Accelerator pedal opening degree calculation method and related equipment

Abstract

The invention relates to the field of vehicle control, and discloses an accelerator pedal opening degree calculation method and related equipment. The accelerator pedal opening degree calculation method comprises the steps that the current actual voltage of two potentiometers is obtained; carrying out voltage validity verification on the current actual voltage of the two paths of potentiometers; on the basis of the theoretical voltage relation of the two potentiometers, the current actual voltages of the two potentiometers are mutually converted, and the current opening degrees of the two potentiometers are calculated through the voltages obtained after mutual conversion; dynamically selecting a consistency verification threshold value from a preset consistency verification threshold value set to perform consistency verification on the current opening degrees of the two paths of potentiometers, wherein the preset consistency verification threshold value set is obtained by pre-calibrating the opening degrees of the two paths of potentiometers corresponding to the accelerator pedal under different opening degrees; according to the validity of the current actual voltage of the two potentiometers and the current opening consistency verification result of the two potentiometers, the accelerator pedal opening is output in an arbitration mode. The purpose of the present invention is to improve the reliability of accelerator pedal opening calculation.

Description

Technical Field

[0001] This invention relates to the field of automotive vehicle control, specifically to a method for calculating accelerator pedal opening and related equipment. Background Technology

[0002] In the automotive industry, the accelerator pedal, as a key component for driver control, directly affects the vehicle's safety and performance. The accelerator pedal's main function is to convert the driver's pedal input into electrical signals, which are then transmitted to the vehicle's control system to achieve precise control of the vehicle's power, accurately reflecting the driver's intentions and the vehicle's power requirements.

[0003] To ensure stable and reliable operation of the accelerator pedal under various complex conditions, a dual-potential redundancy design is commonly used in its structural design. From a theoretical perspective, the voltages of these two potentiometers are twice that of each other. When the driver depresses the accelerator pedal, the resistance in the internal circuitry changes accordingly, causing a change in output voltage. Based on this voltage change, the vehicle control system can calculate the accelerator pedal opening, understand the driver's intentions, and adjust the vehicle's power accordingly.

[0004] Existing methods for calculating and verifying the consistency of accelerator pedal opening have certain shortcomings. Current methods calculate the opening independently based on the voltages of two potentiometers. A fixed threshold is used for consistency verification of the two potentiometer openings. The drawback of this approach is that the opening calculation processes for the two potentiometers are completely independent, failing to fully utilize the specific relationship between the theoretical voltages of the two potentiometers and thus unable to effectively amplify the actual deviation in the openings. Furthermore, using a fixed deviation threshold for consistency verification makes it difficult to adapt to the accuracy requirements of accelerator pedal opening calculations under different operating conditions, resulting in insufficient reliability of the accelerator pedal opening calculation. This may affect the vehicle's accurate judgment of driver intentions and the stability of vehicle power output, posing potential risks to driving safety. Therefore, improving the reliability of accelerator pedal opening calculation has become a crucial problem urgently needing to be solved in the field of automotive vehicle control. Summary of the Invention

[0005] In view of the problems existing in the prior art, the present invention provides a method and related equipment for calculating accelerator pedal opening, the purpose of which is to improve the reliability of accelerator pedal opening calculation.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0007] According to a first aspect of the present invention, a method for calculating accelerator pedal opening is provided, comprising:

[0008] Obtain the current actual voltage of the two potentiometers;

[0009] Verify the validity of the current actual voltage of the two potentiometers;

[0010] Based on the theoretical voltage relationship between the two potentiometers, the current actual voltages of the two potentiometers are converted to each other, and the current opening degree of the two potentiometers is calculated using the converted voltages.

[0011] The consistency verification threshold is dynamically selected from the preset consistency verification threshold set to verify the current opening degree of the two potentiometers. The preset consistency verification threshold set is obtained by pre-calibrating the opening degree of the two potentiometers corresponding to different opening degrees of the accelerator pedal.

