CN109228861B - Method and system for diagnosing and handling failure of an accelerator pedal - Google Patents
Method and system for diagnosing and handling failure of an accelerator pedal Download PDFInfo
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- CN109228861B CN109228861B CN201811123531.4A CN201811123531A CN109228861B CN 109228861 B CN109228861 B CN 109228861B CN 201811123531 A CN201811123531 A CN 201811123531A CN 109228861 B CN109228861 B CN 109228861B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangement or mounting of propulsion-unit control devices in vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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Abstract
本发明实施方式提供一种用于诊断和处理加速踏板的故障的方法及系统，属于汽车技术领域。所述方法包括：每隔一个预定的时间周期获取第一检测信号和第二检测信号；根据所述第一检测信号和所述第二检测信号诊断所述加速踏板是否出现故障并进一步确定所述故障的类型；在确定所述故障的类型的情况下，诊断此时所述加速踏板的故障包括一个类型的软故障；对软故障进行处理并统计同一类型的故障出现的次数；判断所述同一类型的故障出现的次数是否大于预设的次数阈值；在判断所述同一类型的故障出现的次数是否大于所述次数阈值的情况下，诊断所述加速踏板的故障包括所述同一类型的硬故障；对所述加速踏板的故障进行处理。
Embodiments of the present invention provide a method and system for diagnosing and processing failures of an accelerator pedal, which belong to the technical field of automobiles. The method includes: acquiring a first detection signal and a second detection signal every predetermined time period; diagnosing whether the accelerator pedal is faulty according to the first detection signal and the second detection signal, and further determining the The type of fault; in the case of determining the type of the fault, diagnosing that the fault of the accelerator pedal at this time includes a type of soft fault; processing the soft fault and counting the number of occurrences of the same type of fault; judging that the same type of fault occurs Whether the number of occurrences of a type of fault is greater than a preset number of times threshold; in the case of judging whether the number of occurrences of the same type of fault is greater than the number of times threshold, diagnosing the failure of the accelerator pedal includes the same type of hard faults ; Process the failure of the accelerator pedal.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a system for diagnosing and processing faults of an accelerator pedal.
Background
A pure electric Vehicle Controller Unit (VCU) is a core component of a complete electric Vehicle Control system, and operates multiple tasks of the pure electric Vehicle during operation. The vehicle controller analyzes and judges the information by collecting signals of the opening degree of an accelerator pedal, the opening degree of a brake pedal, a gear switch and the like and combining a vehicle control strategy, and finally sends control instructions to each component controller so that the vehicle runs according to the intention of a driver. Therefore, analysis of the accelerator pedal opening degree signal and judgment and processing of the accelerator pedal fault are particularly important for safe driving of the whole vehicle.
The existing processing about the accelerator pedal signal opening degree is basically based on detecting a voltage signal (generally a proportional two-way signal) output by an accelerator pedal stroke sensor, and the adopted strategy is also basically simple proportion distribution, and the methods have great limits on fault definition and vehicle power output.
Disclosure of Invention
The invention aims to provide a method and a system for diagnosing and processing faults of an accelerator pedal, which can accurately diagnose and process the faults of the accelerator pedal.
In order to achieve the above object, an aspect of embodiments of the present invention provides a method for diagnosing and processing a malfunction of an accelerator pedal including a first sensor and a second sensor for detecting an opening degree of the accelerator pedal and outputting respective first and second detection signals, the method including:
acquiring the first detection signal and the second detection signal every other preset time period;
diagnosing whether the accelerator pedal is in fault or not according to the first detection signal and the second detection signal and further determining the type of the fault, wherein the fault of the accelerator pedal at the moment is diagnosed to comprise a type of soft fault under the condition that the type of the fault is determined;
processing the soft faults and counting the occurrence times of the same type of faults;
judging whether the occurrence frequency of the same type of faults is greater than a preset frequency threshold value or not;
under the condition that whether the frequency of occurrence of the faults of the same type is larger than the frequency threshold value or not is judged, the faults of the accelerator pedal are diagnosed to include the hard faults of the same type;
and processing the hard fault of the accelerator pedal.
Optionally, the diagnosing whether the accelerator pedal is faulty according to the first detection signal and the second detection signal and further determining the type of the fault, where, in the case of determining the type of the fault, diagnosing that the fault of the accelerator pedal at this time includes a type of soft fault includes:
judging whether the first detection signal and/or the second detection signal are smaller than a preset minimum value or not;
under the condition that the first detection signal and/or the second detection signal are/is judged to be smaller than the minimum value, the current opening degree of the accelerator pedal is adjusted to be 0;
judging whether the first detection signal is larger than a preset maximum value or not;
diagnosing that the fault of the accelerator pedal includes a soft fault of a first over-limit fault in a case where it is determined that the first detection signal is greater than the maximum value;
judging whether the second detection signal is larger than the maximum value;
diagnosing that the fault of the accelerator pedal includes a soft fault of a second over-limit fault in a case where it is determined that the second detection signal is greater than the maximum value;
the determining that the fault of the accelerator pedal includes the same type of hard fault, in the case where it is determined whether the number of times the same type of fault occurs is greater than the number threshold, includes:
under the condition that the number of times of occurrence of soft faults of the first over-limit fault is judged to be larger than a first over-limit fault number threshold value, diagnosing that the faults of the accelerator pedal comprise hard faults of the first over-limit fault;
and under the condition that the frequency of occurrence of soft faults of the second over-limit fault is judged to be greater than a second over-limit fault frequency threshold value, diagnosing that the faults of the accelerator pedal comprise hard faults of the second over-limit fault.
Optionally, the method further comprises:
calculating an output signal of the accelerator pedal according to formula (1) in the case where no malfunction of the accelerator pedal occurs,
ACPS＝0.5×ACPS1+0.5×ACPS2， (1)
wherein ACPS is the output signal, ACPS1 is the first detection signal, and ACPS2 is the second detection signal;
and acquiring the output power of the motor from the MAP of the motor according to the output signal, and further controlling the motor of the whole vehicle according to the output power.
