CN-122009114-A - Compensation method and device of pedal stroke sensor, vehicle and electronic equipment

CN122009114ACN 122009114 ACN122009114 ACN 122009114ACN-122009114-A

Abstract

The invention discloses a compensation method and device for a pedal stroke sensor, a vehicle and electronic equipment, wherein the compensation method comprises the steps of obtaining initial detection data of the pedal stroke sensor, and determining a calibration variance value and a deviation value of the pedal stroke sensor according to the initial detection data; and if the brake pedal is in a release state, controlling the pedal stroke sensor to acquire first measurement data in real time, wherein the release state is a state that the brake pedal is not triggered, determining a sample mean value according to a plurality of adjacent first measurement data, calibration variance values and offset values, and compensating the pedal stroke sensor according to the current sample mean value, the sample calibration value at the last moment and the calibration variance values. The invention can compensate the zero position of the pedal stroke sensor in real time, reduce the influence of the pedal stroke sensor caused by zero drift and external mechanical interference, and improve the reliability and accuracy of the measurement of the pedal stroke sensor.

Inventors

TONG ZIYUE
ZHANG ZHIYOU
HUANG MEIPENG

Assignees

耐世特汽车系统（苏州）有限公司

Dates

Publication Date: 20260512
Application Date: 20241112

Claims (10)

1. A method of compensating a pedal travel sensor, comprising: acquiring initial detection data of the pedal stroke sensor, and determining a calibration variance value and a deviation value of the pedal stroke sensor according to the initial detection data; if the brake pedal is in a release state, controlling the pedal travel sensor to acquire first measurement data in real time, wherein the release state is a state that the brake pedal is not triggered; Determining a sample mean value according to the adjacent first measurement data, the calibration variance value and the skewness value; And compensating the pedal stroke sensor according to the current sample mean value, the sample calibration value at the last moment and the calibration variance value.
2. The method of compensating for a pedal travel sensor according to claim 1, wherein compensating for the pedal travel sensor based on the current sample mean, a previous sample calibration value, and the calibration variance value comprises: The current sample mean value is differenced from the sample calibration value at the last moment, and a sample difference value is determined; And comparing the sample difference value with a calibration threshold value, and compensating the pedal stroke sensor according to a comparison result, wherein the calibration threshold value comprises the product of a calibration constant and the calibration variance value.
3. The method of compensating for a pedal travel sensor according to claim 2, wherein comparing the sample difference value with the calibration variance value and compensating for the pedal travel sensor based on the comparison result, comprises: If the continuous N1 sample difference values are larger than or equal to a first calibration constant, determining a first compensation mean value according to the N1 sample difference values, and compensating the pedal stroke sensor according to the first compensation mean value, wherein the first calibration constant is larger than 0; If the continuous N2 sample differences are smaller than a second calibration constant, determining a second compensation mean value according to the N2 sample differences, and compensating the pedal stroke sensor according to the second compensation mean value, wherein the second calibration constant is smaller than 0; If the continuous N3 sample differences are greater than or equal to the second calibration constant and smaller than the first calibration constant, determining a third compensation mean value according to the N3 sample differences, and compensating the pedal stroke sensor according to the third compensation mean value, wherein N2 is greater than N3 and is greater than N1.
4. The method of compensating for a pedal travel sensor according to claim 1, wherein compensating for the pedal travel sensor based on the current sample mean, a previous sample calibration value, and the calibration variance value, then comprises: And if the current sample mean value is an initial sample mean value, compensating the pedal stroke sensor according to the current sample mean value, a preset sample calibration value and the calibration variance value.
5. The method of compensating for a pedal travel sensor according to claim 1, wherein determining a sample mean from the adjacent plurality of first measurement data, the calibration variance value, and the bias value comprises: determining a sample mean according to the following formula: Wherein X S is the sample mean value, X j is the first measurement data, wherein i is an integer greater than 0 and less than n, X offset is a skewness compensation value, oc is the skewness value, sigma is the calibration variance value, mu is the calibration mean value in the bench experiment process, and X i is pedal displacement data in the bench experiment process; To pair(s) And (5) obtaining expectations.
6. A compensation device for a pedal travel sensor, comprising: The parameter determining module is used for acquiring initial detection data of the pedal stroke sensor and determining a calibration variance value and a deviation value of the pedal stroke sensor according to the initial detection data; The first measurement data determining module is used for controlling the pedal travel sensor to acquire first measurement data in real time when the brake pedal is in a release state, wherein the release state is a state that the brake pedal is not triggered; The sample mean value determining module is used for determining a sample mean value according to the adjacent first measurement data, the calibration variance value and the skewness value; And the sensor compensation module is used for compensating the pedal stroke sensor according to the current sample mean value, the sample calibration value at the last moment and the calibration variance value.
7. A vehicle characterized by comprising the compensation device of the pedal travel sensor according to claim 6.
8. An electronic device, the electronic device comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of compensating for a pedal travel sensor according to any of claims 1-5.
9. A computer readable storage medium storing computer instructions for causing a processor to execute the method of compensating for a pedal travel sensor according to any of claims 1-5.
10. A computer program product, characterized in that it comprises a computer program which, when executed by a processor, implements a method of compensating a pedal stroke sensor according to any of claims 1-5.

