CN102494125B - Driver's intention recognition system for automatic transmission control of loader and recognition method - Google Patents
Driver's intention recognition system for automatic transmission control of loader and recognition method Download PDFInfo
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- CN102494125B CN102494125B CN201110372495.7A CN201110372495A CN102494125B CN 102494125 B CN102494125 B CN 102494125B CN 201110372495 A CN201110372495 A CN 201110372495A CN 102494125 B CN102494125 B CN 102494125B
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Abstract
Disclosed are a driver's intension recognition system for automatic transmission control of a loader and a recognition method. The driver's intension recognition system is characterized by comprising a signal extraction calculating device, a dynamic property weight calculating device and a driver's intension type judging device, wherein signals of working pump oil pressure, accelerator change rate, an integral loader brake pedal and integral loader speed are utilized as input parameters in calculate of driver's intension, and effective signals are extracted from extracted signals by filtering algorithm; the dynamic property weight calculating device is used for calculating running dynamic property weight and working device dynamic property weight of received data by fuzzy algorithm, and outputting running dynamic property weight data and working device dynamic property weight data, and the driver's intension type judging device is used for judging the types of the driver's intension according to the outputted running dynamic property weight and the outputted working device dynamic property weight. The driver's intension recognition system for automatic transmission control of the load and the recognition method have the advantages that by means of extracting the signals of the working pump oil pressure, the accelerator change rate, the integral loader brake pedal and the integral loader speed, requirements of a driver of the loader to running dynamic property, fuel oil economical efficiency, integral running speed and working speed of a working device are considered comprehensively, and the types of the driver's intension are judged according to the running dynamic property weight and the working device dynamic property weight.
Description
Technical field
The present invention relates to Automatic Transmission Control System of Loader system, particularly a kind of Driver intention recognition system and identifying method for Automatic Transmission Control System of Loader.
Background technique
The Driver intention recognition system and the identifying method that in the Automatic Transmission Control System of Loader system of producing both at home and abroad at present or use, use, conventionally with reference to the Driver intention recognition of automobile, use engine speed, accelerator open degree, the speed of a motor vehicle etc. to judge driver's intention, and then gearshift is controlled and made correction.As use accelerator open degree variance ratio to judge driver's acceleration, deceleration intention etc.
But this method cannot reflect loader drive personnel's intention comprehensively.Because loader is as self-propelled type cubic metre of earth and stone scrapers, not only having automobile is simple walking working condition like that, also exist walking and hydraulic system shovel to pretend the operating mode that industry is carried out simultaneously simultaneously, as in shovel process of assembling, the intention that driver steps on the throttle has two kinds, one is to accelerate, another kind is the action of accelerating equipment, in traditional variable-speed controller, do not consider, in another case, as in the time growing apart from descending, for reducing the wearing and tearing of break, avoid overheating failure, conventionally can utilize the anti-row vehicle deceleration that is dragged into of motor, now should lower category, but because the speed of a motor vehicle is now increasing, tradition variable-speed controller is but to carry out upshift operation, be in harmony contrary with driver's operation intention.How correctly identifying operation personnel's intention becomes loader self-shifting matter of utmost importance.
Summary of the invention
Object of the present invention is exactly in traditional speed Control, driver intention is lacked to the shortcoming of considering comprehensively, provide a kind of by the collection to pilot control signal and the detection of machine running status, accurately judge the system and method for loader drive person's operation intention, for next step speed Control correction provides basic Driver intention recognition system and identifying method for Automatic Transmission Control System of Loader.
Solution of the present invention is such:
Identification system of the present invention includes:
(1), signal extraction computing device, the calculating of driver intention adopts working pump oil pressure, throttle variance ratio, car load brake petal, car load vehicle speed signal as input parameter, signal extraction computing device is used for extracting accelerator open degree signal, working pump fuel injection pressure signal, car load brake signal and car load vehicle speed signal, extracted signal is calculated to the data of output accelerator open degree change degree, working pump oil pressure, car load braking, the car load speed of a motor vehicle; Use filtering algorithm to extract useful signal to extracted signal, utilize the changing value in accelerator open degree unit's sampling time to calculate throttle variance ratio;
(2), power character weight calculation device, for using fuzzy algorithmic approach to calculate driving dynamics weight and equipment power character weight to the data of the output accelerator open degree change degree receiving, working pump oil pressure, car load braking, the car load speed of a motor vehicle, output driving dynamics weight and equipment power character weight data; The power character demand that corresponding driver's car load travels respectively and the operating rate demand of equipment.