Optionally, the processing the soft fault and counting the number of times of occurrence of the same type of fault includes:
calculating an output signal of the accelerator pedal according to formula (2) in case of a soft fault of a first overrun fault,
ACPS＝a×ACPS1old+b×ACPS2, (2)
wherein ACPS is the output signal, a is 0.5 × (1-C)1t/C1max)，C1tThe number of soft failures occurring for the first overrun failure, C1maxACPS1 for the first overrun failure number thresholdold(ii) for the first detection signal a time period before a soft fault of the first overrun fault occurs, b-1-a, ACPS2 being the second detection signal;
calculating an output signal of the accelerator pedal according to formula (3) in case of a soft fault of a second overrun fault,
ACPS＝a×ACPS1+b×ACPS2old， (3)
wherein ACPS is the output signal, b is 0.5 × (1-C)2t/C2max),C2tNumber of soft fault occurrences being said second overrun fault, C2maxFor the second overrun failure number threshold, ACPS2oldA 1-b, ACPS1 being the second detection signal a time period before a soft fault at which the second overrun fault occurred, the first detection signal;
calculating an output signal of the accelerator pedal according to equation (4) in the case where a soft fault of the first overrun fault and a soft fault of the second overrun fault occur,
ACPS＝a×ACPS1old+b×ACPS2old+c×ACPSlimp， (4)
wherein ACPS is the output signal, a is 1-C1t/C1max，C1tNumber of soft failures occurring as first overrun failure, C1maxB is 1-C which is the first overrun failure number threshold2t/C2max，C2tNumber of soft fault occurrences for the second overrun fault, C2maxFor the second overrun failure number threshold, ACPS1oldACPS2 for the first detection signal for a time period preceding a soft fault of the first over-limit faultoldC min { C ═ of the second detection signal for a time period preceding a soft fault in which the second overrun fault occurred1t/C1max，C2t/C2max}，ACPSlimpThe signal is a preset pedal opening signal;
the processing the hard fault of the accelerator pedal comprises the following steps:
under the condition of a hard fault of a first over-limit fault or a hard fault of a second over-limit fault, performing limited power operation on the whole vehicle by adopting a power-reducing MAP (MAP) of a secondary protection strategy;
and under the conditions of a hard fault of the first over-limit fault and a hard fault of the second over-limit fault, performing power-limited operation on the whole vehicle by adopting a power-reduced MAP (MAP) of a three-level protection strategy.
Optionally, the diagnosing whether the accelerator pedal is faulty according to the first detection signal and the second detection signal and further determining the type of the fault, where, in the case of determining the type of the fault, diagnosing that the fault of the accelerator pedal at this time includes a type of soft fault includes:
calculating a first difference value of two first detection signals and a second difference value of two second detection signals between any three adjacent time periods;
judging whether the first difference value is larger than a preset maximum change rate or not;
diagnosing that the failure of the accelerator pedal includes a soft failure of a first abrupt change failure in a case where it is determined that the first difference is greater than the maximum rate of change;
judging whether the second difference value is larger than the maximum change rate or not;
diagnosing that the failure of the accelerator pedal includes a soft failure of a second abrupt change failure in a case where it is determined that the second difference is greater than the maximum rate of change;
the diagnosing that the failure of the accelerator pedal includes the hard failure of the same type, in a case where it is determined whether the number of occurrences of the failure of the same type is greater than the number threshold, includes:
and under the condition that the frequency of the soft faults of the first sudden change faults is larger than a preset first sudden change fault frequency threshold value and/or the frequency of the soft faults of the second sudden change faults is larger than a preset second sudden change fault frequency threshold value, diagnosing that the faults of the accelerator pedal comprise hard faults of the sudden change faults.
Optionally, the diagnosing whether the accelerator pedal is faulty according to the first detection signal and the second detection signal and further determining the type of the fault, where, in the case of determining the type of the fault, diagnosing that the fault of the accelerator pedal at this time includes a type of soft fault further includes:
judging whether the first difference value is 0 or not;
in the case where it is determined that the first difference is 0, diagnosing that the failure of the accelerator pedal includes a soft failure of a first stuck failure;
judging whether the second difference value is 0;
in the case where it is determined that the second difference is 0, diagnosing that the failure of the accelerator pedal includes a soft failure of a second stuck failure;
counting the times of the first difference value being 0 and the times of the second difference value being 0;
in the case where it is determined whether the number of occurrences of the same type of fault is greater than the number threshold, diagnosing that the fault of the accelerator pedal includes the same type of hard fault includes:
and under the condition that the number of times of soft faults of the first stagnation fault is larger than a preset first stagnation fault number threshold value and/or the number of times of soft faults of the second stagnation fault is larger than a preset second stagnation fault number threshold value, diagnosing that the faults of the accelerator pedal comprise hard faults of stagnation faults.
