CN101761403A - Method and device for controlling gas supply of dual-fuel engine - Google Patents
Method and device for controlling gas supply of dual-fuel engine Download PDFInfo
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- CN101761403A CN101761403A CN201010117592A CN201010117592A CN101761403A CN 101761403 A CN101761403 A CN 101761403A CN 201010117592 A CN201010117592 A CN 201010117592A CN 201010117592 A CN201010117592 A CN 201010117592A CN 101761403 A CN101761403 A CN 101761403A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/30—Use of alternative fuels, e.g. biofuels
Abstract
The invention discloses a method and a device for controlling gas supply of dual-fuel engine, which can effectively solve the problems of starting difficulty in northeast region, and applies closed-loop control to achieve a reasonable air-fuel ratio between air and fuel; when the temperature of coolant is increased, the supply of natural gas is cut off and liquefied gas is supplied for combustion, thus under the premise of ensuring the dynamic performance of the engine, gas is reasonably used; meanwhile, an electronic gas-saving gate device is used, which can overcome the drawbacks of engine accelerograph and guarantee securer and more efficient operation. The method for controlling gas supply of dual-fuel engine comprises the following steps: a softness controlling method for quickly cutting off natural gas and liquefied gas, a closed-loop controlling method for excess air ratio of the natural gas and the liquefied gas, an automatic repairing function for failure, and a bad condition self-learning controlling method. The device for controlling gas supply of dual-fuel engine comprises a supply system for natural gas and liquefied gas, a closed-loop actuator, a supply controlling module and a micro controller, a CAN communication module and a serial-port communication module.
Description
Technical field
The present invention relates to the gas supply of dual-fuel engine control system, be specifically related to a kind of controlling method and device of gas supply of dual-fuel engine.
Background technique
Current, the energy and environmental pollution problem are more and more outstanding.When automobile fuel consumption becomes automobile operation significant cost, vehicle exhaust also more and more becomes the principal element of urban air pollution, in order to reduce automobile operation cost and energy saving, reduce the pollution of vehicle exhaust, use combustion gas (rock gas, liquid gas) as main automotive fuel to environment.Combustion gas has than the better fuel economy of diesel oil, and exhaust pollutant content is lower.
The utilization of having succeeded on the bus in the most of city of China of combustion gas (rock gas, liquid gas) motor can be in China the Northeast, and only practical a kind of fuel but displays very big deficiency:
A. natural gas engine is the maximum gas engine of utilization on bus, and its utilization is not only because its economical and emission performance be the more important thing is increasing of China's natural gas gas station, makes public transport company's aerating convenient.Regional northeastward, because the influence of being transferred natural gas from the west to the east, the construction of natural gas filling station will lag behind the middle part and the southern area of China slightly, and what price was relative will be more expensive, and major part all adopts liquid gas so the public transport company of the Northeast seldom uses gas fuel.
B. adopting liquid gas is that a lot of benefits is arranged for the Northeast, better such as power performance, more has economically, and aerating is convenient.To winter, temperature there can be low to moderate subzero more than 40 degree even lower, and the superiority of liquid gas just can not embodied.Liquid gas is to store with the form of liquid state in gas cylinder, under the very low situation of ambient temperature, engine coolant does not have enough temperature to come the heating fluid gasification, make liquid gas the time through vaporizer, still the state with liquid flows out, cause with air mixing badly, start difficulty, even cause and to start.
Before this invented not successfully utilization, the public transport company in northeast all was the problem that the mode of employing fixed point at night startup solves startup in morning difficulty.
As known from the above, there is defective in single-fuel engine area northeastward, can't satisfy the unification of economical, power character, practicability.
Summary of the invention
The embodiment of the invention provides a kind of controlling method and device of gas supply of dual-fuel engine, adopt rock gas to start and effectively to solve the problem that the Northeast starts difficulty, adopt closed loop control simultaneously, make air and fuel reach rational air fuel ratio, after liquid temp to be cooled raises, cut off the supply of rock gas, the burning of employing liquid gas, thereby under the prerequisite that guarantees engine power performance, rationally utilize combustion gas, practicability and economical being improved.
