelerator pedal signal and an accelerator depth; When the brake pedal is depressed, obtaining a first voltage value collected from the first accelerator pedal signal; The throttle depth corresponding to the first voltage value is searched in the first throttle pedal depth curve, and the throttle depth is determined as a first throttle depth.

7. The accelerator depth calibration method of the accelerator pedal according to any one of claims 1 to 5, characterized in that: The acquiring the collected second throttle depth includes: Acquire a second accelerator pedal depth curve corresponding to the second accelerator pedal signal, where the second accelerator pedal depth curve is a curve representing a corresponding relationship between a voltage value of the second accelerator pedal signal and an accelerator depth; When the brake pedal is depressed, obtaining a second voltage value collected from the second accelerator pedal signal; The throttle depth corresponding to the second voltage value is searched in the second throttle pedal depth curve, and the throttle depth is determined as the second throttle depth.

8. A throttle depth calibration device for an accelerator pedal, characterized in that: The device comprises: an acquisition module, configured to acquire a first throttle depth and a second throttle depth collected when a brake pedal is depressed during vehicle driving, wherein the first throttle depth corresponds to a first throttle pedal signal, and the second throttle depth corresponds to a second throttle pedal signal; a determination module, configured to determine a target throttle depth that needs to be calibrated, wherein the target throttle depth is at least one of the first throttle depth and the second throttle depth; An adjustment module, configured to adjust the accumulated depth deviation corresponding to the target throttle depth according to a comparison result between the target throttle depth and a threshold; The calibration module is used to obtain the first throttle depth and the second throttle depth collected when the throttle pedal is pressed, subtract the corresponding accumulated depth deviation from the first throttle depth to obtain the final first throttle depth, and subtract the corresponding accumulated depth deviation from the second throttle depth to obtain the final second throttle depth.

9. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the throttle depth calibration method for the throttle pedal according to any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle comprises: the throttle depth calibration device for the accelerator pedal according to claim 8.

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