Optionally, the processing the soft fault and counting the number of times of occurrence of the same type of fault further includes:
calculating an output signal of the accelerator pedal according to equation (5) in the case of a soft fault of the first sudden fault and/or a soft fault of the first stuck fault,
ACPS＝a×ACPS1old+b×ACPS2， (5)
wherein ACPS is the output signal, a is 0.5 × (1-S)1t/S1max)，S1tIs the number of soft faults of the first catastrophic fault and/or soft faults of the first stuck-at fault occurring, S1maxACPS1 for the first sudden and/or stuck failure thresholdoldThe first detection signal is a time period before a soft fault of the first catastrophic fault and/or a soft fault of a first stuck-at fault occurs, b is 1-a, and ACPS2 is the second detection signal;
calculating an output signal of the accelerator pedal according to equation (6) in the case of a soft fault of the second catastrophic fault and/or a soft fault of the second stuck-at fault,
ACPS＝a×ACPS1+b×ACPS2old， (6)
wherein ACPS is the output signal, b is 0.5 × (1-S)2t/S2max),S2tIs the number of soft faults of the second catastrophic fault and/or soft faults of the second stuck-at fault occurring, S2maxACPS2 for a second threshold number of catastrophic failures and/or a second threshold number of stuck failuresoldThe second detection signal is a time period before a soft fault of the second catastrophic fault and/or a soft fault of a second stuck-at fault occurs, a is 1-b, and ACPS1 is the first detection signal;
calculating an output signal of the accelerator pedal according to equation (7) in the case where a soft fault of a first sudden fault and/or a soft fault of a first stuck-at fault occurs and a soft fault of a second sudden fault and/or a soft fault of a second stuck-at fault occurs,
ACPS＝a×ACPS1old+b×ACPS2old+c×ACPSlimp， (7)
wherein ACPS is the output signal, a is 1-S1t/S1max，S1tSoft fault being a first catastrophic fault and/or the number of soft faults occurring, S, of a first stuck-at fault1maxA first sudden fault number threshold and/or a first dead fault number threshold, b being 1-S2t/S2max，S2tSoft fault being a second catastrophic fault and/or the number of soft faults occurring, S, of a second stuck-at fault2maxACPS1 for a second threshold number of catastrophic failures and/or a second threshold number of stuck failuresoldACPS2 for the occurrence of the first detection signal for the soft fault of the first catastrophic fault and/or for the previous time period of the soft fault of the first stuck-at faultoldC min { S } for the second detection signal of a time period preceding the soft fault of the second catastrophic fault and/or the soft fault of the second stuck-at fault1t/S1max，S2t/S2max}，ACPSlimpThe signal is a preset pedal opening signal;
the processing the hard fault of the accelerator pedal comprises the following steps:
under the condition that a soft fault of a first sudden change fault and/or a soft fault of a first stagnation fault or a soft fault of a second sudden change fault and/or a soft fault of a second stagnation fault occur, a reduced power MAP graph of a secondary protection strategy is adopted to carry out limited power operation on the whole vehicle;
and under the condition that the soft fault of the first sudden change fault and/or the soft fault of the first stagnation fault and the soft fault of the second sudden change fault and/or the soft fault of the second stagnation fault occur, the power-limited operation is carried out on the whole vehicle by adopting a power-reduced MAP graph of a three-level protection strategy.
Optionally, the diagnosing whether the accelerator pedal is faulty according to the first detection signal and the second detection signal and further determining the type of the fault, where, in the case of determining the type of the fault, diagnosing that the fault of the accelerator pedal at this time includes a type of soft fault further includes:
detecting a first opening degree and a second opening degree under the first detection signal and the second detection signal;
comparing the first detection signal with the first opening degree, and comparing the second detection signal with the second opening degree with a preset corresponding relation between the detection signals and the opening degrees;
respectively judging whether the first detection signal and the first opening degree and the second detection signal and the second opening degree are in a linear relation;
under the condition that the first detection signal and the first opening degree and/or the second detection signal and the second opening degree are not in a linear relation and the difference value is larger than a preset maximum difference value, diagnosing the accelerator pedal faults and soft faults including rationality faults;
in the case where it is determined whether the number of occurrences of the same type of fault is greater than the number threshold, diagnosing that the fault of the accelerator pedal includes the same type of hard fault includes:
and under the condition that the frequency of the soft faults of the rationality faults is judged to be greater than a preset rationality fault frequency threshold value, diagnosing that the faults of the accelerator pedal comprise hard faults of the rationality faults.
Optionally, the processing the soft fault and counting the number of times of occurrence of the same type of fault includes:
under the condition that the first detection signal and the first opening degree are judged, the second detection signal and the second opening degree are not in a linear relation, and the difference value of the first detection signal and the second opening degree is larger than a preset maximum difference value, the smaller one of the first detection signal and the second detection signal is selected as the output signal of the accelerator pedal, and the motor is controlled according to a MAP (MAP of the motor);
the processing the hard fault of the accelerator pedal comprises the following steps:
and under the condition of a hard fault of the rationality fault, controlling the whole vehicle to operate in a power-limited mode according to a power-reduced MAP of a secondary protection strategy.
Another aspect of the present invention also provides a system for diagnosing and treating a malfunction of an accelerator pedal, the system including:
a first sensor for detecting a first opening degree of the accelerator pedal and outputting a first detection signal;
a second sensor for detecting a second opening degree of the accelerator pedal and outputting a second detection signal;
and the vehicle control unit is respectively connected with the first sensor and the second sensor and is used for executing the method.
Through the technical scheme, the method and the system for diagnosing and processing the fault of the accelerator pedal provided by the invention divide the state of the accelerator pedal into three types of no fault, soft fault and hard fault, so that 243 types of states existing in the accelerator pedal can be determined. The soft fault is a fault state before the fault is finally confirmed, and the hard fault is a fault state which is finally confirmed after a period of continuous diagnosis is carried out through a counter. According to the method, the acceleration pedal fault is eliminated through the process of confirming the soft fault of the acceleration pedal, so that the fault misjudgment is avoided, and the smoothness of the power output of the whole vehicle is ensured, so that the safe and reliable operation of the whole vehicle is ensured.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a two-dimensional line graph of a first detection signal and a second detection signal according to one embodiment of the present invention;
FIG. 2 is a flow chart of a method for diagnosing and treating a fault of an accelerator pedal according to an embodiment of the present invention;
FIG. 3 is a block diagram of a system for diagnosing and processing a fault of an accelerator pedal according to an embodiment of the present invention; and
fig. 4 is a schematic diagram of a process of processing a first detection signal and a second detection signal according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
An aspect of the present invention provides a method for diagnosing and treating a malfunction of an accelerator pedal, which can effectively diagnose and treat various malfunctions of the accelerator pedal. In this embodiment, the accelerator pedal includes a first sensor for detecting a first opening degree of the accelerator pedal and outputting a first detection signal, and a second sensor for detecting a second opening degree of the accelerator pedal and outputting a second detection signal. In one example of the present invention, the first sensor and the second sensor may each be a position sensor for detecting an opening value of an accelerator pedal and outputting a detection signal. The first sensor and the second sensor may be disposed at different positions of the accelerator pedal, and detection signals (the first detection signal SIG1 and the second detection signal SIG2) of the first sensor and the second sensor are shown in fig. 1. In fig. 1, the first detection signal and the second detection signal have different voltage values at the same opening degree of the accelerator pedal because the two sensors are disposed at different positions. However, based on the characteristics of the position sensor itself, the voltage value of the detection signal of each sensor and the opening value (C.T is the case where the accelerator pedal is not depressed, and w.o.t is the case where the accelerator pedal is depressed to the bottom) have a linear relationship.