[0012] Based on the validity of the current actual voltage of the two potentiometers and the consistency verification result of the current opening degree of the two potentiometers, the arbitration outputs the accelerator pedal opening degree.

[0013] In one possible implementation of the first aspect, the voltage validity verification of the current actual voltage of the two potentiometers specifically includes:

[0014] The upper and lower voltage limits of the two potentiometers are determined based on the accelerator pedal characteristic curve.

[0015] The voltage validity of the two potentiometers is verified by using their upper and lower voltage limits respectively.

[0016] In one possible implementation of the first aspect, the step of verifying the voltage validity of the current actual voltage of the two potentiometers by utilizing their upper and lower voltage limits respectively is as follows:

[0017] If U1>U 1up Continuous Δt 1up If the time is right, then a potentiometer overvoltage fault is determined. If U1 1down Continuous Δt 1down If the time is determined, then a potentiometer undervoltage fault is identified.

[0018] If U2>U 2up Continuous Δt 2up If the time is right, then another potentiometer is determined to have an overvoltage fault. If U2 2down Continuous Δt 2down If the time is right, then the other potentiometer is determined to be undervoltage fault;

[0019] Wherein, U1 is the current actual voltage of one potentiometer; U 1up The upper limit of voltage for one potentiometer; Δt 1up ​​This refers to the time during which the current actual voltage of a potentiometer is greater than the corresponding upper voltage limit; U 1down This is the lower voltage limit of one potentiometer; Δt 1down U1 represents the time during which the current actual voltage of one potentiometer is lower than the corresponding lower voltage limit; U2 represents the current actual voltage of the other potentiometer; U 2up The upper limit of the voltage of the other potentiometer; Δt 2up This refers to the time during which the current actual voltage of another potentiometer is greater than the corresponding upper voltage limit; U 2down This is the lower voltage limit of another potentiometer; Δt 2down This refers to the time during which the current actual voltage of another potentiometer is lower than the corresponding lower voltage limit.

[0020] In one possible implementation of the first aspect, the step of converting the current actual voltages of the two potentiometers to each other based on the theoretical voltage relationship between the two potentiometers, and calculating the current opening degree of the two potentiometers using the converted voltages, specifically involves:

[0021] APP1=(2*U2-U 1APP0％ ) / (U 1APP100％ -U 1APP0％ )*100%

[0022] APP2=(U1 / 2-U 2APP0％ ) / (U 2APP100％ -U 2APP0％ )*100%

[0023] In the formula, APP1 is the current opening degree of one potentiometer; APP2 is the current opening degree of the other potentiometer; U1 is the current actual voltage of one potentiometer; U2 is the current actual voltage of the other potentiometer; U 1APP0％ This is the voltage calibration value corresponding to a potentiometer opening of 0%; U 2APP0％ This is the voltage calibration value corresponding to the opening degree of the other potentiometer being 0%; U 1APP100％ This is the voltage calibration value corresponding to a potentiometer opening of 100%; U 2APP100％ This is the voltage calibration value corresponding to the opening degree of another potentiometer being 100%.

[0024] In one possible implementation of the first aspect, the step of dynamically selecting a consistency check threshold from a preset set of consistency check thresholds to perform consistency check on the current opening degree of the two potentiometers specifically involves:

[0025] Using the minimum opening degree among the current opening degrees of the two potentiometers, from the preset consistency verification threshold set APP syncd The consistency check threshold is dynamically selected in the middle;

[0026] If |APP1-APP2|>APPsyncd Continuous Δt syncd If the time is not specified, the consistency check of the current opening degree of the two potentiometers is determined to be unsuccessful; otherwise, the consistency check of the current opening degree of the two potentiometers is determined to be successful.