Simultaneously, adopt the electronic throttle device, it can overcome the drawback of mechanical throttle, it is the novel electron air throttle control system that a kind of adaptive capacity is strong, precision is high, overshoot is little, initial position learning functionality and voltage compensating function are lacked and had to the adjusting time, also increased fault diagnosis functions, made its use safer, efficient.
For achieving the above object, technological scheme of the present invention is implemented as follows:
The method of the fuel gas supply of duel fuel engine control comprises: rock gas and liquid gas cut off rapid soft controlling method, rock gas and liquid gas excess air coefficient closed loop control method, have tracing trouble also warning fault diagnosis functions, automatic remedial measure function, bad working environments Learning Control Method break down.
The device of the fuel gas supply control of duel fuel engine, comprise: the closed loop final controlling element of air inlet supply system, rock gas and the liquid gas of rock gas and liquid gas, rock gas and liquid gas are supplied with control module, microcontroller, CAN communication module, serial communication modular.
The controlling method of this gas supply of dual-fuel engine of the embodiment of the invention and device have installed the supply system of another fuel additional on the basis of original single-fuel engine, under the prerequisite that does not influence power character, increased the economical and practicability of motor; Two kinds of closed loop control strategies that fuel all adopts to be carried out by the closed loop final controlling element have simultaneously increased the emission performance of motor.
Description of drawings
Fig. 1 is a gas supply of dual-fuel engine control system mechanical structure schematic representation in the embodiment of the invention.
Fig. 2 is a gas supply of dual-fuel engine controlling method schematic flow sheet in the embodiment of the invention.
Fig. 3 is the composition structural representation of gas supply of dual-fuel engine control gear in the embodiment of the invention.
Embodiment
For making purpose of the present invention, technological scheme and advantage clearer, below with reference to the accompanying drawing embodiment that develops simultaneously, the present invention is described in more detail.
For convenience, before illustration method and device, introduce gas supply of dual-fuel engine control system mechanical structure schematic representation in the embodiment of the invention earlier, shown in Figure 1, comprise CNG combustion gas gas cylinder group 101, baroceptor 102, CNG decompressor 103, CNG closed loop final controlling element 104, the manual power valve 105 of CNG, LPG pressurized machine 106, the big gas cylinder 107 of LPG, the little gas cylinder 108 of LPG, LPG filter 109, LPG vaporizer 110, LPG closed loop final controlling element 111, the manual power valve 112 of LPG, fuel gas mixture 113 etc.
The supply of rock gas is the same with the thinking of routine, and promptly pressurized gas (2-20MPa) are by becoming low pressure gas (250-300KPa) behind the decompressor, and gas enters the fuel supply system that mixer has formed CNG then.The fuel supply system of LPG is to finish after having the LPG pressurized machine with the big fuel cylinder supercharging of LPG.The big gas cylinder of LPG is pressed into the little gas cylinder of LPG by the supercharging of LPG pressurized machine with liquid gas, and liquid gas enters filter and additional issue device by little gas cylinder, and then enters the supply system that mixer has formed LPG.This set has been avoided LPG frequently to change in the process of aerating adding pore, and get final product only need for the big gas cylinder aerating of LPG.
The embodiment of the invention provides a kind of method of duel fuel engine fuel supply control, and flow process comprises as shown in Figure 2:
Step 201: double fuel ECU energising.This judgement is by the ignitor switch decision, and when switch was got to first grade, double fuel ECU tutorial light was bright.
Step 202: judgement is to adopt gas fuel or liquefied gas as fuel.This judgement be have driver's wish about, a throw over switch has been installed on driver's driving dial plate, can between rock gas and liquid gas, switch.Because rock gas is to store with the form of gaseous state in gas cylinder, so through decompressor the time, just spray into suction tude with the state of gas without the coolant water temperature heating, and liquid gas is with the state storage of liquid, need heat with engine coolant through decompressor the time.Morning northeastward is when starting, and the driver need forward the CNG pattern to transforming switch, treat that water temperature raises after, change the LPG pattern again over to.Liquid gas gasifies with regard to enough temperature are arranged, and then sprays into intake manifold with the form of gas through decompressor the time like this, and it is well mixed to enter mixed gas and air then.