Fig. 2 shows a flow chart of the method for diagnosing and processing a malfunction of an accelerator pedal. In fig. 2, the method may include:
in step S100, the first detection signal and the second detection signal are acquired every predetermined time period. In this embodiment, the time period may be determined according to the type of accelerator pedal actually requiring diagnosis, and in one example of the present invention, the time period may be, for example, 5ms, 10ms, or other time lengths known to those skilled in the art.
In step S200, it is diagnosed whether the accelerator pedal is malfunctioning based on the first detection signal and the second detection signal and the type of the malfunction is further determined. In the case where the type of the failure is determined, the diagnosis of the failure of the accelerator pedal at this time includes a type of soft failure.
In step S300, the diagnosed soft fault is processed and the number of times of occurrence of the same type of fault is further counted.
In step S400, it is determined whether the number of occurrences of the same type of fault is greater than a preset number threshold. In this embodiment, the threshold number of times may be determined according to the conditions of the actual device itself and the external environment. Further, for each parameter described below, such as "preset minimum value", "first overrun failure number threshold", and the like, the value thereof may be any value known to those skilled in the art.
In step S500, in the case where it is determined whether the number of occurrences of the same type of failure is greater than the number threshold, the failure of the accelerator pedal is diagnosed to include the same type of hard failure.
In step S600, a hard failure of the accelerator pedal is processed.
In one example of the present invention, step S200 may include:
and judging whether the first detection signal and/or the second detection signal is smaller than a preset minimum value or not.
When the first detection signal and/or the second detection signal is judged to be smaller than the preset minimum value, it is explained that the minimum value of the accelerator pedal is deviated (zero point calibration is deviated), so that the current opening degree of the accelerator pedal can be adjusted to 0 (re-zero).
And judging whether the first detection signal is larger than a preset maximum value or not.
In the case where it is determined that the first detection signal is greater than the maximum value, the diagnosis of the failure of the accelerator pedal includes a soft failure of a first overrun failure.
Judging whether the second detection signal is larger than the maximum value;
in the case where it is determined that the second detection signal is greater than the maximum value, the diagnosis of the failure of the accelerator pedal includes a soft failure of the second overrun failure.
Accordingly, step S500 may include:
under the condition that the number of times of occurrence of the soft faults of the first overrun fault is larger than the first overrun fault number threshold and/or the number of times of occurrence of the soft faults of the second overrun fault is larger than the second overrun fault number threshold, it is explained that the reason of the soft faults of the first overrun fault and/or the second overrun fault is not an accidental factor but is probably because hardware is damaged. The failure of the accelerator pedal can now be diagnosed to include a hard failure of the first over-limit failure and/or a hard failure of the second over-limit failure.
In one example of the present invention, the method may further include:
under the condition that no fault occurs to the accelerator pedal, the vehicle control unit calculates the output signal of the accelerator pedal according to the formula (1),
ACPS＝0.5×ACPS1+0.5×ACPS2， (1)
wherein, ACPS is the output signal of the accelerator pedal, ACPS1 is the first detection signal, and ACPS2 is the second detection signal.
And the vehicle control unit acquires the output power of the motor from the MAP of the motor according to the output signal and further controls the motor of the vehicle according to the output power.
In this example, step S300 may further include:
in the case of a soft fault of the first overrun fault, the vehicle control unit calculates an output signal of an accelerator pedal according to formula (2),
ACPS＝a×ACPS1old+b×ACPS2， (2)
wherein ACPS is an output signal, and a is 0.5 × (1-C)1t/C1max)，C1tNumber of soft failures occurring as first overrun failure, C1maxACPS1 for the first overrun failure number thresholdoldThe first detection signal is a time period before a soft fault occurs in which the first overrun fault occurs, b is 1-a, and ACPS2 is the second detection signal.
Under the condition of soft fault of the second overrun fault, the vehicle control unit calculates the output signal of the accelerator pedal according to the formula (3),
ACPS＝a×ACPS1+b×ACPS2old， (3)
wherein ACPS is the output signal, b is 0.5 × (1-C)2t/C2max),C2tNumber of soft fault occurrences for the second overrun fault, C2maxFor the second overrun failure number threshold, ACPS2oldA second detection signal that is a time period prior to the soft fault at which the second overrun fault occurred,
a is 1-b, and ACPS1 is the first detection signal.
Under the condition of soft fault of the first overrun fault and soft fault of the second overrun fault, the vehicle control unit calculates the output signal of the accelerator pedal according to a formula (4),
ACPS＝a×ACPS1old+b×ACPS2old+c×ACPSlimp， (4)
wherein ACPS is the output signal, a is 1-C1t/C1max，C1tNumber of soft failures occurring as first overrun failure, C1maxIs a first overrun failure number threshold value, b is 1-C2t/C2max，C2tNumber of soft fault occurrences for the second overrun fault, C2maxFor the second overrun failure number threshold, ACPS1oldACPS2 for a first detection signal for a previous time period of a soft fault that occurred at a first over-limit fault (or a soft fault at a second over-limit fault)oldA first time period prior to the occurrence of a soft fault of the first overrun fault (or a soft fault of the second overrun fault)Two detection signals, C ═ min { C ═ C1t/C1max，C2t/C2max}，ACPSlimpIs a preset pedal opening signal.
