Pedal angle value and pressure value data fusion method, device and system

Abstract

The invention relates to the technical field of data fusion, in particular to a pedal angle value and pressure value data fusion method, device and system, and the method comprises the steps: detecting the movement change of a pedal through an angle sensor and a pressure sensor; the operation state of the pedal is judged according to the obtained angle value A and the pressure value B, the angle value A and the pressure value B are weighted respectively, and then by extracting feature information of angle sensor signal data and pressure sensor signal data of the pedal, the weights of the angle value A and the pressure value B are adjusted according to the feature information. Through calculation of the adjusted weight, the angle value A and the pressure value B, a control quantity X after fusion of the angle value A and the pressure value B can be obtained and output, and then the angle value X is processed to output an effective angle value related to the pedal, so that the problem that the accuracy of a pedal output result is affected due to the fact that the pedal system is difficult to consider response speed and steady-state precision at the same time is avoided.

Description

Technical Field

[0001] This invention relates to the field of data fusion technology, and in particular to a method, apparatus and system for data fusion of pedal angle value and pressure value. Background Technology

[0002] As automotive drive technology evolves from traditional mechanical and hydraulic systems to electronic control, drive-by-wire, and even fully intelligent electric drive, the accurate and rapid recognition of driver intentions has become a key prerequisite for achieving high-performance drive control. The requirements for pedal detection systems in drive system electrification not only necessitate knowing the pedal's static position (steady-state accuracy) to determine the driver's long-term torque request, but also require real-time sensing of the instantaneous speed and acceleration of the pedal when it is depressed (dynamic response) to accurately identify different driving intentions such as emergency acceleration, smooth cruising, or energy recovery.

[0003] As the "sensing front end" of the pedal control system, the measurement accuracy and operational reliability of the pedal detection system directly determine the control performance and safety of the entire equipment. When selecting a specific detection scheme, multiple factors such as application scenarios, accuracy indicators, environmental adaptability, and cost constraints must be systematically weighed.

[0004] In the existing technology, the pedal detection solution outputs the corresponding angle signal by measuring the angular displacement of the pedal in real time. Angle sensors have good linearity and high steady-state accuracy, but slow dynamic response. Pressure sensors have extremely fast dynamic response and can directly reflect the driver's force intention, but they have a drift tendency and are easily disturbed in steady state. As a result, the pedal system driven by the car cannot balance response speed and steady-state accuracy, which affects the accuracy of the output results. Summary of the Invention

[0005] Therefore, it is necessary to provide a data fusion method, device, and system for pedal angle and pressure values ​​to address the above-mentioned problems.

[0006] This invention is implemented as follows: a data fusion method for pedal angle values ​​and pressure values, the data fusion method for pedal angle values ​​and pressure values ​​includes: S1: Obtain the angle value A from the angle sensor and the pressure value B from the pressure sensor after the current pedal movement change; S2: Determine the operating state of the pedal based on the angle value A and the pressure value B; S3: Determine the weight P1 of angle value A and the weight Q1 of pressure value B based on the operating state of the pedal; S4: Determine the dynamic signal data of the angle sensor based on the angle value A, determine the dynamic signal data of the pressure sensor based on the pressure value B, and determine the characteristic information of the pedal operation state based on the dynamic signal data of the angle sensor and the dynamic signal data of the pressure sensor. S5: Adjust the weight P1 of angle value A to obtain weight P2 based on the characteristic information of pedal operation status, and adjust the weight Q1 of pressure value B to obtain weight Q2. S6: Obtain the control quantity X, which is a fusion of the angle value A and the pressure value B, from X=AP2+BQ2 and output it.

[0007] In one embodiment, the present invention provides a data fusion device for pedal angle values ​​and pressure values, the data fusion device for pedal angle values ​​and pressure values ​​comprising: The acquisition module acquires the angle value A from the angle sensor and the pressure value B from the pressure sensor after the current pedal movement change. The operation status determination module determines the operation status of the pedal based on the angle value A and the pressure value B. The preset weight module determines the weight P1 of angle value A and the weight Q1 of pressure value B based on the operation state of the pedal. The feature information acquisition module determines the dynamic signal data of the angle sensor based on the angle value A, the dynamic signal data of the pressure sensor based on the pressure value B, and determines the feature information of the pedal operation state based on the dynamic signal data of the angle sensor and the dynamic signal data of the pressure sensor. The preset weight module is adjusted to obtain weight P2 by adjusting the weight P1 of angle value A and the weight Q1 of pressure value B according to the characteristic information of pedal operation status. The fusion calculation and output module obtains the control quantity X, which is a fusion of the angle value A and the pressure value B, from X=AP2+BQ2 and outputs it.

[0008] In one embodiment, the present invention provides a data fusion system for pedal angle values ​​and pressure values, the data fusion system for pedal angle values ​​and pressure values ​​includes: a pedal mechanism and a data fusion processor; The pedal mechanism is equipped with an angle sensor and a pressure sensor. The angle sensor is used to detect the pedal rotation angle of the pedal mechanism, and the pressure sensor is used to detect the pressure on the pedal mechanism. The angle sensor and the pressure sensor communicate with the data fusion processor to output the detected values ​​to the data fusion processor. The data fusion processor is used to execute a data fusion method for pedal angle values ​​and pressure values.

[0009] The data fusion method for pedal angle and pressure values ​​provided in this invention utilizes both angle and pressure sensors to detect pedal movement changes. First, the operating state of the pedal is determined based on the acquired angle value A and pressure value B, and weights are assigned to A and B respectively. Then, feature information is extracted from the angle and pressure sensor signal data to adjust the weights of A and B. The adjusted weights, angle A, and pressure B are used to calculate the fused angle value X. Finally, the angle value X is processed to output the effective angle value for the pedal. This avoids the difficulty in balancing response speed and steady-state accuracy in automotive pedal systems, which can affect the accuracy of pedal output results. Attached Figure Description

[0010] Figure 1 This is a flowchart of a data fusion method for pedal angle values ​​and pressure values ​​in one embodiment; Figure 2 This is a structural block diagram of a data fusion device for pedal angle and pressure values ​​in one embodiment. Figure 3 This is a block diagram of a data fusion system for pedal angle and pressure values ​​in one embodiment; Figure 4 This is a schematic diagram of the pedal mechanism in a data fusion system for pedal angle and pressure values ​​in one embodiment. Figure 5 This is a block diagram of the internal structure of a computer device in one embodiment. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0012] It is understood that the terms "first," "second," etc., used in this invention may be used to describe various elements herein, but unless specifically stated otherwise, these elements are not limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of this invention, a first script may be referred to as a second script, and similarly, a second script may be referred to as a first script.

[0013] like Figure 1 As shown, in one embodiment, a data fusion method for pedal angle values ​​and pressure values ​​is proposed, which may specifically include the following steps: S1: Obtain the angle value A from the angle sensor and the pressure value B from the pressure sensor after the current pedal movement change; S2: Determine the operating state of the pedal based on the angle value A and the pressure value B; S3: Determine the weight P1 of angle value A and the weight Q1 of pressure value B based on the operating state of the pedal; S4: Determine the dynamic signal data of the angle sensor based on the angle value A, determine the dynamic signal data of the pressure sensor based on the pressure value B, and determine the characteristic information of the pedal operation state based on the dynamic signal data of the angle sensor and the dynamic signal data of the pressure sensor. S5: Adjust the weight P1 of angle value A to obtain weight P2 based on the characteristic information of pedal operation status, and adjust the weight Q1 of pressure value B to obtain weight Q2. S6: Obtain the control quantity X, which is a fusion of the angle value A and the pressure value B, from X=AP2+BQ2 and output it.