(3) driver intention type decision device, for receiving driving dynamics weight and the equipment power character weight of output, and according to driving dynamics weight and equipment power character weight, adopts the method for threshold value comparison to calculate driver intention type.
In above-mentioned identification system, identifying method of the present invention comprises:
Extract accelerator open degree signal, working pump fuel injection pressure signal, car load brake signal and car load vehicle speed signal, use filtering algorithm to extract useful signal, utilize the changing value in accelerator open degree unit's sampling time to calculate throttle variance ratio;
Accelerator open degree signal, car load brake signal, car load vehicle speed signal and the throttle variance ratio after accelerator open degree change degree calculates carry out input quantity obfuscation calculating;
Data after calculating taking described input quantity obfuscation are as fuzzy input quantity, taking driving dynamics weight and equipment power character weight as fuzzy output quantity, with reference to the driving dynamics weight fuzzy rule base of formulating and the equipment power character weight fuzzy rule base of formulation, use fuzzy algorithmic approach to calculate driving dynamics weight and equipment power character weight.
Taking described driving dynamics weight and equipment power character weight data as input quantity, taking driver intention type as output quantity, adopt the method for threshold value comparison, judge driver intention type.
Identifying method of the present invention also comprises:
Described input quantity obfuscation computational methods are taking working pump oil pressure P, brake petal brake, gas pedal variance ratio δ α, car load vehicle velocity V as fuzzy input quantity, and driving dynamics weight I1 and equipment power character weight I2 are fuzzy output quantity; Adopt 2 incompatible descriptions of fuzzy set for working pump oil pressure P: without S, there is B; Adopt 2 incompatible descriptions of fuzzy set for brake petal brake: without S, there is B; For throttle variance ratio δ α, adopt 5 incompatible descriptions of fuzzy set: negative large NB, negative little NS, zero O, just little PS, honest PB); For the car load speed of a motor vehicle, adopt 4 incompatible descriptions of fuzzy set: minimum VS, little S, large B, very big VB; For driving dynamics weight I1, adopt 4 incompatible descriptions of fuzzy set: minimum VS, little S, large B, very big VB; For equipment power character weight I2, adopt 4 incompatible descriptions of fuzzy set: minimum VS, little S, large B, very big VB; Each input, output quantity are chosen membership function its obfuscation are calculated;
The driving dynamics weight fuzzy rule base of described formulation is:
; The equipment power character weight fuzzy rule base of described formulation is:
；
Carry out driving dynamics weight after Fuzzy Calculation and the fuzzy number of equipment power character weight is carried out de-fuzzy to described, obtain the accurate numerical value of weight;
Described de-fuzzy is to adopt gravity model appoach to carry out de-fuzzy to the fuzzy number of driving dynamics weight and equipment power character weight, obtains the weighted value of 0-1; Wherein driving dynamics weighted value is by 0 to 1, and the power character demand that car load travels grows from weak to strong; Equipment power character weighted value, by 0 to 1, grows from weak to strong for the operating rate demand of equipment;
To described accelerator open degree signal, working pump fuel injection pressure signal, car load brake signal and car load vehicle speed signal, be to use median filtering algorithm to extract useful signal;
Described membership function adopts the form of Gaussian function or the form of trigonometric form function;
Be that Mamdani algorithm carries out Fuzzy Calculation for the fuzzy algorithmic approach of calculating driving dynamics weight and equipment power character weight.
Described driver intention type is divided into 4 classes, when equipment power character weight is judged to be shovel dress lifting intention during higher than setting value I2a, when the equipment power character weight intention that is judged to be to give it the gun during higher than setting value I1b lower than I2a and driving dynamics weight, when equipment power character weight is judged to be ramp to stop intention lower than I2a and driving dynamics weight during lower than I1a, when equipment power character weight is judged to be in time between I1a to I1b the intention of at the uniform velocity travelling lower than I2a and driving dynamics weight.