Description

Compensation method and device of pedal stroke sensor, vehicle and electronic equipment Technical Field The invention relates to the technical field of pedal sensors, in particular to a compensation method and device of a pedal stroke sensor, a vehicle and electronic equipment. Background The pedal travel sensor is easy to accumulate various errors such as mechanical errors, signal errors and the like in the using process, and zero offset phenomenon is easy to occur to the pedal travel sensor due to the position of a brake pedal, so that the accuracy of sensor measurement is poor, and the safe driving of a driver is further influenced. Disclosure of Invention The invention provides a compensation method and device for a pedal stroke sensor, a vehicle and electronic equipment, so that the zero position of the pedal stroke sensor can be calibrated in real time, the influence of zero drift of the pedal stroke sensor is reduced, and the reliability and accuracy of measurement of the pedal stroke sensor are improved. According to an aspect of the present invention, there is provided a compensation method of a pedal stroke sensor, the compensation method of the pedal stroke sensor including: acquiring initial detection data of a pedal stroke sensor, and determining a calibration variance value and a deviation value of the pedal stroke sensor according to the initial detection data; If the brake pedal is in a release state, controlling a pedal travel sensor to acquire first measurement data in real time, wherein the release state is a state that the brake pedal is not triggered; Determining a sample mean value according to the adjacent first measurement data, the calibration variance value and the bias value; And compensating the pedal stroke sensor according to the current sample mean value, the sample calibration value at the last moment and the calibration variance value. Further, compensating the pedal travel sensor according to the current sample mean value, the sample calibration value and the calibration variance value at the previous moment, including: the current sample mean value is differenced from the sample calibration value at the last moment, and a sample difference value is determined; And comparing the sample difference value with a calibration threshold value, and compensating the pedal stroke sensor according to the comparison result, wherein the calibration threshold value comprises the product of a calibration constant and a calibration variance value. Further, comparing the sample difference value with the calibrated variance value, and compensating the pedal stroke sensor according to the comparison result, comprising: If the continuous N1 sample difference value is larger than or equal to the first calibration constant, calibrating the variance value, determining a first compensation mean value according to the N1 sample difference value, and compensating the pedal stroke sensor according to the first compensation mean value, wherein the first calibration constant is larger than 0; If the continuous N2 sample difference values are smaller than a second calibration constant, determining a second compensation mean value according to the N2 sample difference values, and compensating the pedal stroke sensor according to the second compensation mean value, wherein the second calibration constant is smaller than 0; If the continuous N3 sample difference values are larger than or equal to the second calibration constant calibration variance value and smaller than the first calibration constant calibration variance value, determining a third compensation mean value according to the N3 sample difference values, and compensating the pedal stroke sensor according to the third compensation mean value, wherein N2 is larger than N3 and smaller than N1. Further, the pedal stroke sensor is compensated according to the current sample mean value, the sample calibration value and the calibration variance value at the last moment, and then the method comprises the following steps: And if the current sample mean value is the initial sample mean value, compensating the pedal stroke sensor according to the current sample mean value, the preset sample calibration value and the calibration variance value. Further, determining a sample mean from the adjacent plurality of first measurement data, the calibration variance value, and the bias value includes: determining a sample mean according to the following formula: Wherein X S is a sample mean value, X j is first measurement data, wherein i is an integer greater than 0 and less than n, X offset is a skewness compensation value, oc is a skewness value, sigma is a calibration variance value, mu is a calibration mean value in a bench experiment process, and X i is pedal displacement data in the bench experiment process; To pair(s) And (5) obtaining expectations. According to another aspect of the present invention, there is provided a compensation device of a pedal st