[0014] In this embodiment, the data fusion method for pedal angle and pressure value is mainly used in pedal detection by simultaneously detecting the pedal using an angle sensor and a pressure sensor. The method leverages the good linearity and high steady-state accuracy of the angle sensor and the fast dynamic response of the pressure sensor to detect the vehicle's pedal system. To obtain the output value after the pedal's movement changes, the angle value A output by the angle sensor and the pressure value B output by the pressure sensor can be read when the pedal is pressed by the driver. The angle sensor on the pedal can be a magnetic encoder unit, which can detect the real-time angular displacement of the pedal. The pressure sensor unit on the pedal is mainly used to detect the pressure value on the mechanical spring device on the pedal. When the pedal is pressed, the spring device transmits the pedal pressure to the pressure sensor unit, allowing for real-time detection and acquisition of the real-time changing pedal pressure value.

[0015] In this embodiment, the obtained angle value A reflects the position of the pedal, which can be the starting position when the pedal is not depressed, the position when the pedal is depressed but not to the end point, or the position when the pedal is depressed and to the end point. The obtained pressure value B reflects the force applied by the driver when depressing the pedal, which can be the force of lightly pressing the pedal to start or the force of heavily pressing the pedal for emergency braking. The pedal operation state is judged by combining the angle value A and the pressure value B, and cross-validation can be used to determine different pedal operation states. A dual threshold judgment method is used to judge the angle value A and the pressure value B. When both the angle value A and the pressure value are less than the minimum threshold, it means that the pedal is neither depressed nor subjected to pressure. If both the angle value and the pressure value have output values, it may be due to external vibration. By setting a minimum threshold, the high-precision measurement characteristics of the angle and pressure sensors can be used to avoid misjudgments. When the angle value A is less than the minimum threshold and the pressure value is greater than the minimum threshold, it indicates that the driver's foot is lightly resting on the pedal, which can be considered the starting state and a preparation action for starting. When both the angle value A and the pressure value B are greater than the minimum threshold and less than the maximum threshold, this is the normal operating state. If the pressure value changes too much in a short period of time or even exceeds the maximum threshold, it can be considered as pressing the pedal hard. If the angle value increases slowly over a certain period of time and the pressure value changes relatively evenly, it can be considered as pressing the pedal lightly. However, when the angle value is very large and greater than the maximum threshold, while the pressure value is very small, it is judged as an abnormal operating state. Abnormal operating states may include mechanical jamming or foreign objects pressing on the pedal.

[0016] In this embodiment, different ratios can be selected to fuse angle value A and pressure value B under different operating states to obtain a more accurate pedal opening angle output. The weight of angle value A is assigned by weight P, and the weight of pressure value B is assigned by weight Q. Typically, P1+Q1=1 and both P1 and Q1 are positive real numbers. The importance of different sensors varies under different pedal operating states. Based on the pedal operating state, when both angle value A and pressure value B are small and less than the minimum threshold, the pedal is not actually pressed by the driver. A low and average weight can be preset, such as P1=0.5 and Q1=0.5 (average), or the weight can be set to 0. When the operating state is preset and the pressure value is greater than the minimum threshold, but the angle does not exceed the minimum threshold, the pedal is not actually pressed, and the pressure sensor is falsely triggered. In this case, the preset weight of angle value A, P1, will be greater than the weight of pressure value B, Q1. P1 can be set higher (e.g., 0.7) and Q1 lower (0.3), or even the pressure can be completely ignored (Q1=0) until the angle also exceeds the threshold. Under normal operating conditions, both angle value A and pressure value B output valid values. During smooth operation, the angle and pressure changes are gradual and can be set to the same weight, such as P1=0.5 and Q1=0.5. During heavy or rapid pedal presses, the pressure response is faster, so the weight of pressure value B can be greater than that of angle value A, such as P1=0.3 and Q1=0.7. When the pedal is held in a fixed position for an extended period, to prevent pressure sensor drift, the weight of angle value A can be greater than that of pressure value B, such as P1=0.7 and Q1=0.3. When a pedal malfunction or abnormal operating condition is detected, if it's a pressure sensor malfunction and only the angle value output is normal, the weight can be P1=1 and Q1=0, and vice versa. If the malfunction cannot be identified, the pedal can be conservatively output with the lowest weight to enter the pedal's fail-safe mode.

[0017] In this embodiment, the sensor signal data of the pedal can be the original electrical signals of the angle sensor and pressure sensor after the current pedal movement change, such as voltage, current, or digital signals. The signal data can be continuous time series data, collected at a fixed sampling frequency (e.g., 100 Hz). Since the original electrical signals contain noise and interference, the sensor information data needs to be preprocessed. Common preprocessing methods include filtering to remove high-frequency noise, retaining the low-frequency part of the signal, and removing mechanical jitter signals generated by vibration. Signal data processing methods such as signal calibration, normalization, and missing value handling can also be used to process the signal data of the angle sensor and pressure sensor. After preprocessing, feature information is extracted from the signal. The feature information can be the rate of change of angle and pressure, historical statistical data features, time features, signal smoothness, etc.

[0018] In this embodiment, the weights of the angle value A and the pressure value are dynamically adjusted based on the characteristic information of the pedal's operating state. This allows for a more accurate fused output value of the angle and pressure values ​​under the current operating state of the pedal. Adjustment can be based on the rate of change; when a rapid response is needed, the weight of the pressure sensor is increased (pressure changes may be faster); when a stable output is needed, the weight of the angle sensor is increased (angle may be more stable); and when a fault or anomaly is detected, the weight of unreliable sensors is decreased. Adjustment can also be based on historical statistical features or the duration of operation, or it can combine multiple features for dynamic weight adjustment. By dynamically adjusting the weights based on the characteristic information of the sensor signal data of the current pedal operating state, a dynamic balance is struck between response speed, stability, and safety, resulting in a more accurate fused output value.

[0019] In this embodiment, the angle value X is the result of weighted fusion of the angle value A detected by the angle sensor and the pressure value B detected by the pressure sensor. It represents the final output value of the pedal system for the pedal position, which is used for vehicle control. The angle value X is a weighted sum after dynamically adjusting the weights based on the output values ​​of the angle sensor and the pressure sensor and the characteristic information of the current pedal operation state. The fused output data can reflect the user's, i.e., the driver's, operation intention in a timely manner, making the output response fast and the operation after output accurate.

[0020] In this embodiment, the angle value X is corrected, such as by dead zone processing and maximum or minimum movement range detection processing. Finally, the effective angle value is output and placed on the operating platform. The operating platform can be the pedal operating system, such as the engine control unit (ECU) or brake control unit, which performs corresponding response operations based on the output effective angle value.

[0021] The data fusion method for pedal angle and pressure values ​​provided in this invention utilizes both angle and pressure sensors to detect pedal movement changes. First, the operating state of the pedal is determined based on the acquired angle value A and pressure value B, and weights are assigned to A and B respectively. Then, feature information is extracted from the angle and pressure sensor signal data to adjust the weights of A and B. The adjusted weights, angle A, and pressure B are used to calculate the fused angle value X. Finally, the angle value X is processed to output the effective angle value for the pedal. This avoids the difficulty in balancing response speed and steady-state accuracy in automotive pedal systems, which could affect the accuracy of pedal output results.

[0022] In one embodiment of the present invention, determining the weight P1 of the angle value A and the weight Q1 of the pressure value B based on the operating state of the pedal includes: Determine the relationship between angle value A and pressure value B and preset thresholds; When angle value A < threshold a min And the pressure value B < the threshold b min When the pedal is inactive, confirm that it is not in use. When angle value A ≥ threshold a min And the pressure value is greater than or equal to the threshold b. min And the angle value A < threshold a mid And the pressure value B < the threshold b mid At this time, ensure the pedal is in a light-press operation state; When angle value A > threshold a max And the pressure value B > the threshold b max At that time, confirm that the pedal is in a hard-press operation state; When threshold a min <Angle value A≤threshold a max And threshold b min <Pressure value B ≤ threshold b max At this time, confirm that the pedal is in normal operating condition; The weight P1 of the angle value A and the weight Q1 of the pressure value B are obtained based on the pedal's operating state. Where, threshold a min Let 'a' be the initial dead zone threshold for the angle. mid Let 'a' be the median threshold of the angle. max Let 'a' be the threshold value for the dead zone at the end of the angle. min <threshold a mid <threshold a max And they are all positive real numbers; threshold b min The initial dead zone threshold for the pressure value, threshold b mid The threshold value is the median threshold for the pressure value, threshold b. max The threshold value is the dead zone threshold for the pressure value, and the threshold value is b. min <threshold b mid <threshold b max And they are all positive real numbers.

[0023] In this embodiment, the obtained angle value A and pressure value B are preprocessed and normalized so that angle value A and pressure value B can be added on a uniform scale. This avoids the inaccuracy of the output result due to the inconsistency of the physical units of angle value and pressure value, which could affect the accuracy of the output result. The angle value A and pressure value B can be normalized to values ​​between 0 and 1, and the preset weights P1 and Q1 are usually positive real numbers with a sum of 1. After normalization, the final angle value X is between 0 and 1, or between 0% and 100%, which is the percentage of pedal opening. The normalization process of angle value A can first determine the two boundary values ​​of the angle sensor, namely A. min (Angle value when the pedal is fully released), A max (The angle value when the pedal is fully depressed) is given by A1 = (AA min ) / (A max -A) A1 is the normalized angle value; the normalization process of pressure value B can begin by determining the two boundary values ​​of the pressure sensor, namely B. min (The pressure value when the pedal is fully released is usually not 0 and may have preload), B max (The pressure value when the pedal is fully depressed) is given by B1 = (BB) min ) / (B max -B)B1 is the normalized pressure value.

[0024] In this embodiment, threshold a and threshold b are both preset normalized values ​​used to distinguish different operational intensities. Threshold a is an angle threshold, which can be divided into an initial dead zone threshold a. min (e.g. a) min =0.1), intermediate threshold a mid (e.g. a) mid =0.5), end dead zone threshold a max (e.g. a) max =0.9); the threshold b is the pressure value threshold, which can be divided into the initial dead zone threshold b. min (e.g. b) min =0.11), intermediate threshold b mid (e.g. b) mid =0.5), end dead zone threshold b max (e.g. b) max =0.95).

[0025] In this embodiment, the inactive state is considered to be when both angle value A and pressure B are below their minimum thresholds, indicating that the pedal has not been operated. This corresponds to the situation where the driver's foot is not pressing the pedal or is lightly touching it but not effectively operating it. The light-pressing operation state is considered to be when both angle value A and pressure B exceed the minimum threshold but are below the intermediate threshold, indicating that the pedal has been lightly pressed. This corresponds to slow acceleration, slow braking, or preparatory operations, indicating a gentle driver intention. The heavy-pressing operation state is considered to be when both angle value A and pressure B exceed the maximum threshold, indicating that the pedal has been heavily pressed. This corresponds to strong driving intentions such as rapid acceleration or emergency braking. The normal operation state is considered to be when both angle value A and pressure B are between the minimum and maximum thresholds, but do not simultaneously meet the light-pressing condition (i.e., at least one parameter is not below the intermediate threshold), indicating that the pedal is in a normal operation state. This corresponds to general acceleration or braking operations with moderate force. The current operating state is obtained by comparing and matching the normalized angle value A1 and pressure value B1 with different operating states. For example, when the normalized A1=0.3 and B1=0.5, the current pedal operating state can be obtained after comparison and matching as a light pressing state, which corresponds to slow acceleration and slow braking. At this time, the weights P1 and Q1 can be obtained based on the light pressing operating state.

[0026] In one embodiment of the present invention, the step of matching and obtaining the weight P1 of the angle value A and the weight Q1 of the pressure value B based on the comparison result includes: When the pedal is inactive, the weight of angle value A is P. 11 The weight of pressure value B is Q. 11 P 11 Q 11 They are 0 respectively; When the pedal is in a light-press operation state, the weight of angle value A is P. 12 The weight of pressure value B is Q. 12 P 12 Q 12 P are positive real numbers respectively. 12 Q 12 And P 12 +Q 12 =1; When the pedal is in a hard-press operation state, the weight of angle value A is P. 13 The weight of pressure value B is Q. 13 P 13 Q 13 P are positive real numbers respectively. 13 13 And P 13 +Q 13 =1; When the pedal is in normal operating condition, the weight of angle value A is P. 14 The weight of pressure value B is Q. 14 P​14 Q 14 P are positive real numbers respectively. 14 ≥Q 14 And P 14 +Q 14 =1.

[0027] In this embodiment, when a no-operation state is matched, both the angle and pressure are below the minimum threshold, so the preset weight can be set to 0 to indicate no output. When a light-step operation state is matched, the angle and pressure are greater than the minimum threshold but greater than the intermediate threshold. At this time, the angle sensor is more stable, while the pressure sensor may have excessive noise or strong nonlinearity at low pressure. Therefore, the preset weight P is set to 0. 12 Q 12 And P 12 +Q 12 =1; When a hard-press operation is matched, both the angle and pressure are greater than the maximum threshold. At this time, the pressure sensor responds faster, and the user's intention is stronger when pressing hard. The pressure signal better reflects the degree of urgency, so P in the preset weights is... 13 13 And P 13 +Q 13 =1, when matched to the normal operating state, the angle and pressure are in the middle range. However, during normal driving, the pedal control is smoother, and the change of the angle sensor is more linear and continuous. Therefore, P in the weighting is... 14 Q 14 And P 14 +Q 14 =1; if the angle value A is normalized to A1=0.3 and the pressure value is normalized to B1=0.5, then the matching for a light-press operation state can be weighted P. 12 =0.6, Q 12 =0.4; if the angle value A is normalized to A1=0.6, and the pressure value is normalized to B1=0.7, then the matching for the heavy-press operation state can be weighted P. 13 =0.3, Q 13 =0.7.

[0028] In one embodiment of the present invention, the step of determining the dynamic signal data of the angle sensor based on the angle value A, determining the dynamic signal data of the pressure sensor based on the pressure value B, and determining the characteristic information of the pedal operation state based on the dynamic signal data of the angle sensor and the dynamic signal data of the pressure sensor includes: The dynamic signal data of the angle sensor in the pedal sliding window is determined based on the angle value A, and the dynamic signal data of the pressure sensor in the pedal sliding window is determined based on the pressure value. Noise filtering was performed on the dynamic signal data from the angle sensor and the dynamic signal data from the pressure sensor, respectively. ​Based on the noise filtering results, sampled values ​​of several signals of the operating state of the angle sensor and sampled values ​​of several signals of the operating state of the pressure sensor are extracted within the sliding window. The standard deviation of the angle sensor within the sliding window is calculated by extracting several signal sampling values ​​of the angle sensor's operating state; the standard deviation of the pressure sensor within the sliding window is calculated by extracting several signal sampling values ​​of the pressure sensor's operating state. T is determined based on the standard deviation of the angle sensor within the sliding window. 11 T is determined based on the standard deviation of the pressure sensor within the sliding window. 31 ; Several signal acquisition values ​​of the angle sensor's operating state within the extracted sliding window are connected to form a smooth curve. The difference between the maximum and minimum values ​​of the smooth curve and the corresponding time difference between the maximum and minimum values ​​are obtained. T is then calculated. 12 The system connects several signal acquisition values ​​of the pressure sensor operating state within the extracted sliding window to form a smooth curve. The difference between the maximum and minimum values ​​of the smooth curve, and the corresponding time difference between the maximum and minimum values, are then calculated to obtain T. 32 ; Extract the duration T of the current pedal operation state detected by the angle sensor within the sliding window. 13 The pressure sensor detects the current pedal operation state for a duration T. 33 ; Among them, T 11 The pressure sensor detects the rate of change of the current pedal operation state; T 12 The smoothness of the signal detected by the pressure sensor to indicate the current pedal operation status; T 31 The angle sensor detects the rate of change of the current pedal operation state; T 32 The smoothness of the signal detected by the angle sensor to indicate the current pedal operation status.

[0029] In this embodiment, the acquired sensor signal data can be angle sensor voltage (0-5V) and pressure sensor voltage (0-10V), with a sampling frequency of 100Hz. High-frequency noise is removed using a low-pass filter, and the angle voltage is converted to an angle value, and the pressure voltage to a pressure value, according to the calibration curve. This allows for the acquisition of instantaneous angle and pressure values. The obtained angle and pressure values ​​are then normalized, and the timestamps of the two sensor data can be simultaneously detected for alignment. After noise filtering, feature extraction is performed, and the rate of change of the angle and pressure values ​​over the past 0.5 seconds is calculated using a differential method. The mean and standard deviation of the angle and pressure values ​​over the past second are calculated. The sliding window can be set within 100-500ms (to balance response speed and stability). The sliding window can be understood as the total length of the sampled signal data. The sliding step size can also be set, which is the interval of the sampled signal data. Through calculation, information such as the rate of change, signal smoothness, state duration, consistency, and historical statistical characteristics of the angle sensor and pressure sensor can be obtained. The standard deviation is extracted and calculated by the signal calibration and alignment module. The signal smoothness can be measured by the standard deviation, which reflects the degree of fluctuation of the signal relative to the average value. A smaller standard deviation indicates that the signal values ​​are closer to the average, meaning the signal is smoother; conversely, a larger standard deviation indicates that the signal is more dispersed relative to the average, meaning the signal is less smooth. For example, if several signal samples are obtained within a sliding window, the standard deviation can be calculated using the standard deviation formula. The smoothness of the sensor signal can then be determined based on the standard deviation. Alternatively, the sample values ​​can be concatenated into a line segment, and the maximum and minimum values ​​within the segment can be obtained. The rate of change of the sensor signal data within the sliding window is the ratio of the difference between the maximum and minimum values ​​to their corresponding time difference. For example, the rate of change for an angle sensor is calculated as follows: (50°...) -20°) / 30ms = 1° / ms. The calculation formula for the rate of change of the pressure sensor is the same as that for the rate of change of the angle sensor. The state duration is extracted through the time alignment module. Time alignment ensures that the angle and pressure sensor data are aligned on the time axis. Interpolation or nearest neighbor methods are typically used to synchronize the two sensor data to the same timestamp. State detection: For each sensor, the current pedal operation state (e.g., not pressed, pressed, held, etc.) is determined based on its signal characteristics (e.g., threshold, rate of change, etc.). State duration calculation: Within the sliding window, for the current state (i.e., the state at the most recent time point), calculate how long the state has lasted. Note that what is needed here is the duration of the current state, not the total time of the state within the entire window. It can be the continuous state time obtained after noise filtering within the entire sliding window. Assume we already have the time series of the two sensor data (angle and pressure) within the sliding window after time alignment, and each time point has a state label (obtained by its respective sensor).For each sensor, the state at the current moment (i.e., the last time point of the sliding window) is obtained, and the duration for which this state has persisted until now is calculated. Therefore, starting from the last time point of the window, one can trace back until the state changes, thereby obtaining the duration of the current state.

[0030] As an embodiment of the present invention, adjusting the weight P1 of the angle value A and the weight Q1 of the pressure value B according to the characteristic information of the pedal operation state to obtain the weight P2 and the weight Q2 includes: Regarding the weight P1 and the weight Q1 as the basic weights of the pedal operation state; Comparing the characteristic information of the pedal operation state with the historical characteristic information of the pedal operation state; Calculating the change amount p of the weight P1 and the change amount q of the weight Q1 according to the comparison result; From P2 = P1 + p, the adjusted weight P2 is obtained, where 0 < P2 < 1 and it is a positive real number; From Q2 = Q1 + q, the adjusted weight Q2 is obtained, where 0 < Q2 < 1 and it is a positive real number.

[0031] In this embodiment, adjusting the weights according to the characteristic information of the pedal operation state such as the change rate, signal smoothness, etc. can be an adjustment based on one or more of the characteristic information such as the change rate, consistency-based characteristics, and historical statistics-based characteristics. Assume that the preset weights are P1 = 0.5 and Q1 = 0.5, and the current characteristic information shows that the change rate of the pressure sensor is very high (rapidly stepping on the pedal), and the consistency C is low (the two are inconsistent, perhaps the pressure increases faster). Adjustment based on the change rate: When the change rate of the pressure sensor is high, the pressure weight can be increased, and let q1 = 0.2. Adjustment based on consistency: When C is low, and the pressure increases faster while the angle increases slower, the pressure weight can be further increased, and let q2 = 0.1. Then the total adjustment amount: q = q1 + q2 = 0.3, p = -0.3, and we get: P2 = 0.5 - 0.3 = 0.2, Q2 = 0.5 + 0.3 = 0.8. In this way, in the case of rapidly stepping on the pedal and faster pressure response, more trust is placed in the pressure sensor. If the sum of the adjusted weights P2 and Q2 exceeds 1, weight normalization is still required so that P2 + Q2 = 1.

[0032] As an embodiment of the present invention, calculating the change amount p of the weight P1 and the change amount q of the weight Q1 according to the comparison result includes: From p = P1 (1 - h1 T 11 / T 21 +h2 T 12 / T 22+h3 T 13 / T 23 The change in weight P1 is obtained, p, where p < 1; From q=Q1 (1-h4) T 31 / T 41 +h5 T 32 / T 42 +h6 T 33 / T 43 The change in weight Q1 is obtained as q, where q < 1; Where h1 is the weight of the smoothness of the pedal operation state signal detected by the angle sensor, and T 21 h1 represents the average smoothness of historical signals of pedal operation states detected by the angle sensor; h2 represents the weight of the rate of change of pedal operation states detected by the angle sensor; T represents the mean smoothness of the historical signals of pedal operation states detected by the angle sensor. 22 h3 represents the historical rate of change of the pedal operation state detected by the angle sensor; h3 represents the weight of the duration of the pedal operation state detected by the angle sensor; T represents the weight of the duration of the pedal operation state detected by the angle sensor. 23 The duration of the historical state of the pedal operation detected by the angle sensor; h1, h2, and h3 are positive real numbers and h1 + h2 + h3 = 1; h1, h2, and h3 are determined by the current operation state of the pedal; h4 represents the weight of the smoothness of the pedal operation status signal detected by the pressure sensor, and T represents the weight of the smoothness of the signal. 41 h5 represents the smoothness of the historical signal of pedal operation state detected by the angle sensor; h5 represents the weight of the rate of change of pedal operation state detected by the pressure sensor; T represents the weight of the signal. 42 h6 represents the historical rate of change of the pedal operation state detected by the angle sensor; h6 represents the weight of the duration of the rate of change of the pedal operation state detected by the pressure sensor; T represents the weight of the duration of the rate of change of the pedal operation state detected by the pressure sensor. 43 The duration of the historical state of the pedal operation detected by the angle sensor; h4, h5, and h6 are positive real numbers and h4+h5+h6=1; h4, h5, and h6 are determined by the current operation state of the pedal.