Step 203: after control module judged to adopt CNG fuel, the CNG solenoid valve was opened, and the air pressure of several MPas even tens MPas is entering admission line through the pressure that is decompressed to 250KPa behind the decompressor in the CNG gas cylinder group.
Step 204: liquid temp to be cooled rises to 70 ° or when higher, the driver can go to the LPG pattern transforming switch, and the LPG solenoid valve is opened immediately, and liquid liquid gas is through the additional issue device time, and temperature raises, and gasification becomes gas and sprays into admission line.When the LPG solenoid valve is opened, the CNG closed electromagnetic valve, the CNG decompressor quits work.
To sum up judge: which kind of fuel motor specifically uses is that wish by the driver is determined.When temperature is very low, the temperature deficiency of engine coolant is so that LNG gasifaction just adopts CNG to start, and a period of time to be moved, coolant temperature can re-use liquid gas after rising.If when starting, ambient temperature is than higher, and the temperature of cooling liquid is enough to make liquid gas to gasify and burning smoothly, also can use liquid gas to start.
Step 205: gather the various information of motor, these information comprise: oxygen concentration information, engine speed, accelerator pedal position, electronic throttle position, coolant temperature, suction pressure, intake temperature, 24V voltage signal in the outlet pipe.The information of gathering oxygen concentration in the outlet pipe is whether the air fuel ratio of judging fuel has reached desirable requirement, and the closed loop final controlling element of institute's combustion fuel is carried out closed loop control; The information of gathering engine speed and electronic throttle position and suction pressure is in order to determine the operating mode of motor, to find ignition advance angle from the bivariate table that calibrates; The information of gathering coolant temperature and intake temperature is in order to determine the desired value of idling operation engine speed, when coolant temperature is low slightly, rotating speed of target is just higher, rotating speed of target is carried out closed loop control, so that motor warming up as early as possible, reach the condition of driving, after coolant temperature raises, rotating speed of target will decrease, to satisfy the Eco-power requirement of motor.
Step 206:CNG adopts different ignition advance angles with LPG when burning, when ECU detects when using which kind of fuel, according to gathering the suction pressure and the engine speed information of coming in the step 205, from the two-dimentional form that calibrates, find the ignition advance angle of this kind fuel.
Step 207: make to judge: 1., magnitude of voltage is higher according to the feedback voltage value of lambda sensor; 2., magnitude of voltage is on the low side; 3., magnitude of voltage changes within reasonable range.
Because the signal value taked of lambda sensor represent in the outlet pipe the poor of oxygen concentration in the oxygen concentration and atmosphere, thus for judge 1., bigger than normal as if value of feedback, represent that then oxygen concentration is very little in the outlet pipe, and then illustrate that the fuel ratio that sprays into is more that mixed gas is denseer; For judge 2., value of feedback is less than normal, oxygen concentration is very big in the expression outlet pipe, and then the fuel that explanation sprays into is very little, mixed gas is rarer; For judge 3., then fuel and Air mixing have reached desirable air fuel ratio.
To sum up judge: if the oxygen value of feedback is bigger than normal or less than normal, illustrate that all air fuel ratio does not reach rational ratio, need control closed loop final controlling element to carry out corresponding action to reach chemically correct fuel; If the oxygen value of feedback changes in suitable scope, illustrate that air fuel ratio has reached desirable requirement, need not to control again the closed loop final controlling element and move.
Step 208: the oxygen signal value of collection and the setting value in the control module compare, and to judge the dense partially or rare partially amount of air fuel ratio, find the stepping amount of closed loop final controlling element simultaneously from the map table that calibrates.
At judging 1. in the step 207 that mixed gas is dense partially, need to reduce the air inflow of fuel, the closed loop final controlling element increases the stepping amount, simultaneously according to departure find the stepping amount size; 2. judge that at step 207 mixed gas is rare partially, need to increase the air inflow of fuel, the closed loop final controlling element reduces the stepping amount; 3. judge that at step 207 air fuel ratio has reached desirable requirement, need not again the stepping amount of closed loop final controlling element is changed.