Accordingly, in step S600, the method may further include:
and in the case of a hard fault of a first overrun fault (namely a is 0 in the formula (2)) or a hard fault of a second overrun fault (namely b is 0 in the formula (3)), performing limited power operation on the whole vehicle by adopting a reduced power MAP graph of a secondary protection strategy. Since the factors causing the soft fault are mainly accidental factors, the VCU can control the output power of the motor by referring to the MAP of the motor again after the soft fault is automatically repaired. When the hard faults of the two faults do not occur, the whole vehicle can control the output power of the motor according to the MAP of the motor.
And in the case of a hard fault of the first overrun fault and a hard fault of the second overrun fault (a is 0 and b is 0 in the formula (4)), performing power-limited operation on the whole vehicle by adopting a reduced power MAP of a three-stage protection strategy.
In one example of the present invention, step S200 may include:
calculating a first difference value of two first detection signals and a second difference value of two second detection signals between any three adjacent time periods;
judging whether the first difference value is larger than a preset maximum change rate or not;
diagnosing a fault of the accelerator pedal including a soft fault of a first abrupt fault in a case where it is determined that the first difference is greater than the maximum rate of change;
judging whether the second difference value is larger than the maximum change rate;
in the case where it is determined that the second difference is greater than the maximum rate of change, the diagnosing of the failure of the accelerator pedal includes a soft failure of the second abrupt change failure.
Accordingly, step S500 may include:
and under the condition that the frequency of the soft faults of the first sudden change faults is larger than a preset first sudden change fault frequency threshold value and/or the frequency of the soft faults of the second sudden change faults is larger than a preset second sudden change fault frequency threshold value, diagnosing that the faults of the accelerator pedal comprise the hard faults of the sudden change faults.
In an example of the present invention, the step S200 may further include:
judging whether the first difference value is 0 or not;
in the case where it is judged that the first difference is 0, diagnosing that the failure of the accelerator pedal includes a soft failure of a first stuck failure;
judging whether the second difference value is 0;
in the case where it is judged that the second difference is 0, diagnosing that the failure of the accelerator pedal includes a soft failure of the second stuck failure;
accordingly, step S500 includes:
and under the condition that the number of times of soft faults of the first stagnation fault is larger than a preset first stagnation fault number threshold value and/or the number of times of soft faults of the second stagnation fault is larger than a preset second stagnation fault number threshold value, diagnosing that the faults of the accelerator pedal comprise hard faults of the stagnation faults.
For the soft fault of the first catastrophic fault, the soft fault of the first stuck-at fault, the soft fault of the second catastrophic fault, and the soft fault of the second stuck-at fault, step S300 may further include:
in the case of a soft fault of the first catastrophic fault and/or a soft fault of the first stuck fault, the vehicle control unit calculates an output signal of an accelerator pedal according to equation (5),
ACPS＝a×ACPS1old+b×ACPS2， (5)
wherein ACPS is the output signal, a is 0.5 × (1-S)1t/S1max)，S1tSoft fault being a first catastrophic fault and/or the number of soft faults occurring, S, of a first stuck-at fault1maxACPS1 for the first threshold number of catastrophic failures and/or the first threshold number of stuck failures (which may be equal)oldThe first detection signal is a time period before the soft fault of the first catastrophic fault and/or the soft fault of the first stuck-at fault, b is 1-a, and ACPS2 is the second detection signal.
In the case of a soft fault of the second catastrophic fault and/or a soft fault of the second stuck fault, the vehicle control unit calculates an output signal of the accelerator pedal according to equation (6),
ACPS＝a×ACPS1+b×ACPS2old， (6)
wherein ACPS is the output signal, b is 0.5 × (1-S)2t/S2max),S2tSoft fault being a second catastrophic fault and/or the number of soft faults occurring, S, of a second stuck-at fault2maxACPS2 for a second threshold number of catastrophic failures and/or a second threshold number of stuck failures (which may be equal)oldThe ACPS1 is the first detection signal for a period of time prior to the soft fault at which the second catastrophic fault occurs and/or the soft fault at the second stuck-at fault, a being 1-b.
In the case where a soft fault of the first catastrophic fault and/or a soft fault of the first stuck fault occurs and a soft fault of the second catastrophic fault and/or a soft fault of the second stuck fault occurs, the vehicle control unit calculates an output signal of an accelerator pedal according to formula (7),
ACPS＝a×ACPS1old+b×ACPS2old+c×ACPSlimp， (7)
wherein ACPS is the output signal, a is 1-S1t/S1max，S1tSoft fault being a first catastrophic fault and/or the number of soft faults occurring, S, of a first stuck-at fault1maxA first sudden fault number threshold and/or a first dead fault number threshold, b being 1-S2t/S2max，S2tSoft fault being a second catastrophic fault and/or the number of soft faults occurring, S, of a second stuck-at fault2maxACPS1 for a second threshold number of catastrophic failures or a second threshold number of stuck failuresoldACPS2 is a first detection signal for a previous time period for the occurrence of a soft fault of a first catastrophic fault and/or a soft fault of a first stuck-at fault and a soft fault of a second catastrophic fault and/or a soft fault of a second stuck-at faultoldFor the soft fault of the second sudden change fault and/or the soft fault of the second dead fault and the previous time period of the soft fault of the second sudden change fault and/or the soft fault of the second dead faultSecond detection signal, c ═ min { S ═ S1t/S1max，S2t/S2max}，ACPSlimpIs a preset pedal opening signal.
Accordingly, in step S600, the method may further include:
and in the case of the soft fault of the first sudden fault and/or the soft fault of the first stagnation fault (a is 0 in the formula (5)) or the soft fault of the second sudden fault and/or the soft fault of the second stagnation fault (b is 0 in the formula (6)), the reduced power MAP graph of the secondary protection strategy is adopted to carry out limited power operation on the whole vehicle. Since the cause of the soft fault is mainly an accidental cause, the VCU may control the output power of the motor with reference to the MAP of the motor again after the soft fault is automatically repaired.