Advantage of the present invention is by extracting working pump oil pressure, brake petal, throttle variance ratio, current vehicle speed signal, consider the demand of loader drive person for driving dynamics and fuel economy, consider the demand of loader drive person for car load travelling speed summation equipment operating rate, and reflect respectively the desirability of driver to this two classes demand by driving dynamics weight and equipment power character weight, and then judge driver intention type, for next step speed Control provides basis.
Brief description of the drawings
Below in conjunction with drawings and Examples, the present invention is further illustrated.
Fig. 1 is the structural drawing of system of the present invention.
Fig. 2 is the flow chart of the inventive method.
Fig. 3 is embodiments of the invention structural drawing.
Fig. 4 is car load speed of a motor vehicle membership function figure.
Fig. 5 is brake petal membership function figure.
Fig. 6 is working pump oil pressure membership function figure.
Fig. 7 is gas pedal variance ratio membership function figure.
Fig. 8 is driving dynamics weight membership function figure.
Fig. 9 is equipment power character membership function figure.
Embodiment
As shown in Figure 1, identification system of the present invention comprises:
(1), signal extraction computing device, be used for extracting accelerator open degree signal, working pump fuel injection pressure signal, car load brake signal and car load vehicle speed signal, extracted signal is calculated to the data of output accelerator open degree change degree, working pump oil pressure, car load braking, the car load speed of a motor vehicle;
(2), power character weight calculation device, for using fuzzy algorithmic approach to calculate driving dynamics weight and equipment power character weight to the data of the output accelerator open degree change degree receiving, working pump oil pressure, car load braking, the car load speed of a motor vehicle, output driving dynamics weight and equipment power character weight data.
(3) driver intention type decision device, for according to driving dynamics weight and the equipment power character weight of output, judges driver intention type.
Above-mentioned identification system signal extraction, computing device, power character weight calculation device are realized with series connection form by being programmed in microprocessor; Working pump oil pressure, accelerator open degree, car load braking, the car load speed of a motor vehicle are taken from respectively working pump hydraulic pressure switch, throttle position switch, brake petal switch, gearbox final-stage gear speed probe; System output driving dynamics weights signal and equipment power character weights signal, the power character demand that corresponding driver's car load travels respectively and the operating rate demand of equipment, as shown in Figure 3.
To identification system of the present invention, the identifying method step of employing comprises:
Extract accelerator open degree signal, working pump fuel injection pressure signal, car load brake signal and car load vehicle speed signal, use filtering algorithm to extract useful signal, utilize the changing value in accelerator open degree unit's sampling time to calculate throttle variance ratio;
Accelerator open degree signal, car load brake signal, car load vehicle speed signal and the throttle variance ratio after accelerator open degree change degree calculates carry out input quantity obfuscation calculating;
Data after calculating taking described input quantity obfuscation are as fuzzy input quantity, taking driving dynamics weight and equipment power character weight as fuzzy output quantity, with reference to the driving dynamics weight fuzzy rule base of formulating and the equipment power character weight fuzzy rule base of formulation, use fuzzy algorithmic approach to calculate driving dynamics weight and equipment power character weight.
Taking described driving dynamics weight and equipment power character weight data as input quantity, taking driver intention type as output quantity, adopt the method for threshold value comparison, judge driver intention type.
Identifying method step more specifically, is described in detail referring to accompanying drawing 2:
1, read in working pump oil pressure, car load braking, accelerator open degree, car load vehicle speed signal from outside, utilize median filtering algorithm to extract its effective value, utilize the changing value in accelerator open degree unit's sampling time to calculate throttle variance ratio.
2, accelerator open degree signal, car load brake signal, car load vehicle speed signal and the throttle variance ratio after accelerator open degree change degree calculates carry out input quantity obfuscation calculating, concrete grammar is: taking working pump oil pressure P, brake petal brake, gas pedal variance ratio δ α, car load vehicle velocity V as fuzzy input quantity, driving dynamics weight I1 and equipment power character weight I2 are fuzzy output quantity.Adopt 2 incompatible descriptions of fuzzy set for working pump oil pressure P: without S, there is B; Adopt 2 incompatible descriptions of fuzzy set for brake petal brake: without S, there is B; For throttle variance ratio δ α, adopt 5 incompatible descriptions of fuzzy set: negative large NB, negative little NS, zero O, just little PS, honest PB; For the car load speed of a motor vehicle, adopt 4 incompatible descriptions of fuzzy set: minimum VS, little S, large B, very big VB; For driving dynamics weight I1, adopt 4 incompatible descriptions of fuzzy set: minimum VS, little S, large B, very big VB; For equipment power character weight I2, adopt 4 incompatible descriptions of fuzzy set: minimum VS, little S, large B, very big VB.The membership function of each input, output quantity adopts the form of Gaussian function to carry out obfuscation, referring to accompanying drawing 4 to accompanying drawing 9; Realize for ease of algorithm, membership function also can adopt the form of trigonometric form function.
3,, according to expertise, formulate respectively fuzzy control rule table as following table;
The driving dynamics weight fuzzy rule base of formulating is:
The equipment power character weight fuzzy rule base of described formulation is:
4, utilize Mamdani algorithm to carry out Fuzzy Calculation, obtain respectively the Fuzzy Number Valued of driving dynamics weight and equipment power character weight.
5, utilize gravity model appoach to carry out de-fuzzy to the fuzzy number of driving dynamics weight and equipment power character weight, obtain the weighted value of 0-1.Wherein driving dynamics weighted value is by 0 to 1, and the power character demand that car load travels grows from weak to strong; Equipment power character weighted value, by 0 to 1, grows from weak to strong for the operating rate demand of equipment.
6, output driving dynamics weighted value and equipment power character weighted value.
7, relatively sail power character weighted value and equipment power character weighted value and default threshold value (I1a=0.25, I1b=0.5, I2a=0.5) size, when equipment power character weight is judged to be shovel dress lifting intention during higher than I2a, when the equipment power character weight intention that is judged to be to give it the gun during higher than I1b lower than I2a and driving dynamics weight, when equipment power character weight is judged to be ramp to stop intention during lower than I1a lower than I2a and driving dynamics weight, when equipment power character weight is judged to be in time between I1a to I1b the intention of at the uniform velocity travelling lower than I2a and driving dynamics weight, Driver intention recognition process finishes.
For different vehicles, different motors and torque-converters coupling, and different transmission systems, all can adopt this invention to realize Automatic Transmission Control System of Loader, and design parameter can be adjusted flexibly according to actual complete machine type.In addition, for reducing the computing difficulty of algorithm in controller, save the storage resources of controller, the fuzzy algorithmic approach of calculating driving dynamics weight and equipment power character weight can calculated off-line, obtain the output value of fuzzy algorithmic approach under each input signal, and be pre-stored in controller with the form of data sheet, when use, adopt look-up table to obtain driving dynamics weighted value and equipment power character weighted value.
Claims (8)
1. for a method for the Driver intention recognition of Automatic Transmission Control System of Loader, it is characterized in that its method step comprises:
Extract accelerator open degree signal, working pump fuel injection pressure signal, car load brake signal and car load vehicle speed signal, use filtering algorithm to extract useful signal, utilize the changing value in accelerator open degree unit's sampling time to calculate throttle variance ratio;
Working pump fuel injection pressure signal, car load brake signal, car load vehicle speed signal and the throttle variance ratio after accelerator open degree change degree calculates carry out input quantity obfuscation calculating;
Data after calculating taking described input quantity obfuscation are as fuzzy input quantity, taking driving dynamics weight and equipment power character weight as fuzzy output quantity, with reference to the driving dynamics weight fuzzy rule base of formulating and the equipment power character weight fuzzy rule base of formulation, use fuzzy algorithmic approach to calculate driving dynamics weight and equipment power character weight.
Taking described driving dynamics weight and equipment power character weight data as input quantity, taking driver intention type as output quantity, adopt the method for threshold value comparison, judge driver intention type.