[0027] Among them, APP syncd ={APP sync1 APP sync2 APP sync3 ...APP syncn}, APP sync1 APP sync2 APP sync3 ...APP syncn To achieve a consistency verification threshold using the pre-calibrated opening degrees of two potentiometers corresponding to different accelerator pedal opening degrees; APP1 represents the current opening degree of one potentiometer; APP2 represents the current opening degree of the other potentiometer; Δt syncd The time when the absolute value of the current opening difference between the two potentiometers is greater than the consistency check threshold.

[0028] In one possible implementation of the first aspect, the arbitration output of the accelerator pedal opening based on the validity of the current actual voltage of the two potentiometers and the consistency verification result of the current opening degree of the two potentiometers is specifically as follows:

[0029] If only the current actual voltage of any potentiometer is valid, the current opening degree of the potentiometer calculated using the current actual voltage of the valid potentiometer will be used as the accelerator pedal opening degree output, and the preset maximum accelerator pedal opening degree will be limited.

[0030] If the current actual voltage of both potentiometers is valid and the consistency check of the current opening degree of the two potentiometers passes, then the arithmetic mean of the current opening degree of the two potentiometers will be used as the speed pedal opening degree output.

[0031] If the current actual voltage of both potentiometers is invalid, the preset safety opening will be used as the accelerator pedal opening output after the accelerator pedal is detected.

[0032] In one possible implementation of the first aspect, if the validity verification of the current actual voltage of the two potentiometers fails and / or the consistency verification of the current opening degree of the two potentiometers fails, at least one of the following operations is triggered:

[0033] Dashboard malfunction warnings;

[0034] Vehicle speed or torque limiting control.

[0035] According to a second aspect of the present invention, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned accelerator pedal opening calculation method.

[0036] According to a third aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned method for calculating accelerator pedal opening.

[0037] According to a fourth aspect of the present invention, a computer program product is provided, which, when executed by a processor, implements the aforementioned method for calculating the accelerator pedal opening.

[0038] Compared with the prior art, the present invention has at least the following beneficial effects:

[0039] This invention provides a method for calculating the accelerator pedal opening. Based on the theoretical voltage relationship between two potentiometers, the current actual voltages of the two potentiometers are converted to each other, and the current opening degree of the two potentiometers is calculated using the converted voltages. This fully utilizes the specific relationship between the theoretical voltages of the two potentiometers. By converting the voltages before calculating the opening degree, subtle differences in the opening degrees of the two potentiometers can be more accurately detected, effectively amplifying actual deviations and enabling more precise identification of potential problems during the calculation process. When verifying the consistency of the current opening degrees of the two potentiometers, a consistency verification threshold is dynamically selected from a preset consistency verification threshold set. This preset consistency verification threshold set is pre-calibrated using the opening degrees of the two potentiometers corresponding to different accelerator pedal opening degrees. The dynamic selection method allows for flexible selection of appropriate verification thresholds based on the actual operating conditions of the accelerator pedal. Regardless of the accelerator pedal's opening state, the corresponding accuracy requirements can be met, improving the adaptability of the accelerator pedal opening degree calculation under different operating conditions, thereby enhancing the reliability of the opening degree calculation. Finally, based on the validity of the current actual voltage of the two potentiometers and the consistency verification result of their current opening, the accelerator pedal opening is arbitrated and output. This comprehensive approach fully evaluates the status information of the two potentiometers, avoiding errors that may arise from judging a single factor. By arbitrating the output based on the combined voltage validity and opening consistency verification results, the accuracy and reliability of the output accelerator pedal opening can be ensured to the greatest extent, effectively avoiding misjudgments of the driver's intentions due to inaccurate judgment based on a single criterion. This, in turn, ensures the stability of the vehicle's power output and reduces the potential risks to driving safety caused by unreliable accelerator pedal opening calculations.

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the specific embodiments of the present invention, the drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating a method for calculating the accelerator pedal opening according to an embodiment of the present invention.