[0033] In this embodiment, the changes p and q are calculated based on the comparison results, and feature information of the current pedal operation state is extracted (such as features obtained by processing the readings of the angle and pressure sensors, such as rate of change and consistency). Then, the differences between these features and the baseline feature information (which may be vectors or scalars) are calculated, and two outputs p and q are obtained through function calculation, both between 0 and 1. The function form can be linear, exponential, piecewise, etc., specifically designed according to the system characteristics. These two functions may be designed such that when the difference indicates that the current state is more suitable for a certain sensor, the corresponding output is larger. For example, if the difference indicates smooth motion, the weight of the angle sensor may need to be increased, then P1 (difference) may be close to 1, while Q1 (difference) may be smaller. p and q are used to adjust the weights of the two sensors. The changes in angle and pressure are calculated through the rate of change, signal smoothness, and duration of the state in the sensor feature information, and then input into two pre-designed functions p=P1 respectively. (1-h1) T 11 / T 21 +h2 T 12 / T 22 +h3 T 13 / T 23 ) q=Q1 (1-h4) T 31 / T 41 +h5 T 32 / T 42 +h6 T 33 / T 43),(the change amounts p and q (0 < p, q < 1) are obtained. Commonly, the weights are updated to be proportional to p and q. If the differences in angle and pressure changes represent "motion mutations", and the angle sensor is more sensitive to mutations, then p should be designed to increase as the change amount T1 increases (the output p approaches 1), and q decreases (the output q approaches 0). And normalization is performed. p and q can be interpreted as credibility coefficients, and the closer the value is to 1, the more credible the sensor is. When using multiplication for weight adjustment, if the p of a certain sensor is very small (close to 0), its weight will be significantly suppressed. For example, during the operation of the pedal, the reference features are: when stepping down smoothly, the angle change rate is relatively low (≈0.1 rad / s), and the pressure increases smoothly (≈5 N / s). The current features are: a sudden increase in the detected angle change rate (0.5 rad / s), but the pressure change rate remains stable (5.2 N / s). Difference calculation: the difference in angle change rate = 0.4 rad / s, and the difference in pressure change rate = 0.2 N / s. The comprehensive difference may be large. Function mapping: P1(Δ) may output a relatively small p (such as 0.3). According to the current operation state of the pedal, the weights h1, h2, and h3 are set. When the current pedal operation state is a light step operation state, the weight of the angle value is greater than the weight of the pressure value, then the weights of the change rate, signal smoothness, and state duration of the angle sensor are h1 > h2 > h3 (can be set as h1 = 0.4, h2 = 0.3, h3 = 0.3). When the current pedal operation state is a heavy step operation state, the weight of the pressure value is greater than the weight of the angle value, Q1(Δ) may output a relatively large q (such as 0.9) because the pressure change is consistent with the reference and has a high credibility. Similarly, for the change rate, signal smoothness, and state duration of the pressure sensor, the weights h4 > h5 > h6 (can be set as h4 = 0.4, h2 = 0.3, h6 = 0.3). At this time, the update of the angle value weight and the pressure value weight: Assume the original weights P1 = 0.5, Q1 = 0.5. According to p = 0.3 and q = 0.9, through P2 = P1 + p and Q2 = Q1 + q, and performing normalization calculation on the adjusted weights, the adjusted P2 = 0.41 and Q2 = 0.59 are obtained. Result: The weight of the pressure value increases, the weight of the angle value decreases, and the fusion result depends more on the pressure sensor.

[0034] As another embodiment of the present invention, after performing step S5, it includes: obtaining the vehicle speed after the current pedal movement changes and determining the relationship between the current vehicle speed v and the preset vehicle speed threshold; When the vehicle speed v = v1, it is determined as the stop state; When v1 < vehicle speed v ≤ v2, it is determined as the low-speed state; When v2 < vehicle speed v ≤ v3, it is determined as the medium-speed state; When v3 < vehicle speed v ≤ v4, it is determined as the high-speed state; Adjust the weight P1 of the angle value A and the weight Q1 of the pressure value B according to the current vehicle speed to obtain the weights P2 and Q2; Where, v1 is the stop threshold of the vehicle speed, v2 is the maximum threshold of the low-speed state, v3 is the maximum threshold of the medium-speed state, v4 is the maximum threshold of the vehicle speed, and v1 < v2 < v3 < v4.

[0035] In this embodiment, the vehicle speed is changed by a pedal (which may be an accelerator or a brake). We need to divide the current vehicle speed v into four states: stop, low speed, medium speed, and high speed. The basis for the state division is four preset vehicle speed thresholds: v1 is the speed in the stop state, which is 0 km / h, v2 is the maximum speed in the low-speed state, which can be 30 km / h, and v3 is the maximum speed in the medium-speed state, which can be 60 km / h 、 v4 is the maximum speed in the high-speed state, which can be 100 km / h and satisfies v1 < v2 < v3 < v4. v2, v3, and v4 can be positive real numbers respectively. When the vehicle speed v after the pedal movement change is 20 km / h, 0 < vehicle speed v < 30 km / h, it can be determined that it is in the low-speed state.

[0036] As an embodiment of the present invention, the adjusting the weight P1 of the angle value A and the weight Q1 of the pressure value B according to the current vehicle speed to obtain the weights P2 and Q2 includes: When the vehicle speed v is in the stop state, adjust the weight of the angle value A to P 21 = P1, and the weight of the pressure value B to Q 21 = Q1. P 21 , Q 21 are positive real numbers respectively, and P 21 + Q 21 = 1; When the vehicle speed v is in the low-speed state, from P 22 = P1 + (a1 (v - v1) / (v2 - v1) + b1) to obtain the adjusted weight of the angle value A as P 22 , Q 22 = Q1 - (a1 (v - v1) / (v2 - v1) + b1) to obtain the weight of the pressure value B as Q 22 ​​​​​​​​​​​​​​​​​​(v-v2) / (v3-v2)+b2) yields the adjusted angle value A with weight P. 23 Q 23 =Q1-(a2 (v-v2) / (v3-v2)+b2) yields the pressure value B with weight Q. 23 P 23 Q 23 P are positive real numbers respectively. 23 ≥Q 23 And P 23 +Q 23 =1; When the vehicle speed v is at high speed, P 24 =P1+(a3 (v-v3) / (v4-v3)+b3), the adjusted angle value A is obtained with weight P. 24 Q 24 =Q1-(a3 (v-v3) / (v4-v3)+b3) yields the pressure value B with weight Q. 24 P 24 Q 24 P are positive real numbers respectively. 24 Q 24 And P 24 +Q 24 =1; Where a1 is the slope of the weight change with vehicle speed at low speed, and b1 is the offset at low speed; a2 is the slope of the weight change with vehicle speed at medium speed, and b2 is the offset at medium speed; a3 is the slope of the weight change with vehicle speed at high speed, and b3 is the offset at high speed; a1>a2≥a3; b1 <b2<b3。

[0037] In this embodiment, the pedal operation state is determined based on the angle value A and pressure value B after the current pedal movement change. A preset weight is obtained from the operation state, and then the weights P1 of angle value A and Q1 of pressure value B are adjusted according to the current vehicle speed to obtain dynamically adjusted weights P2 and Q2. When the vehicle speed v = 10 km / h, which is a low-speed state, P... 22 22 And P 22 +Q 22 =1, then the starting weight of the angle adjustment is 0, and the ending weight is 0.4. Assuming the pedal is currently in normal operation and P1 and Q1 are both 0.5, then a1 is 0.4-0=0.4 (the variable amount of weight in low speed state, which is the ending weight minus the starting weight), and b1 is 0-0.5=-0.5 (the difference between the starting weight and P1; b1 is set to connect with the starting point of medium speed state). P 22 =P1+(a1​ (v-v1) / (v2-v1)+b1)=0.5+(0.4 (10 / 30 - 0.5) = 0.13, Q 22 =0.87; When the vehicle speed v = 50 km / h, which is a medium speed state, P 23 ≥Q 23 And P 22 +Q 22 =1, then the starting weight for adjusting the angle value is 0.4, and the ending weight is 0.6. Assuming the pedal is currently in normal operation and P1 and Q1 are both 0.5, then a2 is 0.6-0.4=0.2 (the variable amount of weight in the medium speed state, which is the ending weight minus the starting weight), and b2 is 0.4-0.5=-0.1 (the difference between the starting weight and P1; b2 is set to connect with the starting point of the high speed state). P 23 =P1+(a2 (v-v2) / (v3-v2)+b2)=0.5+(0.2 (50-30) / (60-30)-0.1)=0.53, Q 23 =0.47; When the vehicle speed v = 100 km / h, which is the high-speed state, P 24 Q 24 And P 22 +Q 22 =1, then the starting weight for adjusting the angle is 0.6, and the ending weight is 0.8. Assuming the pedal is in normal operation and P1 and Q1 are both 0.5, then a3 is 0.8-0.6=0.2 (the variable amount of weight in high-speed mode, i.e., the ending weight minus the starting weight), and b3 is =0.6-0.5=0.1 (the difference between the starting weight and P1). 24= P1+(a3) (v-v3) / (v4-v3)+b3)=0.5+(0.2 (100-60) / (100-60)-0.1)=0.8, Q 24 =0.2.

[0038] In another embodiment of the present invention, after executing S6, the angle value X is verified, including: determining whether the feature information of the angle sensor and / or pressure sensor when detecting the pedal operation state exceeds the fault threshold, and obtaining the fault detection result of the pedal operation state. If a detection result of a sensor failure is obtained, the weight of the faulty sensor is adjusted to 0. If the detection result indicates that both sensors are faulty, the weight of the faulty sensor is adjusted to 0 and an alarm signal is output. If the detection result shows that neither sensor is faulty, then the angle value X is normalized and compared with the normalized angle value A and pressure value B respectively. Determine whether the obtained comparison results are within the difference threshold range; if so, output the verification results. If not, verify whether the current fused output angle value X and the historical fused output angle value meet the continuity condition. If not, output a fault signal; if yes, output the verification result.

[0039] In one embodiment of the present invention, the control quantity is output based on the verified angle value X, including: The angle value X is converted into the angle value X1 through a non-linear correction module; The dead zone model is used to determine whether the value X1 is within the dead zone. If it is, the output is 0. If not, the angle value X2 is obtained from X2=X1-x and X2 is a positive real number. Calculate the filtering coefficients from the angle data X2 and the feature information to obtain the angle value X3; Map the angle value X3 to the valid travel range. If it is not within the range, output 0. If it is within the range, obtain the valid angle value X3. Convert the effective angle value X3 into an output format and output it to the operating platform; Where x is the numerical dead zone threshold.

[0040] In this embodiment, the fused angle value X undergoes multiple correction steps. For example, the angle value X is converted into X1 through a nonlinear correction module. This aims to address the inherent nonlinear input-output characteristics of the sensor. Typically, a lookup table or a fitted inverse function maps the angle value X to X1, ensuring that X1 has a linear relationship with the true angle. After the correction process, the value X1 is compared with the dead zone threshold to check if it is within the dead zone. If X1 = 0.09, it is within the dead zone, and the output is 0. If X1 = 0.2 and the dead zone threshold x is 0.1, it is not within the dead zone. X2 = X1 - x, which means the signal starting point is calculated from the boundary of the dead zone threshold, compensating for mechanical backlash. X2 represents the actual operating stroke that produces the effect. The output X2 can be calculated based on the filter coefficients obtained in real time from the feature information. The calculated angle value X3 is filtered using a first-order low-pass filter to remove high-frequency noise from the signal. Feature information may include rate of change, consistency, and statistical characteristics. The output angle value X3 is mapped to an effective travel range (1°-90°). The angle value X3 is compared to the upper and lower limits of the effective travel range. If it exceeds the range, 0 or a safety value is output; if it is within the range, it is a valid angle value. This value can be normalized before being output to the operating platform, mapping it to a standard range of 0-1 or 0-100%. The output operating platform is essentially the terminal of the entire control loop or a next-level intelligent node. It can be a control unit, a pedal controller, or a device that transmits the final valid angle value to the ECU so that the user can view the output valid angle value after pedal movement changes, enabling more precise pedal operation.

[0041] like Figure 2 As shown, this embodiment of the invention also provides a data fusion device for pedal angle values ​​and pressure values, the data fusion device for pedal angle values ​​and pressure values ​​includes: The acquisition module acquires the angle value A from the angle sensor and the pressure value B from the pressure sensor after the current pedal movement change. The operation status determination module determines the operation status of the pedal based on the angle value A and the pressure value B. The preset weight module determines the weight P1 of angle value A and the weight Q1 of pressure value B based on the operation state of the pedal. The feature information acquisition module determines the dynamic signal data of the angle sensor based on the angle value A, the dynamic signal data of the pressure sensor based on the pressure value B, and determines the feature information of the pedal operation state based on the dynamic signal data of the angle sensor and the dynamic signal data of the pressure sensor. The preset weight module is adjusted to obtain weight P2 by adjusting the weight P1 of angle value A and the weight Q1 of pressure value B according to the characteristic information of pedal operation status. The fusion calculation and output module obtains the control quantity X, which is a fusion of the angle value A and the pressure value B, from X=AP2+BQ2 and outputs it.

[0042] In this embodiment of the invention, the above-mentioned modules are modularized for the data fusion method of pedal angle value and pressure value provided by the present invention. For the explanation of each module, please refer to the content of the data fusion method of pedal angle value and pressure value of the present invention. This embodiment will not repeat it here.

[0043] like Figure 3 As shown, this embodiment of the invention also provides a data fusion system for pedal angle values ​​and pressure values, the data fusion system for pedal angle values ​​and pressure values ​​includes: a pedal mechanism and a data fusion processor; The pedal mechanism is equipped with an angle sensor and a pressure sensor. The angle sensor is used to detect the pedal rotation angle of the pedal mechanism, and the pressure sensor is used to detect the pressure on the pedal mechanism. The angle sensor and the pressure sensor communicate with the data fusion processor to output the detected values ​​to the data fusion processor. The data fusion processor is used to execute a data fusion method for pedal angle values ​​and pressure values.

[0044] In embodiments of the present invention, preferably, such as Figure 4 The diagram shows the structure of the pedal mechanism. An angle sensor is installed at the rotatable connection between the pedal and the base. The angle sensor can be a capacitance sensor, which can detect changes in dielectric constant or distance. When the rotor rotates, it changes the path of the electric field between the stator electrodes, thus changing the effective dielectric constant and causing capacitance changes. The capacitance sensor can detect these capacitance changes, generate analog capacitance signals, convert them into digital signals, and output them to obtain the linear angle of rotation of the connecting shaft and the pedal. In the capacitance detection process, the rotor and stator are non-contact, avoiding mechanical wear and thus improving detection accuracy. The pressure sensor can be a strain gauge / load sensor, which can be integrated into the spring structure or fulcrum between the pedal and the base, the pedal support rod, the base fulcrum, or the force-bearing structure on the back of the pedal. The core of the installation is to ensure that the sensor can directly and without interference sense the pedal force applied by the driver, while avoiding the application of non-axial lateral forces to prevent damage or affect accuracy. When the pedal is pressed, the pressure sensor detects the pressure value of the pedal being pressed.

[0045] like Figure 5 The diagram shown is an internal structural diagram of the computer device in this embodiment. Figure 5 As shown, the computer device includes a processor, memory, network interface, input device, and display screen connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program enables the processor to implement the visual detection method provided in this embodiment of the invention. The internal memory may also store a computer program. When executed by the processor, this computer program enables the processor to execute the data fusion method for pedal angle and pressure values ​​provided in this embodiment of the invention. The display screen of the computer device can be a liquid crystal display or an e-ink display. The input device can be a touch layer covering the display screen, or buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse, etc.

[0046] Those skilled in the art will understand that Figure 5 The structures shown are merely block diagrams of some structures related to the present invention and do not constitute a limitation on the computer devices on which the present invention is applied. Specific computer devices may include more or fewer components than those shown in the figures, or combine certain components, or have different component arrangements.

[0047] In one embodiment, the data fusion device for pedal angle and pressure values ​​provided in this invention can be implemented as a computer program, which can be implemented in the form of, for example... Figure 5 The computer device shown operates on this device. The computer device's memory can store the various program modules that make up the data fusion device for the pedal angle and pressure values, for example... Figure 2 The diagram shows an acquisition module, an operation status judgment module, a preset weight module, a feature information acquisition module, a preset weight adjustment module, and a fusion calculation and output module. The computer program, comprised of these modules, enables the processor to execute the steps in the data fusion method for pedal angle values ​​and pressure values ​​described in the various embodiments of the present invention.

[0048] For example, Figure 5 The computer equipment shown can be used as follows Figure 2 The data fusion device for pedal angle and pressure values ​​shown in the figure executes step S1 through the acquisition module; the computer device executes step S2 through the operation status judgment module; the computer device executes step S3 through the preset weight module; the computer device executes step S4 through the feature information acquisition module; the computer device executes step S5 through the preset weight adjustment module; and the computer device executes step S6 through the fusion calculation and output module.

[0049] In one embodiment, a computer device is provided, the computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the following steps: S1: Obtain the angle value A from the angle sensor and the pressure value B from the pressure sensor after the current pedal movement change; S2: Determine the operating state of the pedal based on the angle value A and the pressure value B; S3: Determine the weight P1 of angle value A and the weight Q1 of pressure value B based on the operating state of the pedal; S4: Determine the dynamic signal data of the angle sensor based on the angle value A, determine the dynamic signal data of the pressure sensor based on the pressure value B, and determine the characteristic information of the pedal operation state based on the dynamic signal data of the angle sensor and the dynamic signal data of the pressure sensor. S5: Adjust the weight P1 of angle value A to obtain weight P2 based on the characteristic information of pedal operation status, and adjust the weight Q1 of pressure value B to obtain weight Q2. S6: Obtain the control quantity X, which is a fusion of the angle value A and the pressure value B, from X=AP2+BQ2 and output it.

[0050] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, causes the processor to perform the following steps: S1: Obtain the angle value A from the angle sensor and the pressure value B from the pressure sensor after the current pedal movement change; S2: Determine the operating state of the pedal based on the angle value A and the pressure value B; S3: Determine the weight P1 of angle value A and the weight Q1 of pressure value B based on the operating state of the pedal; S4: Determine the dynamic signal data of the angle sensor based on the angle value A, determine the dynamic signal data of the pressure sensor based on the pressure value B, and determine the characteristic information of the pedal operation state based on the dynamic signal data of the angle sensor and the dynamic signal data of the pressure sensor. S5: Adjust the weight P1 of angle value A to obtain weight P2 based on the characteristic information of pedal operation status, and adjust the weight Q1 of pressure value B to obtain weight Q2. S6: Obtain the control quantity X, which is a fusion of the angle value A and the pressure value B, from X=AP2+BQ2 and output it.

[0051] It should be understood that although the steps in the flowcharts of the various embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the various embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps. Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0052] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A method for fusing pedal angle and pressure values, characterized in that, The data fusion method for the pedal angle value and pressure value includes: S1: Obtain the angle value A of the angle sensor and the pressure value B of the pressure sensor after the current pedal movement changes; S2: Determine the operation state of the pedal according to the angle value A and the pressure value B; S3: Determine the weight P1 of the angle value A and the weight Q1 of the pressure value B through the operation state of the pedal; S4: Determine the dynamic signal data of the angle sensor according to the angle value A, determine the dynamic signal data of the pressure sensor according to the pressure value B, and determine the characteristic information of the pedal operation state according to the dynamic signal data of the angle sensor and the dynamic signal data of the pressure sensor; S5: Adjust the weight P1 of the angle value A to obtain the weight P2 and adjust the weight Q1 of the pressure value B to obtain the weight Q2 according to the characteristic information of the pedal operation state; S6: Obtain the control quantity X fused by the angle value A and the pressure value B from X = AP2 + BQ2 and output it.

2. The data fusion method for pedal angle value and pressure value according to claim 1, characterized in that, The determination of the weight P1 of the angle value A and the weight Q1 of the pressure value B through the operation state of the pedal includes: Judge the relationship between the angle value A and the pressure value B and the preset threshold; When angle value A < threshold a min And the pressure value B < the threshold b min When the pedal is inactive, confirm that it is not in use. When angle value A ≥ threshold a min And the pressure value is greater than or equal to the threshold b. min And the angle value A < threshold a mid And the pressure value B < the threshold b mid At this time, ensure the pedal is in a light-press operation state; When angle value A > threshold a max And the pressure value B > the threshold b max At that time, confirm that the pedal is in a hard-press operation state; When threshold a min <Angle value A≤threshold a max And threshold b min <Pressure value B ≤ threshold b max At this time, confirm that the pedal is in normal operating condition; Obtain the weight P1 of the angle value A and the weight Q1 of the pressure value B according to the operation state of the pedal; Where, threshold a min Let 'a' be the initial dead zone threshold for the angle. mid Let 'a' be the median threshold of the angle. max Let 'a' be the threshold value for the dead zone at the end of the angle. min <threshold a mid <threshold a max And they are all positive real numbers; threshold b min The initial dead zone threshold for the pressure value, threshold b mid The threshold value is the median threshold for the pressure value, threshold b. max The threshold value is the dead zone threshold for the pressure value, and the threshold value is b. min <threshold b mid <threshold b max And they are all positive real numbers.

3. The data fusion method for pedal angle and pressure values ​​according to claim 2, characterized in that, The obtaining of the weight P1 of the angle value A and the weight Q1 of the pressure value B according to the operation state of the pedal includes: When the pedal is inactive, the weight of angle value A is P. 11 The weight of pressure value B is Q. 11 P 11 Q 11 They are 0 respectively; When the pedal is in a light-press operation state, the weight of angle value A is P. 12 The weight of pressure value B is Q. 12 P 12 Q 12 P are positive real numbers respectively. 12 Q 12 And P 12 +Q 12 =1; When the pedal is in a hard-press operation state, the weight of angle value A is P. 13 The weight of pressure value B is Q. 13 P 13 Q 13 P are positive real numbers respectively. 13 13 And P 13 +Q 13 =1;​ When the pedal is in normal operating condition, the weight of angle value A is P. 14 The weight of pressure value B is Q. 14 P 14 Q 14 P are positive real numbers respectively. 14 ≥Q 14 And P 14 +Q 14 =1.

4. The data fusion method for pedal angle value and pressure value according to claim 1, characterized in that, The determination of the dynamic signal data of the angle sensor according to the angle value A, the determination of the dynamic signal data of the pressure sensor according to the pressure value B, and the determination of the characteristic information of the pedal operation state according to the dynamic signal data of the angle sensor and the dynamic signal data of the pressure sensor include: Determine the dynamic signal data of the angle sensor within the pedal sliding window according to the angle value A and determine the dynamic signal data of the pressure sensor within the pedal sliding window according to the pressure value; Perform noise filtering processing on the dynamic signal data of the angle sensor and the dynamic signal data of the pressure sensor respectively; Extract the sampling values of several signals of the operation state of the angle sensor and extract the sampling values of several signals of the operation state of the pressure sensor according to the results of the noise filtering processing within the sliding window; Calculate the standard deviation of the angle sensor within the sliding window through the sampling values of several signals of the operation state of the angle sensor extracted and calculate the standard deviation of the pressure sensor within the sliding window through the sampling values of several signals of the operation state of the pressure sensor extracted; T is determined based on the standard deviation of the angle sensor within the sliding window. 11 T is determined based on the standard deviation of the pressure sensor within the sliding window. 31 ; Several signal acquisition values ​​of the angle sensor's operating state within the extracted sliding window are connected to form a smooth curve. The difference between the maximum and minimum values ​​of the smooth curve and the corresponding time difference between the maximum and minimum values ​​are obtained. T is then calculated. 12 The system connects several signal acquisition values ​​of the pressure sensor operating state within the extracted sliding window to form a smooth curve. The difference between the maximum and minimum values ​​of the smooth curve, and the corresponding time difference between the maximum and minimum values, are then calculated to obtain T. 32 ; Extract the duration T of the current pedal operation state detected by the angle sensor within the sliding window. 13 The pressure sensor detects the current pedal operation state for a duration T. 33 ; Among them, T 11 The pressure sensor detects the rate of change of the current pedal operation state; T 12 The smoothness of the signal detected by the pressure sensor to indicate the current pedal operation status; T 31 The angle sensor detects the rate of change of the current pedal operation state; T 32 The smoothness of the signal detected by the angle sensor to indicate the current pedal operation status.