Step 209: according to the increase of calculating in the step 208 or reduce the stepping amount of closed loop final controlling element, the closed loop final controlling element carries out corresponding action.Can reach the purpose of location by the pulse number of control closed loop final controlling element, the frequency of control impuls can reach the purpose of control closed loop final controlling element speed and acceleration, makes every effort to the closed loop final controlling element and reaches the target location in the short period of time.
Step 210: arrive in the process of target location at the closed loop final controlling element, control module is the action of execution in step 205 all the time, whether has reached desirable position with the stepping amount of judging the closed loop final controlling element.
The embodiment of the invention also provides a kind of device of gas supply of dual-fuel engine control.Fig. 3 is the structural representation of described gas supply of dual-fuel engine control.
Comprise operating state information acquisition module 310, main controller module 320 and closed loop final controlling element control module 330.
Described operating state information acquisition module 310 is obtained the status information when judging the motor operation, and described status information is sent to controller module 320;
Described operating state information acquisition module 310 comprises: accelerator pedal position sensor 311, electronic throttle position transducer 312, air inlet pressure sensor 313, intake air temperature sensor 314, coolant temperature 315, engine rotation speed sensor 316, supply voltage collector 317, oxygen signal sensor 318, fuel is selected collector 319.
Described accelerator pedal position sensor 311 obtains accelerator pedal position information and sends to controller module 320;
Described electronic throttle position transducer 312 obtains the electronic throttle position information and sends to controller module 320;
Described air inlet pressure sensor 313 obtains suction pressure information and sends to controller module 320;
Described intake air temperature sensor 314 is obtained intake temperature information and is sent to controller module 320;
Described cooling-water temperature sensor 315 obtains engine coolant temperature information and gives controller module 320;
Described engine rotation speed sensor 316 obtains engine speed information and sends to controller module 320;
Described supply voltage acquisition module 317 obtains supply voltage information and sends to controller module 320;
Described oxygen signal sensor 318 obtains in the outlet pipe oxygen concentration content and sends to controller module 320;
Described fuel is selected collector 319, obtains the information of utilizing which kind of fuel and sends to controller module 320;
Described controller module 320, obtain the status information that engine operating state information acquisition module 310 sends, judge which kind of fuel motor should use, and judge whether air fuel ratio has reached ideal value, when being in chemically correct fuel, controller module 320 will pass through notification unit 323, the closed loop final controlling element is not controlled; When judgement was not in chemically correct fuel, by calculating the stepping amount of closed loop final controlling element, controller module 320 will pass through notification unit 323, the closed loop final controlling element is controlled, and then reached chemically correct fuel.
Described controller module 320 comprises: engine operating state decision sub-module 321, CNG closed loop executor module 325 and LPG closed loop executor module 326;
Described condition judgement submodule 321 comprises identifying unit 322, notification unit 323 and diagnosis unit 324;
Described condition judgement submodule 321, receive accelerator pedal position sensor 311, electronic throttle position transducer 312, air inlet pressure sensor 313, intake air temperature sensor 314, coolant temperature 315, engine rotation speed sensor 316, supply voltage collector 317, oxygen signal sensor 318, the signal that fuel selects collector 319 to be provided is judged which kind of fuel that adopts by described information, whether motor is in the optimum state of chemically correct fuel, and then the corresponding closed loop final controlling element control module of notice is carried out corresponding action.
Described fault diagnosis module 324, the information of reception operating state information acquisition module 310 is judged whether each sensor of motor and collector break down, and is provided its corresponding measures.
Described CNG closed loop final controlling element control module 325 and LPG closed loop final controlling element control module 326, the notice that accepting state decision sub-module 321 sends drives the closed loop final controlling element and carries out corresponding action.
Described notification unit 323, when receiving fuel when not arriving chemically correct fuel, notice closed loop final controlling element control module 325 and 326 when receiving when being in chemically correct fuel, is not controlled closed loop actuator driven module.
Described closed loop executor module 330 comprises CNG closed loop final controlling element 331, and LPG closed loop final controlling element 332 according to the stepping control signal that controller module 320 sends, carries out corresponding action.
Need to prove that the embodiment of the invention can be applied to various double fuel electric-control motor system.Increase the gas fuel supply system, can effectively solve the problem that the Northeast starts difficulty, increased the practicability of motor; Increase liquefied gas-delivering device, effectively increase the power character of motor; Increase the closed loop final controlling element, limited increase the economical and emission performance of motor.
Understand easily, the above is preferred embodiment of the present invention only, is not to be used to limit spirit of the present invention and protection domain, and equivalent variations that any those of ordinary skill in the art made or replacement all should be considered as being encompassed within protection scope of the present invention.
Claims (12)
1. the controlling method of gas supply of dual-fuel engine, it is characterized in that, comprising: cold-starting easily, fuel switch soft rapidly, gas quantity closed loop control method, bad working environments Learning Control Method, have tracing trouble and the fault diagnosis functions of reporting to the police, automatic remedial measure function breaks down.
2. method according to claim 1 is characterized in that, described cold-starting is easy to method and is: duel fuel engine adopts rock gas and liquid gas, and rock gas is with the state storage of gas, does not need into gasification, just starts easily under the low temperature condition; Liquid gas is with the state storage of liquid, need adopt in the coolant temperature back that raises, and guarantee the power character of motor.
3. method according to claim 1, it is characterized in that, the controlling method of described gas supply of dual-fuel engine is: the controlling method of rule-based control, with engine speed and electronic throttle position and suction pressure, intake temperature, water temperature size is rule condition, the control of gas supply of dual-fuel engine is divided into the several Control module, and control accuracy height, adaptability are strong.
4. method according to claim 1 is characterized in that, described combustion gas switches rapidly that soft method is: at every turn before carrying out combustion gas and switching, and the parameter different according to motor, the closed loop final controlling element adopts variable parameter PID control, and real-time, transition is steady.
5. method according to claim 1, it is characterized in that, described bad working environments self-learning method is: in bad working environments such as transient working condition, high load working conditions, parameter with reference to motor, according to set control algorithm, can adjust the fuel output quantity in real time,, finish a self study at last with adjusted parameter write memory.
6. method according to claim 1 is characterized in that, described diagnostic method is: each module all has the diagnostic method of oneself, and signals collecting is understood magnitude of voltage, the unusual correlating markings of fuel gas supply control circuit position 1 of display abnormality or the like unusually.
7. the control gear of a gas supply of dual-fuel engine is characterized in that, comprising: signal acquisition module, double fuel are supplied with control module, Electronic Throttle Control module, microcontroller, CAN communication module, serial communication modular.
8. device according to claim 7, it is characterized in that described signal acquisition module comprises: the coherent signal collection of reflection such as electronic throttle station acquisition, tach signal collection, suction pressure collection, cooling water temperature collection, intake temperature collection engine behavior.
9. device according to claim 7, it is characterized in that described double fuel is supplied with control module and comprised: gather and the used fuel of processing motor, send ECU to, ECU controls the ignition advance angle and the closed loop control amount of motor according to the running state of present engine.
10. device according to claim 7, it is characterized in that, described Electronic Throttle Control module comprises: the position of gathering gas pedal, send ECU to, the departure that ECU changes according to gas pedal, electronic throttle is applied suitable magnitude of voltage, make the electronic throttle smooth transition, initial position learning functionality and voltage compensating function are also specifically arranged simultaneously to the target location.
11. device according to claim 7 is characterized in that, described CAN communication module is used for receiving the signal of other control ECU in the car load, thereby according to the car load situation each controller of motor is made corresponding adjustment;
12. device according to claim 7 is characterized in that, described serial communication modular can be realized communicating by letter of PC and ECU, can realize program online modification and on-line monitoring function.