[0043] Figure 2 This is a schematic diagram of the internal structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] like Figure 1 As shown, this invention provides a method for calculating the accelerator pedal opening, specifically including the following steps:

[0046] Step 1: Obtain the current actual voltage of the two potentiometers.

[0047] Specifically, two potentiometers are installed inside the car's accelerator pedal. These two potentiometers are connected to the mechanical structure of the accelerator pedal. When the driver presses the accelerator pedal, the pedal position changes, causing the position of the resistive element inside the potentiometer to change, which in turn causes a change in the potentiometer's output voltage. The voltage acquisition circuit in the car's electronic control system collects the voltage from the output terminals of the two potentiometers. The voltage acquisition circuit uses an analog-to-digital converter (ADC) to convert the analog voltage signal output by the potentiometer into a digital voltage signal. The acquired voltages from the two potentiometers are recorded as U1 and U2, respectively. These two voltages represent the current actual voltages of the two potentiometers, with U1 representing the current actual voltage of one potentiometer and U2 representing the current actual voltage of the other.

[0048] Step 2: Verify the voltage validity of the current actual voltage of the two potentiometers.

[0049] Specifically, the purpose of voltage validity verification is to determine whether the current actual voltage value of the potentiometer is within a reasonable range, thus eliminating abnormal voltage values ​​caused by circuit faults, interference, or other factors. First, based on the accelerator pedal's design specifications and actual operating conditions, the normal voltage range of the two potentiometers is pre-determined. Then, the current actual voltage of the potentiometer is compared with the normal voltage range, thereby verifying the validity of the potentiometer's current actual voltage.

[0050] In one possible implementation, the voltage validity verification of the current actual voltage of the two potentiometers is specifically performed as follows:

[0051] Step 2.1: Determine the upper and lower voltage limits of the two potentiometers based on the accelerator pedal characteristic curve.

[0052] For example, the output voltage characteristic curves of two potentiometers were collected through bench testing across the entire travel range of the accelerator pedal to determine the upper voltage limit (U) of each potentiometer. 1up U 2up ) and lower voltage limit (U 1down U 2down ). Among them, U 1up This is the upper voltage limit of one potentiometer; U 1down This is the lower voltage limit of one potentiometer; U 2up This is the upper voltage limit of another potentiometer; U 2down This is the lower voltage limit of another potentiometer. For example, the calibration result of a certain accelerator pedal system is: U 1up =4.5V, U 1down =0.7V; U 2up =2.25V, U 2down =0.35V.

[0053] Step 2.2: Use the upper and lower voltage limits of the two potentiometers respectively to verify the validity of the current actual voltage of the two potentiometers.

[0054] In one possible implementation, the voltage validity is verified by using the upper and lower voltage limits of the two potentiometers respectively to check the current actual voltage of the two potentiometers, specifically as follows:

[0055] If U1>U 1up Continuous Δt 1up If the time is right, then a potentiometer overvoltage fault is determined. If U1 1down Continuous Δt 1down The time is used to determine if one potentiometer has an undervoltage fault; where Δt 1up Δt represents the time during which the current actual voltage of a potentiometer is greater than the corresponding upper voltage limit. 1down ​This refers to the time during which the current actual voltage of a potentiometer is lower than the corresponding lower voltage limit.

[0056] If U2>U 2up Continuous Δt 2up If the time is right, then another potentiometer is determined to have an overvoltage fault. If U2 2down Continuous Δt 2down If the time is determined, then the other potentiometer is determined to be undervoltage fault; where Δt 2up Δt is the time during which the current actual voltage of another potentiometer is greater than the corresponding upper voltage limit. 2down This refers to the time during which the current actual voltage of another potentiometer is lower than the corresponding lower voltage limit.

[0057] For example, if U1>U 1up Continuous Δt 1up =50ms, then determine that one potentiometer has an overvoltage fault; if U2>U 2up Continuous Δt 2up =50ms, then the other potentiometer is determined to be overvoltage fault. If U1 1down Continuous Δt 1down =50ms, then determine that one potentiometer has an undervoltage fault; if U2 2down Continuous Δt 2down If the time is 50ms, then the other potentiometer is determined to be undervoltage fault.