5. The data fusion method for pedal angle value and pressure value according to claim 1, characterized in that, The adjustment of the weight P1 of the angle value A and the weight Q1 of the pressure value B according to the characteristic information of the pedal operation state to obtain the weight P2 and the weight Q2 includes: Take the weight P1 and the weight Q1 as the basic weights of the pedal operation state; Compare the characteristic information of the pedal operation state with the historical characteristic information of the pedal operation state; Calculate the change amount p of the weight P1 and the change amount q of the weight Q1 according to the comparison result; Obtain the adjusted weight P2 from P2 = P1 + p, where 0 < P2 < 1 and it is a positive real number; Obtain the adjusted weight Q2 from Q2 = Q1 + q, where 0 < Q2 < 1 and it is a positive real number.

6. The data fusion method for pedal angle value and pressure value according to claim 5, characterized in that, The calculation of the change amount p of the weight P1 and the change amount q of the weight Q1 according to the comparison result includes: From p=P1 (1-h1) T 11 / T 21 +h2 T 12 / T 22 +h3 T 13 / T 23 The change in weight P1 is obtained, p, where p < 1; From q=Q1 (1-h4) T 31 / T 41 +h5 T 32 / T 42 +h6 T 33 / T 43 The change in weight Q1 is obtained as q, where q < 1; Where h1 is the weight of the smoothness of the pedal operation state signal detected by the angle sensor, and T 21 h1 represents the average smoothness of historical signals of pedal operation states detected by the angle sensor; h2 represents the weight of the rate of change of pedal operation states detected by the angle sensor; T represents the mean smoothness of the historical signals of pedal operation states detected by the angle sensor. 22 h3 represents the historical rate of change of the pedal operation state detected by the angle sensor; h3 represents the weight of the duration of the pedal operation state detected by the angle sensor; T represents the weight of the duration of the pedal operation state detected by the angle sensor. 23 The duration of the historical state of the pedal operation detected by the angle sensor; h1, h2, and h3 are positive real numbers and h1 + h2 + h3 = 1; h1, h2, and h3 are determined by the current operation state of the pedal; h4 represents the weight of the smoothness of the pedal operation status signal detected by the pressure sensor, and T represents the weight of the smoothness of the signal. 41 h5 represents the smoothness of the historical signal of pedal operation state detected by the angle sensor; h5 represents the weight of the rate of change of pedal operation state detected by the pressure sensor; T represents the weight of the signal. 42 h6 represents the historical rate of change of the pedal operation state detected by the angle sensor; h6 represents the weight of the duration of the rate of change of the pedal operation state detected by the pressure sensor; T represents the weight of the duration of the rate of change of the pedal operation state detected by the pressure sensor. 43 The duration of the historical state of the pedal operation detected by the angle sensor; h4, h5, and h6 are positive real numbers and h4+h5+h6=1; h4, h5, and h6 are determined by the current operation state of the pedal.

7. The data fusion method for pedal angle value and pressure value according to claim 1, characterized in that, After performing step S5, it includes: Get the vehicle speed after the current pedal movement change and determine the relationship between the current vehicle speed v and the preset vehicle speed threshold; When the vehicle speed v = v1, it is determined to be in a stopped state; When v1 < vehicle speed v ≤ v2, it is determined to be a low-speed state; When v2 < vehicle speed v ≤ v3, it is determined to be a medium speed state; When v3 < vehicle speed v ≤ v4, it is determined to be a high-speed state; Based on the weight P1 of the current vehicle speed adjustment angle value A and the weight Q1 of the pressure value B, we obtain the weights P2 and Q2. Where v1 is the vehicle speed stopping threshold, v2 is the maximum threshold for low speed, v3 is the maximum threshold for medium speed, and v4 is the maximum threshold for vehicle speed. <v2<v3<v4。 8. The data fusion method for pedal angle value and pressure value according to claim 7, characterized in that, The process of adjusting the weights P1 and Q1 of the current vehicle speed angle value A and the pressure value B to obtain weights P2 and Q2 includes: When the vehicle speed v is stationary, the adjustment angle value A is weighted as P. 21 =P1, pressure value B, weighted by Q 21 =Q1, P 21 Q 21 They are positive real numbers and P 21 +Q 21 =1; When the vehicle speed v is low, P 22 =P1+(a1 (v-v1) / (v2-v1)+b1) yields the adjusted angle value A with weight P. 22 Q 22 =Q1-(a1 (v-v1) / (v2-v1)+b1) yields the pressure value B with weight Q. 22 P 22 Q 22 P are positive real numbers respectively. 22 22 And P 22 +Q 22 =1;​ When the vehicle speed v is at a medium speed, P 23 =P1+(a2 (v-v2) / (v3-v2)+b2) yields the adjusted angle value A with weight P. 23 Q 23 =Q1-(a2 (v-v2) / (v3-v2)+b2) yields the pressure value B with weight Q. 23 P 23 Q 23 P are positive real numbers respectively. 23 ≥Q 23 And P 23 +Q 23 =1; When the vehicle speed v is at high speed, P 24 =P1+(a3 (v-v3) / (v4-v3)+b3), the adjusted angle value A is obtained with weight P. 24 Q 24 =Q1-(a3 (v-v3) / (v4-v3)+b3) yields the pressure value B with weight Q. 24 P 24 Q 24 P are positive real numbers respectively. 24 Q 24 And P 24 +Q 24 =1; Where a1 is the slope of the weight change with vehicle speed at low speed, and b1 is the offset at low speed; a2 is the slope of the weight change with vehicle speed at medium speed, and b2 is the offset at medium speed; a3 is the slope of the weight change with vehicle speed at high speed, and b3 is the offset at high speed; a1>a2≥a3; b1 <b2<b3。 9. A data fusion device for pedal angle value and pressure value, characterized in that, The data fusion device for pedal angle and pressure values ​​includes: The acquisition module acquires the angle value A from the angle sensor and the pressure value B from the pressure sensor after the current pedal movement change. The operation status determination module determines the operation status of the pedal based on the angle value A and the pressure value B. The preset weight module determines the weight P1 of angle value A and the weight Q1 of pressure value B based on the operation state of the pedal. The feature information acquisition module determines the dynamic signal data of the angle sensor based on the angle value A, the dynamic signal data of the pressure sensor based on the pressure value B, and determines the feature information of the pedal operation state based on the dynamic signal data of the angle sensor and the dynamic signal data of the pressure sensor. Adjust the preset weight module, and adjust the weight P1 of angle value A and the weight Q1 of pressure value B according to the characteristic information of pedal operation state to obtain weight P2 and weight Q2. The fusion calculation and output module obtains the control quantity X, which is a fusion of the angle value A and the pressure value B, from X=AP2+BQ2 and outputs it.

10. A data fusion system for pedal angle and pressure values, characterized in that, The data fusion system for pedal angle and pressure values ​​includes: a pedal mechanism and a data fusion processor; The pedal mechanism is equipped with an angle sensor and a pressure sensor. The angle sensor is used to detect the pedal rotation angle of the pedal mechanism, and the pressure sensor is used to detect the pressure on the pedal mechanism. The angle sensor and the pressure sensor communicate with the data fusion processor to output the detected values ​​to the data fusion processor. The data fusion processor is used to execute the data fusion method of pedal angle value and pressure value as described in any one of claims 1-8.

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