2. identifying method according to claim 1, it is characterized in that described input quantity obfuscation computational methods are that driving dynamics weight (I1) and equipment power character weight (I2) are fuzzy output quantity taking working pump oil pressure (P), brake petal (brake), gas pedal variance ratio (δ α), the car load speed of a motor vehicle (V) as fuzzy input quantity; Adopt 2 incompatible descriptions of fuzzy set for working pump oil pressure (P): without (S), there be (B); Adopt 2 incompatible descriptions of fuzzy set for brake petal (brake): without (S), there be (B); For throttle variance ratio (δ α), adopt 5 incompatible descriptions of fuzzy set: negative large (NB), negative little (NS), zero (O), just little (PS), honest (PB); For the car load speed of a motor vehicle, adopt 4 incompatible descriptions of fuzzy set: minimum (VS), little (S), large (B), very big (VB); For driving dynamics weight (I1), adopt 4 incompatible descriptions of fuzzy set: minimum (VS), little (S), large (B), very big (VB); For equipment power character weight (I2), adopt 4 incompatible descriptions of fuzzy set: minimum (VS), little (S), large (B), very big (VB); Each input, output quantity are chosen membership function its obfuscation are calculated; The driving dynamics weight fuzzy rule base of described formulation is:
; The equipment power character weight fuzzy rule base of described formulation is:
。
3. identifying method according to claim 2, is characterized in that described membership function adopts the form of Gaussian function or the form of trigonometric form function.
4. identifying method according to claim 1, is characterized in that the fuzzy algorithmic approach for calculating driving dynamics weight and equipment power character weight is that Mamdani algorithm carries out Fuzzy Calculation.
5. according to the identifying method described in claim 1 or 4, it is characterized in that carrying out driving dynamics weight after Fuzzy Calculation and the fuzzy number of equipment power character weight is carried out de-fuzzy to described, obtain the accurate numerical value of weight.
6. identifying method according to claim 5, is characterized in that described de-fuzzy is to adopt gravity model appoach to carry out de-fuzzy to the fuzzy number of driving dynamics weight and equipment power character weight, obtains the weighted value of 0-1; Wherein driving dynamics weighted value is by 0 to 1, and the power character demand that car load travels grows from weak to strong; Equipment power character weighted value, by 0 to 1, grows from weak to strong for the operating rate demand of equipment.
7. identifying method according to claim 1, is characterized in that described accelerator open degree signal, working pump fuel injection pressure signal, car load brake signal and car load vehicle speed signal, is to use median filtering algorithm to extract useful signal.
8. identifying method according to claim 1, it is characterized in that described driver intention type is divided into 4 classes, when equipment power character weight is judged to be shovel dress lifting intention during higher than setting value I2a, when the equipment power character weight intention that is judged to be to give it the gun during higher than setting value I1b lower than I2a and driving dynamics weight, when equipment power character weight is judged to be ramp to stop intention during lower than I1a lower than I2a and driving dynamics weight, when equipment power character weight is judged to be in time between I1a to I1b the intention of at the uniform velocity travelling lower than I2a and driving dynamics weight, wherein I2a, I1b, I1a are predefined threshold value, can be the decimal between 0-1.
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| CN103206524B (en) * | 2013-03-29 | 2016-01-27 | 北京经纬恒润科技有限公司 | A kind of automatic transmission shift control method |
| KR101484218B1 (en) * | 2013-06-07 | 2015-01-19 | 현대자동차 주식회사 | Device and method of controlling shift for vehicle |
| CN103277502B (en) * | 2013-06-24 | 2015-07-22 | 广西柳工机械股份有限公司 | Variable speed control system for loader |
| CN104696504B (en) * | 2015-01-04 | 2017-05-17 | 奇瑞控股有限公司 | Vehicle gear shift control method and device |
| CN107323459B (en) * | 2017-06-23 | 2023-09-12 | 东风商用车有限公司 | Method for identifying driver intention identifying sensor device |
| CN109249933B (en) * | 2017-07-14 | 2020-10-02 | 郑州宇通客车股份有限公司 | Driver acceleration intention identification method and device |
| CN108216253B (en) * | 2018-01-05 | 2020-07-10 | 重庆青山工业有限责任公司 | Driver type recognition control function module framework and control system of vehicle |
| CN109237007B (en) * | 2018-09-07 | 2020-04-03 | 长安大学 | Efficiency optimization control method for loader transmission system |
| CN111376717B (en) * | 2018-12-28 | 2021-12-28 | 长城汽车股份有限公司 | Power output control method and system |
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