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| CN102606325A (en) * | 2011-01-24 | 2012-07-25 | 日产自动车株式会社 | Internal combustion engine boost pressure diagnostic apparatus |
| CN103291468A (en) * | 2013-05-23 | 2013-09-11 | 浙江吉利汽车研究院有限公司杭州分公司 | Fuel switching control method for dual-fuel vehicle |
| CN103375287A (en) * | 2012-04-19 | 2013-10-30 | 于树怀 | Method of learning air-fuel ratio of natural gas engine |
| CN103573447A (en) * | 2012-08-03 | 2014-02-12 | 通用汽车环球科技运作有限责任公司 | System and method for diagnosing a fault in an oxygen sensor based on engine speed |
| CN103993965A (en) * | 2013-02-17 | 2014-08-20 | 西安友科电子科技有限公司 | LPG/CNG automobile double-fuel electronic injection control method |
| CN105089857A (en) * | 2015-07-22 | 2015-11-25 | 诸城福田汽车科技开发有限公司 | LNG-CNG dual fuel power gas supply system and natural gas automobile |
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| CN102606325B (en) * | 2011-01-24 | 2014-10-01 | 日产自动车株式会社 | Internal combustion engine boost pressure diagnostic apparatus |
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| CN103375287A (en) * | 2012-04-19 | 2013-10-30 | 于树怀 | Method of learning air-fuel ratio of natural gas engine |
| CN103375287B (en) * | 2012-04-19 | 2016-01-13 | 北京易康泰科汽车电子有限公司 | The air fuel ratio learning method of natural gas engine |
| CN103573447A (en) * | 2012-08-03 | 2014-02-12 | 通用汽车环球科技运作有限责任公司 | System and method for diagnosing a fault in an oxygen sensor based on engine speed |
| CN103993965A (en) * | 2013-02-17 | 2014-08-20 | 西安友科电子科技有限公司 | LPG/CNG automobile double-fuel electronic injection control method |
| CN103291468A (en) * | 2013-05-23 | 2013-09-11 | 浙江吉利汽车研究院有限公司杭州分公司 | Fuel switching control method for dual-fuel vehicle |
| US9453472B2 (en) | 2013-11-08 | 2016-09-27 | GM Global Technology Operations LLC | System and method for diagnosing a fault in an oxygen sensor based on ambient temperature |
| CN105089857A (en) * | 2015-07-22 | 2015-11-25 | 诸城福田汽车科技开发有限公司 | LNG-CNG dual fuel power gas supply system and natural gas automobile |
| CN105089857B (en) * | 2015-07-22 | 2019-02-26 | 北汽福田汽车股份有限公司 | A kind of LNG-CNG double fuel power air supply system and natural gas vehicle |
| CN105422318A (en) * | 2015-12-11 | 2016-03-23 | 上汽依维柯红岩商用车有限公司 | Compressed natural gas (CNG) and liquefied natural gas (LNG) supply structure |
| CN108368783A (en) * | 2015-12-23 | 2018-08-03 | 瓦锡兰芬兰有限公司 | Method and piston engine for operated piston engine |
| CN108368783B (en) * | 2015-12-23 | 2021-01-01 | 瓦锡兰芬兰有限公司 | Method for operating a piston engine and piston engine |
| CN105464821A (en) * | 2015-12-30 | 2016-04-06 | 广西玉柴机器股份有限公司 | Self-service control device for vehicle gas |
| CN109324602A (en) * | 2018-11-28 | 2019-02-12 | 潍柴西港新能源动力有限公司 | A kind of the lambda sensor method for heating and controlling and system of hybrid electric vehicle |
| CN109324602B (en) * | 2018-11-28 | 2024-04-09 | 潍柴西港新能源动力有限公司 | Oxygen sensor heating control method and system for hybrid electric vehicle |
| CN111255585A (en) * | 2018-11-30 | 2020-06-09 | 联合汽车电子有限公司 | Multi-point self-learning method for mixed gas |
| CN111255585B (en) * | 2018-11-30 | 2022-08-09 | 联合汽车电子有限公司 | Multi-point self-learning method for mixed gas |
| CN110080895A (en) * | 2019-03-22 | 2019-08-02 | 华夏龙晖（北京）汽车电子科技股份有限公司 | Engine control and device based on artificial intelligence |
| CN112963861A (en) * | 2021-03-11 | 2021-06-15 | 哈尔滨工业大学 | Dual-fuel precooler with distributable heat exchange area |
| CN115478948A (en) * | 2022-08-31 | 2022-12-16 | 吉林大学 | Internal combustion engine starting control strategy and control system based on model-free reinforcement learning and automobile |
| CN115478948B (en) * | 2022-08-31 | 2023-10-17 | 吉林大学 | Internal combustion engine starting control strategy, control system and automobile based on model-free reinforcement learning |
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Application publication date: 20100630 |