[0058] Preferably, if the validity verification of the current actual voltage of the two potentiometers fails, at least one of the following operations is triggered:

[0059] Instrument panel fault indication refers to the display of a potentiometer's current voltage level to indicate a fault. For example, a fault code can be sent to the instrument panel via the CAN bus, illuminating a fault indicator light to alert the driver.

[0060] Vehicle speed or torque limiting control restricts engine output torque or the vehicle's maximum speed to ensure driving safety. For example, when a serious fault is detected, the vehicle's maximum speed can be limited to 30 km / h.

[0061] Step 3: Based on the theoretical voltage relationship between the two potentiometers, convert the current actual voltages of the two potentiometers to each other, and use the converted voltages to calculate the current opening degree of the two potentiometers.

[0062] Specifically, it is known that the theoretical voltages of the two potentiometers have a 2:1 relationship, that is, theoretically U 1理论 =2U 2理论 (Here it is assumed that the theoretical voltage of one potentiometer is twice that of the other potentiometer. In actual cases, the relationship can be adjusted according to the specific design.)

[0063] ​​​In one possible implementation, based on the theoretical voltage relationship between the two potentiometers, the current actual voltages of the two potentiometers are converted to each other, and the current opening degree of the two potentiometers is calculated using the converted voltages. Specifically:

[0064] APP1=(2*U2-U 1APP0％ ) / (U 1APP100％ -U 1APP0％ )*100%

[0065] APP2=(U1 / 2-U 2APP0％ ) / (U 2APP100％ -U 2APP0％ )*100%

[0066] In the formula, APP1 is the current opening degree of one potentiometer; APP2 is the current opening degree of the other potentiometer; U 1APP0％ This is the voltage calibration value corresponding to a potentiometer opening of 0%; U 2APP0％ This is the voltage calibration value corresponding to the opening degree of the other potentiometer being 0%; U 1APP100％ This is the voltage calibration value corresponding to a potentiometer opening of 100%; U 2APP100％ This is the voltage calibration value corresponding to the opening degree of another potentiometer being 100%.

[0067] It should be noted that the output voltages of the two potentiometers are collected when the accelerator pedal is at 0% and 100% opening, and these are used as the reference values ​​for calculating the opening. For example: U 1APP0％ =1.2V, U 1APP100％ =3.9V; U 2APP0％ =0.6V, U 2APP100％ =1.95V.

[0068] For example, when U1 = 3.5V and U2 = 1.5V, APP1 = (2 × 1.5 – 1.2) / (3.9 – 1.2) × 100% ≈ 67%. APP2 = (3.5 / 2 – 0.6) / (1.95 – 0.6) × 100% ≈ 85%.

[0069] Step 4: Dynamically select a consistency verification threshold from the preset consistency verification threshold set to perform consistency verification on the current opening degree of the two potentiometers. The preset consistency verification threshold set is obtained by pre-calibrating the opening degree of the two potentiometers corresponding to different opening degrees of the accelerator pedal.

[0070] It should be noted that during the accelerator pedal operation, the deviation in pedal opening tends to accumulate and increase with increasing pedal depth, typically reaching its maximum when fully depressed. To improve the accuracy of consistency verification, a dynamic threshold method is employed, setting different deviation thresholds (consistency verification thresholds) based on different pedal openings. Furthermore, the allowable consistency verification threshold increases relatively with increasing pedal opening.