And in the case of the soft fault of the first sudden fault and/or the soft fault of the first dead fault and the soft fault of the second sudden fault and/or the soft fault of the second dead fault (a is 0 and b is 0 in the formula (7)), the power-limited operation is carried out on the whole vehicle by adopting the reduced power MAP graph of the three-stage protection strategy. At this point the motor enters a limp home mode from which it can only be released if the key signal is re-turned on and a fault of this type is detected to be completely eliminated.
In one example of the present invention, step S200 may include:
detecting a first opening degree and a second opening degree under the first detection signal and the second detection signal;
comparing the first detection signal with the first opening degree, and comparing the second detection signal with the second opening degree with a preset corresponding relation between the detection signals and the opening degrees;
respectively judging whether the first detection signal and the first opening degree and the second detection signal and the second opening degree are in a linear relation;
in the case where it is judged that the first detection signal and the first opening degree and/or the second detection signal and the second opening degree do not have a linear relationship and the difference value (difference value from the linear relationship) is larger than a predetermined maximum difference value, a soft fault in which the accelerator pedal fault includes a rationality fault is diagnosed.
The corresponding step S300 may include:
under the condition that the first detection signal and the first opening degree are judged, the second detection signal and the second opening degree are not in a linear relation, and the difference value of the first detection signal and the second opening degree is larger than the preset maximum difference value, the smaller of the first detection signal and the second detection signal is selected as the output signal of the accelerator pedal, and the motor is controlled according to the MAP of the motor.
Then, step S500 may include:
in the case where it is judged that the number of occurrences of the soft fault of the rationality fault is greater than a preset rationality fault number threshold value, the fault of the accelerator pedal is diagnosed to include a hard fault of the rationality fault.
Accordingly, step S600 may further include:
in the case of a hard fault with a rationality failure, the electric machine is controlled according to the reduced power MAP of the secondary protection strategy.
Another aspect of the present invention also provides a system for handling a failure of an accelerator pedal. As shown in fig. 3, the system may include:
a first sensor 10 for detecting a first opening degree of an accelerator pedal and outputting a first detection signal;
a second sensor 11 for detecting a second opening degree of the accelerator pedal and outputting a second detection signal;
and the vehicle control unit 20 is respectively connected with the first sensor and the second sensor, and the method is described above.
In an embodiment of the present invention, as shown in fig. 4, the first detection signal and the second detection signal may pass through the a/D conversion module 01 and the filtering module 02 in advance before being received by the vehicle control unit 20, so as to eliminate glitches in the first detection signal and the second detection signal, avoid erroneous determination of the vehicle control unit 20, and improve accuracy of the method and the system.
Through the technical scheme, the method and the system for processing the fault of the accelerator pedal provided by the invention divide the state of the accelerator pedal into three types of no fault, soft fault and hard fault, so that 243 types of states (fault and non-fault) of the accelerator pedal can be determined, and in the invention, when different types of faults exist in the same accelerator pedal signal, the high fault level is prioritized, so that the 243 types of states can be processed by adopting 37 processing modes. The soft fault is a fault state before the fault is finally confirmed, and the hard fault is a fault state which is finally confirmed after a period of continuous diagnosis is carried out through a counter. According to the method, the acceleration pedal fault is eliminated through the process of confirming the soft fault of the acceleration pedal, so that the fault misjudgment is avoided, and the smoothness of the power output of the whole vehicle is ensured, so that the safe and reliable operation of the whole vehicle is ensured.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art can understand that all or part of the steps in the method for implementing the above embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a (may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, various different embodiments of the present invention may be arbitrarily combined with each other, and the embodiments of the present invention should be considered as disclosed in the disclosure of the embodiments of the present invention as long as the embodiments do not depart from the spirit of the embodiments of the present invention.
Claims (7)
1. A method for diagnosing and processing a malfunction of an accelerator pedal including a first sensor and a second sensor for detecting an opening degree of the accelerator pedal and outputting respective first and second detection signals, characterized by comprising:
acquiring the first detection signal and the second detection signal every other preset time period;
diagnosing whether the accelerator pedal is in fault or not according to the first detection signal and the second detection signal and further determining the type of the fault, wherein the fault of the accelerator pedal at the moment is diagnosed to comprise a type of soft fault under the condition that the type of the fault is determined;
processing the soft faults and counting the occurrence times of the same type of faults;
judging whether the occurrence frequency of the same type of faults is greater than a preset frequency threshold value or not;
under the condition that whether the frequency of occurrence of the faults of the same type is larger than the frequency threshold value or not is judged, the faults of the accelerator pedal are diagnosed to include the hard faults of the same type;
processing a hard fault of the accelerator pedal;
the diagnosing whether the accelerator pedal is in fault according to the first detection signal and the second detection signal and further determining the type of the fault, wherein in the case of determining the type of the fault, the diagnosing that the fault of the accelerator pedal at the moment comprises a soft fault of a type comprises:
judging whether the first detection signal and/or the second detection signal are smaller than a preset minimum value or not;
under the condition that the first detection signal and/or the second detection signal are/is judged to be smaller than the minimum value, the current opening degree of the accelerator pedal is adjusted to be 0;
judging whether the first detection signal is larger than a preset maximum value or not;
diagnosing that the fault of the accelerator pedal includes a soft fault of a first over-limit fault in a case where it is determined that the first detection signal is greater than the maximum value;
