Single Pedal Control of Battery Electric Vehicle by Pedal Torque Demand With Dynamic Zero Position

Intelligent pedal control is a new development trend of vehicle intelligence, an important application of which is the single pedal control being the driving and braking inputs for energy management of battery electric vehicle. Usually, a constant pedal angle is used as the zero position that is a boundary between the driving and the braking. Based on the dynamic zero position that is a variable pedal angle depicting the direction switch point during pedal rotation, we show a single pedal control approach to operate the driving and the braking of battery electric vehicle, which can make full use of the pedal stroke and improve the control performance. Pedal torque demand is observed by a new pedal dynamics model that depicts the dynamic variation of pedal position. A nonlinear model predictive controller is designed to realize optimal-based energy management, satisfy dynamic demands, improve ride quality, and ensure wheel anti-slip safety. To validate the effect of the single pedal control approach, both simulations and real vehicle tests are carried out. The results illustrate that the energy consumption of single pedal control can be reduced than the dual pedal control in several representative driving cycles benefited from the more efficient use of regenerative braking.