[0071] Specifically, the preset consistency verification threshold set is obtained by pre-calibrating the opening degrees of two potentiometers corresponding to different accelerator pedal opening degrees. The calibration process is as follows: On the experimental platform, the accelerator pedal opening degree is precisely controlled using testing equipment, while simultaneously recording the actual opening values ​​of the two potentiometers. Multiple measurements are performed at different opening points (e.g., 0%, 10%, 20%, ..., 100%). Based on the measurement data, the reasonable deviation range of the two potentiometer opening degrees at different opening degrees is calculated. These deviation ranges are then stored as consistency verification thresholds in the preset consistency verification threshold set, i.e., the APP. syncd ={APP sync1 APP sync2 APP sync3 ...APP syncn}, APP sync1 APP sync2 APP sync3 ...APP syncn The consistency verification threshold is obtained by pre-calibrating the opening degree of the two potentiometers corresponding to different opening degrees of the accelerator pedal.

[0072] For example, the opening deviation data of two potentiometers are collected at different opening degrees of the accelerator pedal (e.g., 10%, 30%, 50%, 70%, 90%), and a preset consistency verification threshold set is established for the APP. syncd ={3%,4%,5%,6%,7%}.

[0073] In one possible implementation, the process of dynamically selecting a consistency check threshold from a preset set of consistency check thresholds to perform consistency checks on the current opening degree of the two potentiometers is as follows:

[0074] First, using the minimum opening value among the current opening values ​​of the two potentiometers, i.e., min(APP1,APP2), the preset consistency verification threshold set APP is used. syncd The consistency verification threshold is dynamically selected in the middle.

[0075] For example, when min(APP1,APP2) = 30%, APP is selected. syncd =4%.

[0076] Finally, if |APP1-APP2|>APP syncd Continuous Δt syncdIf the time is not specified, the consistency check of the current opening degree of the two potentiometers is considered to have failed; otherwise, the consistency check of the current opening degree of the two potentiometers is considered to have passed. Wherein, Δt syncd The time when the absolute value of the current opening difference between the two potentiometers is greater than the consistency check threshold.

[0077] For example, if |APP1-APP2|>APP syncd Continuous Δt syncd If the time is less than 100ms, the current opening degree consistency check of the two potentiometers is considered to have failed; otherwise, the check is considered to have passed.

[0078] Preferably, if the consistency check of the current opening degree of the two potentiometers fails, at least one of the following operations is triggered:

[0079] Instrument panel fault indication refers to the display of a potentiometer's current voltage level to indicate a fault. For example, a fault code can be sent to the instrument panel via the CAN bus, illuminating a fault indicator light to alert the driver.

[0080] Vehicle speed or torque limiting control restricts engine output torque or the vehicle's maximum speed to ensure driving safety. For example, when a serious fault is detected, the vehicle's maximum speed can be limited to 30 km / h.

[0081] Step 5: Based on the validity of the current actual voltage of the two potentiometers and the consistency verification result of the current opening degree of the two potentiometers, arbitrate and output the accelerator pedal opening degree.

[0082] In one possible implementation, the arbitration output of the accelerator pedal opening is determined based on the validity of the current actual voltage of the two potentiometers and the consistency verification result of the current opening degree of the two potentiometers, specifically as follows:

[0083] If only the current actual voltage of any potentiometer is valid, the current opening degree of the potentiometer calculated using the current actual voltage of the valid potentiometer will be used as the accelerator pedal opening degree output, and the preset maximum accelerator pedal opening degree will be limited.

[0084] For example, the preset maximum accelerator pedal opening is 50% as a safety redundancy design.

[0085] If the current actual voltage of both potentiometers is valid and the consistency check of the current opening degree of the two potentiometers passes, it means that both potentiometers are working normally and the measurement results are reliable. Then, the arithmetic mean of the current opening degree of the two potentiometers will be used as the speed pedal opening degree output.

[0086] If the actual voltages from both potentiometers are invalid, it indicates a potential serious fault in the accelerator pedal voltage acquisition circuit, preventing the acquisition of a valid voltage signal. To ensure safe vehicle operation, the accelerator pedal opening output is set to a default safe value. This means that upon detecting an accelerator pedal depress signal, the preset safe opening is used as the accelerator pedal opening output. For example, the preset safe opening is 5%, indicating the vehicle is in a limp-riding state.

[0087] In another embodiment of the present invention, such as Figure 2 As shown, a computer device is provided, comprising a processor and a memory. The memory stores a computer program, which includes program instructions. The processor executes the program instructions stored in the computer storage medium. The processor may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing and control core of the terminal, suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions from the computer storage medium to achieve a corresponding method flow or function. The processor described in this embodiment can be used for the operation of an accelerator pedal opening calculation method.

[0088] In another embodiment of the present invention, a storage medium is provided, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device used to store programs and data. It is understood that the computer-readable storage medium here can include both the built-in storage medium in the computer device and extended storage media supported by the computer device. The computer-readable storage medium provides storage space that stores the terminal's operating system. Furthermore, the storage space also stores one or more instructions suitable for loading and execution by a processor. These instructions can be one or more computer programs (including program code). It should be noted that the computer-readable storage medium here can be high-speed RAM or non-volatile memory, such as at least one disk storage device. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the accelerator pedal opening calculation method in the above embodiments.

[0089] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0090] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0091] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0092] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0093] This invention also provides a computer program product, which is used to execute any of the above-described accelerator pedal opening calculation methods. Since the computer program product provided by this invention belongs to the same inventive concept as the accelerator pedal opening calculation method described above, it possesses all the advantages of the accelerator pedal opening calculation method described above. Therefore, the beneficial effects of the computer program product provided by this invention will not be elaborated upon here.

[0094] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0095] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the scope of the technology disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention.

Claims

1. A method for calculating accelerator pedal opening, characterized in that, include: Obtain the current actual voltage of the two potentiometers; Verify the validity of the current actual voltage of the two potentiometers; Based on the theoretical voltage relationship between the two potentiometers, the current actual voltages of the two potentiometers are converted to each other, and the current opening degree of the two potentiometers is calculated using the converted voltages. The consistency verification threshold is dynamically selected from the preset consistency verification threshold set to verify the current opening degree of the two potentiometers. The preset consistency verification threshold set is obtained by pre-calibrating the opening degree of the two potentiometers corresponding to different opening degrees of the accelerator pedal. Based on the validity of the current actual voltage of the two potentiometers and the consistency verification result of the current opening degree of the two potentiometers, the arbitration outputs the accelerator pedal opening degree.

2. The method for calculating accelerator pedal opening according to claim 1, characterized in that, The voltage validity verification of the current actual voltage of the two potentiometers is specifically performed as follows: The upper and lower voltage limits of the two potentiometers are determined based on the accelerator pedal characteristic curve. The voltage validity of the two potentiometers is verified by using their upper and lower voltage limits respectively.

3. The method for calculating accelerator pedal opening according to claim 2, characterized in that: The method involves verifying the validity of the current actual voltage of the two potentiometers by using their upper and lower voltage limits, respectively. If U1>U 1up Continuous Δt 1up If the time is right, then a potentiometer overvoltage fault is determined. If U1 1down Continuous Δt 1down If the time is determined, then a potentiometer undervoltage fault is identified.​ If U2>U 2up Continuous Δt 2up If the time is right, then another potentiometer is determined to have an overvoltage fault. If U2 2down Continuous Δt 2down If the time is right, then the other potentiometer is determined to be undervoltage fault;​ Wherein, U1 is the current actual voltage of one potentiometer; U 1up The upper limit of voltage for one potentiometer; Δt 1up This refers to the time during which the current actual voltage of a potentiometer is greater than the corresponding upper voltage limit; U 1down This is the lower voltage limit of one potentiometer; Δt 1down U1 represents the time during which the current actual voltage of one potentiometer is lower than the corresponding lower voltage limit; U2 represents the current actual voltage of the other potentiometer; U 2up The upper limit of the voltage of the other potentiometer; Δt 2up This refers to the time during which the current actual voltage of another potentiometer is greater than the corresponding upper voltage limit; U 2down This is the lower voltage limit of another potentiometer; Δt 2down This refers to the time during which the current actual voltage of another potentiometer is lower than the corresponding lower voltage limit.

4. The method for calculating accelerator pedal opening according to claim 1, characterized in that, Based on the theoretical voltage relationship between the two potentiometers, the current actual voltages of the two potentiometers are converted to each other, and the current opening degree of the two potentiometers is calculated using the converted voltages. Specifically: APP1=(2*U2-U 1APP0％ ) / (IN 1APP100％ -IN 1APP0％ )*100% APP2=(U1 / 2-U 2APP0％ ) / (U 2APP100％ -U 2APP0％ )*100% In the formula, APP1 is the current opening degree of one potentiometer; APP2 is the current opening degree of another potentiometer; and U1 is the current actual voltage of one potentiometer. U2 is the current actual voltage of another potentiometer; U 1APP0％ This is the voltage calibration value corresponding to a potentiometer opening of 0%; U 2APP0％ This is the voltage calibration value corresponding to the opening degree of the other potentiometer being 0%; U 1APP100％ This is the voltage calibration value corresponding to a potentiometer opening of 100%; U 2APP100％ This is the voltage calibration value corresponding to the opening degree of another potentiometer being 100%.

5. The method for calculating accelerator pedal opening according to claim 1, characterized in that, The step of dynamically selecting a consistency verification threshold from a preset set of consistency verification thresholds to perform consistency verification on the current opening degree of the two potentiometers specifically involves: Using the minimum opening degree among the current opening degrees of the two potentiometers, from the preset consistency verification threshold set APP syncd The consistency check threshold is dynamically selected in the middle; If |APP1-APP2|>APP syncd Continuous Δt syncd If the time is not specified, the consistency check of the current opening degree of the two potentiometers is determined to be unsuccessful; otherwise, the consistency check of the current opening degree of the two potentiometers is determined to be successful. Among them, APP syncd ={APP sync1 APP sync2 APP sync3 ...APP syncn }, APP sync1 APP sync2 APP sync3 ...APP syncn To achieve a consistency verification threshold using the pre-calibrated opening degrees of two potentiometers corresponding to different accelerator pedal opening degrees; APP1 represents the current opening degree of one potentiometer; APP2 represents the current opening degree of the other potentiometer; Δt syncd The time when the absolute value of the current opening difference between the two potentiometers is greater than the consistency check threshold.

6. The method for calculating accelerator pedal opening according to claim 1, characterized in that, The arbitration output of the accelerator pedal opening is determined based on the validity of the current actual voltage of the two potentiometers and the consistency verification result of the current opening degree of the two potentiometers. Specifically: If only the current actual voltage of any potentiometer is valid, the current opening degree of the potentiometer calculated using the current actual voltage of the valid potentiometer will be used as the accelerator pedal opening degree output, and the preset maximum accelerator pedal opening degree will be limited. If the current actual voltage of both potentiometers is valid and the consistency check of the current opening degree of the two potentiometers passes, then the arithmetic mean of the current opening degree of the two potentiometers will be used as the speed pedal opening degree output. If the current actual voltage of both potentiometers is invalid, the preset safety opening will be used as the accelerator pedal opening output after the accelerator pedal is detected.

7. The method for calculating accelerator pedal opening according to claim 1, characterized in that: If the validity verification of the current actual voltage of the two potentiometers fails and / or the consistency verification of the current opening degree of the two potentiometers fails, at least one of the following operations will be triggered: Dashboard malfunction warnings; Vehicle speed or torque limiting control.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements a method for calculating the accelerator pedal opening as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the accelerator pedal opening calculation method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, When the computer program product is executed by the processor, it implements the accelerator pedal opening calculation method as described in any one of claims 1 to 7.

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