judging whether the second detection signal is larger than the maximum value;
diagnosing that the fault of the accelerator pedal includes a soft fault of a second over-limit fault in a case where it is determined that the second detection signal is greater than the maximum value;
the determining that the fault of the accelerator pedal includes the same type of hard fault, in the case where it is determined whether the number of times the same type of fault occurs is greater than the number threshold, includes:
under the condition that the number of times of occurrence of soft faults of the first over-limit fault is judged to be larger than a first over-limit fault number threshold value, diagnosing that the faults of the accelerator pedal comprise hard faults of the first over-limit fault;
under the condition that the number of times of occurrence of soft faults of the second over-limit fault is judged to be larger than a second over-limit fault number threshold value, diagnosing that the faults of the accelerator pedal comprise hard faults of the second over-limit fault;
calculating an output signal of the accelerator pedal according to formula (1) in the case where no malfunction of the accelerator pedal occurs,
ACPS＝0.5×ACPS1+0.5×ACPS2， (1)
wherein ACPS is the output signal, ACPS1 is the first detection signal, and ACPS2 is the second detection signal;
acquiring the output power of the motor from a MAP (MAP of the motor) according to the output signal, and further controlling the motor of the whole vehicle according to the output power;
the processing the soft fault and counting the occurrence frequency of the same type of fault comprises:
calculating an output signal of the accelerator pedal according to formula (2) in case of a soft fault of a first overrun fault,
ACPS＝a×ACPS1old+b×ACPS2， (2)
wherein,ACPS is the output signal, a is 0.5 × (1-C)1t/C1max)，C1tThe number of soft failures occurring for the first overrun failure, C1maxACPS1 for the first overrun failure number thresholdold(ii) for the first detection signal a time period before a soft fault of the first overrun fault occurs, b-1-a, ACPS2 being the second detection signal;
calculating an output signal of the accelerator pedal according to formula (3) in case of a soft fault of a second overrun fault,
ACPS＝a×ACPS1+b×ACPS2old， (3)
wherein ACPS is the output signal, b is 0.5 × (1-C)2t/C2max),C2tNumber of soft fault occurrences being said second overrun fault, C2maxFor the second overrun failure number threshold, ACPS2oldA 1-b, ACPS1 being the second detection signal a time period before a soft fault at which the second overrun fault occurred, the first detection signal;
calculating an output signal of the accelerator pedal according to equation (4) in the case where a soft fault of the first overrun fault and a soft fault of the second overrun fault occur,
ACPS＝a×ACPS1old+b×ACPS2old+c×ACPSlimp， (4)
wherein ACPS is the output signal, a is 1-C1t/C1max，C1tNumber of soft failures occurring as first overrun failure, C1maxB is 1-C which is the first overrun failure number threshold2t/C2max，C2tNumber of soft fault occurrences for the second overrun fault, C2maxFor the second overrun failure number threshold, ACPS1oldACPS2 for the first detection signal for a time period preceding a soft fault of the first over-limit faultoldC min { C ═ of the second detection signal for a time period preceding a soft fault in which the second overrun fault occurred1t/C1max，C2t/C2max}，ACPSlimpThe signal is a preset pedal opening signal;
the processing the hard fault of the accelerator pedal comprises the following steps:
under the condition of a hard fault of a first over-limit fault or a hard fault of a second over-limit fault, performing limited power operation on the whole vehicle by adopting a power-reducing MAP (MAP) of a secondary protection strategy;
and under the conditions of a hard fault of the first over-limit fault and a hard fault of the second over-limit fault, performing power-limited operation on the whole vehicle by adopting a power-reduced MAP (MAP) of a three-level protection strategy.
2. The method of claim 1, wherein said diagnosing whether said accelerator pedal is malfunctioning based on said first detection signal and said second detection signal and further determining a type of said malfunction, and in the case of determining said type of malfunction, diagnosing that said accelerator pedal malfunction at that time includes a type of soft malfunction comprises:
calculating a first difference value of two first detection signals and a second difference value of two second detection signals between any three adjacent time periods;
judging whether the first difference value is larger than a preset maximum change rate or not;
diagnosing that the failure of the accelerator pedal includes a soft failure of a first abrupt change failure in a case where it is determined that the first difference is greater than the maximum rate of change;
judging whether the second difference value is larger than the maximum change rate or not;
diagnosing that the failure of the accelerator pedal includes a soft failure of a second abrupt change failure in a case where it is determined that the second difference is greater than the maximum rate of change;
the diagnosing that the failure of the accelerator pedal includes the hard failure of the same type, in a case where it is determined whether the number of occurrences of the failure of the same type is greater than the number threshold, includes:
and under the condition that the frequency of the soft faults of the first sudden change faults is larger than a preset first sudden change fault frequency threshold value and/or the frequency of the soft faults of the second sudden change faults is larger than a preset second sudden change fault frequency threshold value, diagnosing that the faults of the accelerator pedal comprise hard faults of the sudden change faults.
3. The method of claim 2, wherein said diagnosing whether said accelerator pedal is malfunctioning based on said first detection signal and said second detection signal and further determining a type of said malfunction, and in the case of determining said type of malfunction, diagnosing that said accelerator pedal malfunction at that time comprises a type of soft malfunction further comprises:
judging whether the first difference value is 0 or not;
in the case where it is determined that the first difference is 0, diagnosing that the failure of the accelerator pedal includes a soft failure of a first stuck failure;
judging whether the second difference value is 0;
in the case where it is determined that the second difference is 0, diagnosing that the failure of the accelerator pedal includes a soft failure of a second stuck failure;
counting the times of the first difference value being 0 and the times of the second difference value being 0;
in the case where it is determined whether the number of occurrences of the same type of fault is greater than the number threshold, diagnosing that the fault of the accelerator pedal includes the same type of hard fault includes:
and under the condition that the number of times of soft faults of the first stagnation fault is larger than a preset first stagnation fault number threshold value and/or the number of times of soft faults of the second stagnation fault is larger than a preset second stagnation fault number threshold value, diagnosing that the faults of the accelerator pedal comprise hard faults of stagnation faults.
4. The method of claim 3, wherein processing the soft fault and counting the number of occurrences of the same type of fault further comprises:
calculating an output signal of the accelerator pedal according to equation (5) in the case of a soft fault of the first sudden fault and/or a soft fault of the first stuck fault,
ACPS＝a×ACPS1old+b×ACPS2， (5)
wherein ACPS is the output signal, a is 0.5 × (1-S)1t/S1max)，S1tIs the number of soft faults of the first catastrophic fault and/or soft faults of the first stuck-at fault occurring, S1maxACPS1 for the first sudden and/or stuck failure thresholdoldThe first detection signal is a time period before a soft fault of the first catastrophic fault and/or a soft fault of a first stuck-at fault occurs, b is 1-a, and ACPS2 is the second detection signal;
calculating an output signal of the accelerator pedal according to equation (6) in the case of a soft fault of the second catastrophic fault and/or a soft fault of the second stuck-at fault,
ACPS＝a×ACPS1+b×ACPS2old， (6)
wherein ACPS is the output signal, b is 0.5 × (1-S)2t/S2max),S2tIs the number of soft faults of the second catastrophic fault and/or soft faults of the second stuck-at fault occurring, S2maxACPS2 for a second threshold number of catastrophic failures and/or a second threshold number of stuck failuresoldThe second detection signal is a time period before a soft fault of the second catastrophic fault and/or a soft fault of a second stuck-at fault occurs, a is 1-b, and ACPS1 is the first detection signal;
calculating an output signal of the accelerator pedal according to equation (7) in the case where a soft fault of a first sudden fault and/or a soft fault of a first stuck-at fault occurs and a soft fault of a second sudden fault and/or a soft fault of a second stuck-at fault occurs,
ACPS＝a×ACPS1old+b×ACPS2old+c×ACPSlimp， (7)
wherein ACPS is the output signal, a is 1-S1t/S1max，S1tIs a soft fault of the first catastrophic fault and/or a secondary occurrence of a soft fault of the first stuck-at faultNumber, S1maxA first sudden fault number threshold and/or a first dead fault number threshold, b being 1-S2t/S2max，S2tSoft fault being a second catastrophic fault and/or the number of soft faults occurring, S, of a second stuck-at fault2maxACPS1 for a second threshold number of catastrophic failures and/or a second threshold number of stuck failuresoldACPS2 is a first detection signal for a previous time period for the occurrence of a soft fault of a first catastrophic fault and/or a soft fault of a first stuck-at fault and a soft fault of a second catastrophic fault and/or a soft fault of a second stuck-at faultoldA second detection signal for a preceding time period for the soft fault of the first sudden change fault and/or the soft fault of the first dead fault and the soft fault of the second sudden change fault and/or the soft fault of the second dead fault, c ═ min { S { (S) }1t/S1max，S2t/S2max}，ACPSlimpThe signal is a preset pedal opening signal;
the processing the hard fault of the accelerator pedal comprises the following steps:
under the condition that a soft fault of a first sudden change fault and/or a soft fault of a first stagnation fault or a soft fault of a second sudden change fault and/or a soft fault of a second stagnation fault occur, a reduced power MAP graph of a secondary protection strategy is adopted to carry out limited power operation on the whole vehicle;
and under the condition that the soft fault of the first sudden change fault and/or the soft fault of the first stagnation fault and the soft fault of the second sudden change fault and/or the soft fault of the second stagnation fault occur, the power-limited operation is carried out on the whole vehicle by adopting a power-reduced MAP graph of a three-level protection strategy.
5. The method of claim 1, wherein said diagnosing whether said accelerator pedal is malfunctioning based on said first detection signal and said second detection signal and further determining a type of said malfunction, and in the case of determining said type of malfunction, diagnosing that said accelerator pedal malfunction at that time comprises a type of soft malfunction further comprises:
detecting a first opening degree and a second opening degree under the first detection signal and the second detection signal;
comparing the first detection signal with the first opening degree, and comparing the second detection signal with the second opening degree with a preset corresponding relation between the detection signals and the opening degrees;
respectively judging whether the first detection signal and the first opening degree and the second detection signal and the second opening degree are in a linear relation;
under the condition that the first detection signal and the first opening degree and/or the second detection signal and the second opening degree are not in a linear relation and the difference value is larger than a preset maximum difference value, diagnosing the accelerator pedal faults and soft faults including rationality faults;
in the case where it is determined whether the number of occurrences of the same type of fault is greater than the number threshold, diagnosing that the fault of the accelerator pedal includes the same type of hard fault includes:
and under the condition that the frequency of the soft faults of the rationality faults is judged to be greater than a preset rationality fault frequency threshold value, diagnosing that the faults of the accelerator pedal comprise hard faults of the rationality faults.
6. The method of claim 5, wherein processing the soft fault and counting the number of occurrences of the same type of fault comprises:
under the condition that the first detection signal and the first opening degree are judged, the second detection signal and the second opening degree are not in a linear relation, and the difference value of the first detection signal and the second opening degree is larger than a preset maximum difference value, the smaller one of the first detection signal and the second detection signal is selected as the output signal of the accelerator pedal, and the motor is controlled according to a MAP (MAP of the motor);
the processing the hard fault of the accelerator pedal comprises the following steps:
and under the condition of a hard fault of the rationality fault, controlling the whole vehicle to operate in a power-limited mode according to a power-reduced MAP of a secondary protection strategy.
7. A system for diagnosing and addressing a fault of an accelerator pedal, the system comprising:
a first sensor for detecting a first opening degree of the accelerator pedal and outputting a first detection signal;
a second sensor for detecting a second opening degree of the accelerator pedal and outputting a second detection signal;
a vehicle control unit connected to the first sensor and the second sensor, respectively, for performing the method according to any one of claims 1 to 6.
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| CN112158149B (en) * | 2020-08-26 | 2022-03-01 | 东风汽车集团有限公司 | Accelerator pedal stuck identification method and accelerator pedal stuck identification system |
| CN112977059B (en) * | 2021-02-26 | 2022-09-27 | 三一汽车制造有限公司 | Failure processing method and device for pedal, vehicle and readable storage medium |
| CN113189962A (en) * | 2021-04-20 | 2021-07-30 | 安徽江淮汽车集团股份有限公司 | Automobile accelerator pedal opening control system and method based on virtual instrument |
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Denomination of invention: A method and system for diagnosing and troubleshooting the accelerator pedal Granted publication date: 20211015 Pledgee: Bank of Communications Ltd. Anhui branch Pledgor: HEFEI PENGPAI ENERGY TECHNOLOGY CO.,LTD. Registration number: Y2025980028512 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |