CN108327532A - A kind of autonomous driving vehicle throttle control system and method - Google Patents
A kind of autonomous driving vehicle throttle control system and method Download PDFInfo
- Publication number
- CN108327532A CN108327532A CN201810317097.7A CN201810317097A CN108327532A CN 108327532 A CN108327532 A CN 108327532A CN 201810317097 A CN201810317097 A CN 201810317097A CN 108327532 A CN108327532 A CN 108327532A
- Authority
- CN
- China
- Prior art keywords
- module
- foot
- accelerator pedal
- signal
- host computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The present invention relates to a kind of autonomous driving vehicle throttle control system and methods.System includes gas pedal, accelerator pedal position sensor, electronic engine control module, engine load sensor, electronic air throttle body and engine inlets, further includes accelerator pedal signal handover module, reference voltage module, gas pedal analog signal generation module, micro controller module, CAN network interface module, host computer communication interface modules and power module；The present invention without installing any mechanical structure additional in gas pedal, on throttle control circuit without installing any electric control gear additional, performance height compatible with former vehicle is at low cost；Control system is still using the engine electric-controlled system closed-loop control structure processed and strategy of former vehicle, the information such as the collected engine speed of sensor and the speed of automobile are obtained by CAN network, host computer is fed back to by communication interface again, closed-loop control is realized convenient for host computer, such dual closed-loop control, control accuracy is high, performance is stablized.
Description
Technical field
The present invention relates to automatic driving fields, more particularly, to a kind of autonomous driving vehicle throttle control system
And method.
Background technology
Automatically controlling for automotive throttle is a very important controlling unit in automatic driving, especially with fuel oil
For the automobile of power resources, throttle is the control for directly controlling engine speed, and then realizing automobile driving speed.Such as Fig. 1 institutes
Show, existing fuel-engined vehicle its Throttle Opening Control mainly by gas pedal, accelerator pedal position sensor, electronic engine control module,
Electronic air throttle body forms.Accelerator pedal position sensor feeds back to the control intention of driver in a manner of electric signal to be started
Electrical Control module, electronic engine control module send out control signal control further according to the current load of engine to electronic air throttle body
Its aperture is equipped with the section being connected with electronic engine control module to realize the control of engine speed on electronic air throttle body
The open degree feedback of air throttle is realized closed-loop control by valve opening sensor, sensor to electronic engine control module.
In the technical literature of existing autonomous driving vehicle Throttle Opening Control, application No. is the hairs of CN201410446579.4
Bright patent, automatically controlling for throttle is to push accelerator pedal of automobile to realize auto-throttle control by gas pedal pedipulator
's.Application No. is the patent of invention of CN201310119124.7, automatically controlling for throttle is by ball-screw and automobile oil
Door pedal connection, then gas pedal action is driven by DC servo motor, to realize auto-throttle control.Both sides
The Throttle Opening Control of formula is all to push gas pedal action by mechanical structure, although automatically controlling for throttle may be implemented, is deposited
In following defect：
1, it needs to be transformed the existing accelerator control device of automobile in carrying out automatic driving transformation and volume is installed
Outer mechanical structure pushes gas pedal, complicated, repacking is of high cost；Influence the aesthetics of former vehicle.
2, in pilot steering pattern, the mechanical driven mechanism of gas pedal can generate one to the original gas pedal of automobile
Fixed resistance influences the comfort driven.
In existing technical literature, there is also automatically controlling for another throttle：By cutting off gas pedal jaw opening sensor
Signal, by throttle automatic control device export control signal oil supply door motor controller, then pass through motor driver driving oil
Door aperture motor controls air throttle, and the control of engine speed is realized from face.Although this control method eliminates Mechanical course
Device, but there are following defects：
1, throttle electric machine controller, motor driver, oil are additionally provided in control system in throttle control circuit
Electric control gears, the electrical control system structures such as door aperture motor are more complex；And accelerator open degree motor can be moved frequently in running car
Make, it is more demanding to motor performance and motor driver, increase the failure rate of system.
2, control system is open-loop control system, and the engine speed that cannot achieve accurately controls.
Invention content
The present invention is at least one defect overcome described in the above-mentioned prior art, and providing one kind need not be in gas pedal
It installs any mechanical structure additional, any electric control gear need not be installed on throttle control circuit additional, and high automatic of control accuracy is driven
Sail automobile throttle control system.
In order to solve the above technical problems, technical scheme is as follows：
A kind of autonomous driving vehicle throttle control system is provided, including gas pedal, accelerator pedal position sensor, is started
Electrical Control module, engine load sensor, electronic air throttle body and engine inlets；Electronic engine control module and electronics
Throttle body connects, and electronic air throttle body controls engine inlets；Engine load sensor is integrated in electronic air throttle body,
And throttle opening is fed back into electronic engine control module；Further include accelerator pedal signal handover module, reference voltage module, oil
Door pedal analog signal generation module, micro controller module, CAN network interface module, host computer communication interface modules and electricity
Source module；
The accelerator pedal position sensor is for incuding accelerator pedal position and believing position signal by gas pedal
Number handover module is connect with electronic engine control module；Reference voltage module provides benchmark for gas pedal analog signal generation module
Voltage, gas pedal analog signal generation module are connect by accelerator pedal signal handover module with electronic engine control module；It is micro-
Controller module is connect with accelerator pedal signal handover module, controls electronic engine control module and accelerator pedal position sensor
The disconnection or connection of signal, control electronic engine control module and the disconnection of gas pedal analog signal generation module or are connected to；It is micro-
Controller module is connect with gas pedal analog signal generation module, and is connected by CAN network interface module and Automobile contained network
It connects, is connect with host computer by host computer communication interface.
The present invention disconnects accelerator pedal of automobile position sensor and electronic engine control module line, by the throttle of the present invention
Control system is concatenated to wherein, and when in pilot steering pattern, accelerator pedal signal handover module is by the gas pedal of automobile
The simple two-way signal of position sensor is exported to electronic engine control module, and the signal integrity of accelerator pedal position sensor is transferred to
Former car engine electronic control module, controls process and traditional non-automatic driving is completely the same.When in automatic driving mode
When, accelerator pedal signal handover module disconnects the signal of accelerator pedal position sensor under the control of micro controller module；
Micro controller module receives the accelerator open degree value of host computer by host computer communication interface, then controls the production of gas pedal analog signal
Raw module exports simulation accelerator pedal signal corresponding with opening value to electronic engine control module, by electronic engine control module according to
Its intrinsic control strategy and method, which realize electronic air throttle body, to be controlled, and is opened due to being integrated with air throttle in electronic air throttle body
Sensor is spent, electronic engine control module can accurately know the aperture of air throttle, to realize closed-loop control.In addition, of the invention
Throttle control system be provided with CAN network interface, which is connected with automobile mounted network, the micro-control in throttle control system
Device module processed can accurately know the speed and engine speed of automobile, to realize by parsing CAN network communication data
Closed-loop control.
Further, the accelerator pedal signal handover module includes driving triode Q1, current-limiting resistance R1, signal switching
Relay K1, accelerator pedal signal interface P1；The single-chip microcomputer output mouth phase of one end of current-limiting resistance R1 and micro controller module
Even, other end is connected with the base stage of driving triode Q1；Coil one end of signal switching relay K1 is connected, in addition with power supply
One end is connected with the emitter of driving triode Q1；The common of signal switching relay K1 passes through accelerator pedal signal interface
The accelerator pedal signal line of P1 external automobile electronic engine control modules；The normally-closed contact of signal switching relay K1 is stepped on by throttle
The signal wire of partitioned signal interface P1 external automobile accelerator pedal position sensors；Signal switches the normally opened contact and oil of relay K1
The digital analog converter analog voltage output port of door pedal analog signal generation module is connected；Accelerator pedal signal interface P1 and vapour
Vehicle accelerator pedal position sensor is connected.
Further, gas pedal analog signal generation module include digital analog converter U1 and U2, pull-up resistor R2 and R3,
Shunt capacitance C1 and C4, decoupling capacitance C2 and C5, filter capacitor C3 and C6；The model DAC7512 of digital analog converter U1 and U2；
The data communication interface of digital analog converter U1 and U2 are connected with the ports microcontroller PT of micro controller module respectively；Digital analog converter
The analog voltage output port of U1 and U2 is connected with the normally opened contact of the relay of accelerator pedal signal handover module respectively.
Further, micro controller module includes microcontroller U8, current-limiting resistance R11, power supply instruction diode D1, filtered electrical
Feel L1, filter capacitor C25, filter capacitor C26, short-circuit resistance R12, short-circuit resistance R13, filter capacitor C28, decoupling capacitance C27,
Filter capacitor C30, decoupling capacitance C29, filter capacitor C32, decoupling capacitance C31, crystal oscillator Y3, corrective capacity C33, correction
Capacitance C34, impedance matching resistor R14, it resets charging resistor R15, reset charging capacitor C35, reset key S1, pull-up resistor
R17, current-limiting resistance R16, program download interface P8, decoupling capacitance C36, decoupling capacitance C37, decoupling capacitance C38, decoupling capacitance
C39；The model MC9S12XS128MAA of microcontroller U8；The 15th foot of microcontroller U8 connect with one end of current-limiting resistance R16, is electric
The other end of resistance is connect with the 3rd foot of program download interface P8；The port PS0, PS1, PS2, PS3 of microcontroller U8 respectively with it is upper
The electrical level transferring chip of position machine communication interface modules is connected；The port PM0, PM1 of microcontroller U8 respectively with CAN network interface module
Bus driver be connected；The port PT0, PT1, PT2, PT3, PT4, PT5 of microcontroller U8 respectively with gas pedal analog signal
The communication port of the analog-digital chip of generation module is connected；PP3 mouths and the accelerator pedal signal handover module of microcontroller U8
Transistor base current-limiting resistance is connected.
Further, reference voltage module includes current-limiting resistance R4, filter capacitor C7, accurate regulated power supply U3, partial pressure electricity
Hinder R5 and R6, filter capacitor C8；The model TL431 of accurate regulated power supply U3；One end of current-limiting resistance R4 and power module
Positive 12V power supplys are connected, other end is connected with the 2nd foot of accurate regulated power supply U3；Divider resistance R5 and R6 are with end to end
Mode is serially connected between the 2nd foot and the 3rd foot of accurate regulated power supply U3, its midpoint is connected with the 1st foot of regulated power supply U3.
Further, CAN network interface module includes bus driver U5, bus termination resistance R7, bus termination resistance
R8, bus termination resistance R9, bus termination resistance R10, CAN interface P5, decoupling capacitance C15, shunt capacitance C9 and C10；
The model TJA1050 of bus driver U5；The 1st foot of bus driver U5 and the 4th foot respectively with it is single in micro controller module
The PM0 of piece machine is connected with PM1；The 7th foot of bus driver U5 and the 6th foot pass through CAN interface P5 and automobile CAN net respectively
Network bus is connected；Bus termination resistance R7 and R8 are serially connected in the 7th foot and the 6th foot of bus driver U5 in a manner of end to end
Between, its midpoint is connected to the ground by shunt capacitance C9；Bus termination resistance R9 and R10 are serially connected in always in a manner of end to end
Between the 7th foot of line drive U5 and the 6th foot, its midpoint is connected to the ground by shunt capacitance C10.
Further, host computer communication interface modules includes electrical level transferring chip U6, pump capacitance C16 and C17, pump capacitance
C18 and C20, decoupling capacitance C19, host computer communication interface P7 and P6；The model RS232 of electrical level transferring chip U6；Level turns
The 11st foot, the 10th foot, the 12nd foot, the 9th foot for changing chip U6 are connected with the ports PS of microcontroller in micro controller module respectively；Pump
Capacitance C16 is serially connected between the 1st foot of electrical level transferring chip U6 and the 3rd foot；Pump capacitance C17 is serially connected in electrical level transferring chip U6's
Between 4th foot and the 5th foot；Pump capacitance C18 is serially connected between the 2nd foot of electrical level transferring chip U6 and ground；Pump capacitance C20 is serially connected in
Between the 6th foot and ground of electrical level transferring chip U6；The 14th foot of electrical level transferring chip U6 and the 7th foot communicate with host computer connect respectively
Mouth P7 is connected；The 13rd foot of electrical level transferring chip U6 and the 8th foot are connected with host computer communication interface P6 respectively；Host computer communication connects
The serial communication interface of the mouth external host computers of P6.
Further, power module include accumulator interface P2, three port voltage-stablizer U4 and U7, filter capacitor C11 and
C21, decoupling capacitance C12 and C22, filter capacitor C14 and C24, decoupling capacitance C13 and C23；The type of three port voltage-stablizer U4 and U7
Number be ASM1117-5；The 1st foot power input of three port voltage-stablizer U4 passes through accumulator interface P2 external automobile accumulators.
Another object of the present invention is to provide the control method of above-mentioned autonomous driving vehicle throttle control system, when into
When entering automatic driving mode, when entering automatic driving mode, accelerator pedal position sensor signal, micro controller module are disconnected
The accelerator open degree value of host computer is received by host computer communication interface, control gas pedal analog signal generation module is exported and opened
To electronic engine control module, electronic engine control module realizes electronic air throttle body to be controlled the corresponding simulation accelerator pedal signal of angle value
Opening amount signal is sent to electronic engine control module and carries out closed-loop control by system, engine load sensor；CAN network interface module
The vehicle-mounted net of external automobile, micro controller module obtain Throttle Opening Control as a result, and being connect by host computer communication by CAN network interface
Mouth mold block feeds back to host computer to realize closed-loop control.
Compared with prior art, the beneficial effects of the invention are as follows：
1, throttle control system need not install additional any mechanical structure, former vehicle throttle need not be executed mechanical mechanism do it is any
Change, the structure for utilizing former vehicle to greatest extent, the compatible performance height with former vehicle are at low cost, easy for installation；And it is manually driving
It sails under pattern, the driving experience with orthodox car has the spy that repacking is simple, reliability is high, driving experience is good without any difference
Point.
2, control system has controlling still using the engine electric-controlled system closed-loop control structure processed and strategy of former vehicle
Can good, fuel-economizing the features such as；In addition this control system also obtains the collected engine speed of sensor of automobile by CAN network
With the information such as speed, then host computer fed back to by communication interface, closed-loop control is realized convenient for host computer；Such dual closed loop control
System so that this throttle control system has the characteristics that control accuracy height, performance are stablized.
Description of the drawings
Fig. 1 is prior art fuel-engined vehicle Throttle Opening Control structural schematic diagram.
Fig. 2 is that 1 system of embodiment constitutes schematic diagram.
Fig. 3 is 1 micro controller module circuit diagram of embodiment.
Fig. 4 is 1 accelerator pedal signal handover module circuit diagram of embodiment
Fig. 5 is 1 gas pedal analog signal generation module circuit diagram of embodiment.
Fig. 6 is 1 reference voltage module circuit schematic of embodiment.
Fig. 7 is embodiment 1CAN Network Interface Module circuit diagrams.
Fig. 8 is 1 host computer communication interface modules circuit diagram of embodiment.
Fig. 9 is 1 power module circuit schematic of embodiment.
Figure 10 main flow charts in order to control.
Figure 11 is Interruption service flow diagram.
Figure 12 is the signal graph that gas pedal analog signal generation module generates.
Specific implementation mode
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；
In order to more preferably illustrate that the present embodiment, the certain components of attached drawing have omission, zoom in or out, actual product is not represented
Size；To those skilled in the art, the omitting of some known structures and their instructions in the attached drawings are understandable.
For the ordinary skill in the art, above-mentioned term can be understood in concrete meaning of the invention with concrete condition.Below
The following further describes the technical solution of the present invention in conjunction with the accompanying drawings and embodiments.
Embodiment 1
The present embodiment provides a kind of autonomous driving vehicle throttle control systems, including gas pedal, accelerator pedal position to pass
Sensor, electronic engine control module, engine load sensor, electronic air throttle body and engine inlets；It is engine electric-controlled
Module is connect with electronic air throttle body, and electronic air throttle body controls engine inlets；Engine load sensor is integrated in electricity
Sub- throttle body, and throttle opening is fed back into electronic engine control module；Further include accelerator pedal signal handover module, benchmark
Voltage module, gas pedal analog signal generation module, micro controller module, CAN network interface module, host computer communication interface
Module and power module；
Accelerator pedal position sensor is for incuding accelerator pedal position and cutting position signal by accelerator pedal signal
Mold changing block is connect with electronic engine control module；Reference voltage module provides benchmark electricity for gas pedal analog signal generation module
Pressure, gas pedal analog signal generation module are connect by accelerator pedal signal handover module with electronic engine control module；Micro-control
Device module processed is connect with accelerator pedal signal handover module, controls the letter of electronic engine control module and accelerator pedal position sensor
Number disconnection or connection, control electronic engine control module and the disconnection of gas pedal analog signal generation module or be connected to；Micro-control
Device module processed is connect with gas pedal analog signal generation module, and is connect with Automobile contained network by CAN network interface module,
It is connect with host computer by host computer communication interface.
The present embodiment disconnects accelerator pedal of automobile position sensor and electronic engine control module line, throttle control system
Concatenation is to wherein, and when in pilot steering pattern, accelerator pedal signal handover module senses the accelerator pedal position of automobile
The simple two-way signal of device is exported to electronic engine control module, and the former vehicle that is transferred to of the signal integrity of accelerator pedal position sensor starts
Electrical Control module, controls process and traditional non-automatic driving is completely the same.When in automatic driving mode, throttle is stepped on
Partitioned signal handover module disconnects the signal of accelerator pedal position sensor under the control of micro controller module；Microcontroller mould
Block receives the accelerator open degree value of host computer by host computer communication interface, then controls the output of gas pedal analog signal generation module
Simulation accelerator pedal signal corresponding with opening value is to electronic engine control module, by electronic engine control module according to its intrinsic control
System strategy and method, which realize electronic air throttle body, to be controlled, due to being integrated with engine load sensor in electronic air throttle body,
Electronic engine control module can accurately know the aperture of air throttle, to realize closed-loop control.In addition, the Throttle Opening Control of the present invention
System is provided with CAN network interface, which is connected with automobile mounted network, and the micro controller module in throttle control system is logical
Parsing CAN network communication data is crossed, the speed and engine speed of automobile can be accurately known, to realize closed-loop control.
As shown in figure 4, in specific implementation process, accelerator pedal signal handover module includes driving triode Q1, current limliting
Resistance R1, signal switching relay K1, accelerator pedal signal interface P1；One end of current-limiting resistance R1 and the list of micro controller module
Piece machine output port is connected, other end is connected with the base stage of driving triode Q1；Signal switches coil one end of relay K1
It is connected with power supply, other end is connected with the emitter of driving triode Q1；The common of signal switching relay K1 passes through
The accelerator pedal signal line of accelerator pedal signal interface P1 external automobile electronic engine control modules；Signal switches the normal of relay K1
The signal wire that closed contact passes through accelerator pedal signal interface P1 external automobile accelerator pedal position sensors；Signal switches relay
The normally opened contact of K1 is connected with the digital analog converter analog voltage output port of gas pedal analog signal generation module；Throttle is stepped on
Partitioned signal interface P1 is connected with accelerator pedal of automobile position sensor.
As shown in figure 5, gas pedal analog signal generation module include digital analog converter U1 and U2, pull-up resistor R2 and
R3, shunt capacitance C1 and C4, decoupling capacitance C2 and C5, filter capacitor C3 and C6；The model of digital analog converter U1 and U2
DAC7512；The data communication interface of digital analog converter U1 and U2 are connected with the ports microcontroller PT of micro controller module respectively；Number
The analog voltage output port of mode converter U1 and the U2 normally opened contact with the relay of accelerator pedal signal handover module respectively
It is connected.
As shown in figure 3, micro controller module includes microcontroller U8, current-limiting resistance R11, power supply instruction diode D1, filtering
Inductance L1, filter capacitor C25, filter capacitor C26, short-circuit resistance R12, short-circuit resistance R13, filter capacitor C28, decoupling capacitance
C27, filter capacitor C30, decoupling capacitance C29, filter capacitor C32, decoupling capacitance C31, crystal oscillator Y3, corrective capacity C33,
Corrective capacity C34, impedance matching resistor R14, it resets charging resistor R15, reset charging capacitor C35, reset key S1, pull-up electricity
Hinder R17, current-limiting resistance R16, program download interface P8, decoupling capacitance C36, decoupling capacitance C37, decoupling capacitance C38, decoupling capacitance
C39；The model MC9S12XS128MAA of microcontroller U8；The 15th foot of microcontroller U8 connect with one end of current-limiting resistance R16, is electric
The other end of resistance is connect with the 3rd foot of program download interface P8；The port PS0, PS1, PS2, PS3 of microcontroller U8 respectively with it is upper
The electrical level transferring chip of position machine communication interface modules is connected；The port PM0, PM1 of microcontroller U8 respectively with CAN network interface module
Bus driver be connected；The port PT0, PT1, PT2, PT3, PT4, PT5 of microcontroller U8 respectively with gas pedal analog signal
The communication port of the analog-digital chip of generation module is connected；PP3 mouths and the accelerator pedal signal handover module of microcontroller U8
Transistor base current-limiting resistance is connected.
As shown in fig. 6, reference voltage module includes current-limiting resistance R4, filter capacitor C7, accurate regulated power supply U3, partial pressure electricity
Hinder R5 and R6, filter capacitor C8；The model TL431 of accurate regulated power supply U3；One end of current-limiting resistance R4 and power module
Positive 12V power supplys are connected, other end is connected with the 2nd foot of accurate regulated power supply U3；Divider resistance R5 and R6 are with end to end
Mode is serially connected between the 2nd foot and the 3rd foot of accurate regulated power supply U3, its midpoint is connected with the 1st foot of regulated power supply U3.
As shown in fig. 7, CAN network interface module includes bus driver U5, bus termination resistance R7, bus termination resistance
R8, bus termination resistance R9, bus termination resistance R10, CAN interface P5, decoupling capacitance C15, shunt capacitance C9 and C10；
The model TJA1050 of bus driver U5；The 1st foot of bus driver U5 and the 4th foot respectively with it is single in micro controller module
The PM0 of piece machine is connected with PM1；The 7th foot of bus driver U5 and the 6th foot pass through CAN interface P5 and automobile CAN net respectively
Network bus is connected；Bus termination resistance R7 and R8 are serially connected in the 7th foot and the 6th foot of bus driver U5 in a manner of end to end
Between, its midpoint is connected to the ground by shunt capacitance C9；Bus termination resistance R9 and R10 are serially connected in always in a manner of end to end
Between the 7th foot of line drive U5 and the 6th foot, its midpoint is connected to the ground by shunt capacitance C10.
As shown in figure 8, host computer communication interface modules includes electrical level transferring chip U6, pump capacitance C16 and C17, pump capacitance
C18 and C20, decoupling capacitance C19, host computer communication interface P7 and P6；The model RS232 of electrical level transferring chip U6；Level turns
The 11st foot, the 10th foot, the 12nd foot, the 9th foot for changing chip U6 are connected with the ports PS of microcontroller in micro controller module respectively；Pump
Capacitance C16 is serially connected between the 1st foot of electrical level transferring chip U6 and the 3rd foot；Pump capacitance C17 is serially connected in electrical level transferring chip U6's
Between 4th foot and the 5th foot；Pump capacitance C18 is serially connected between the 2nd foot of electrical level transferring chip U6 and ground；Pump capacitance C20 is serially connected in
Between the 6th foot and ground of electrical level transferring chip U6；The 14th foot of electrical level transferring chip U6 and the 7th foot communicate with host computer connect respectively
Mouth P7 is connected；The 13rd foot of electrical level transferring chip U6 and the 8th foot are connected with host computer communication interface P6 respectively；Host computer communication connects
The serial communication interface of the mouth external host computers of P6.
As shown in figure 9, power module include accumulator interface P2, three port voltage-stablizer U4 and U7, filter capacitor C11 and
C21, decoupling capacitance C12 and C22, filter capacitor C14 and C24, decoupling capacitance C13 and C23；The type of three port voltage-stablizer U4 and U7
Number be ASM1117-5；The 1st foot power input of three port voltage-stablizer U4 passes through accumulator interface P2 external automobile accumulators.
Operation principle is as described below.
When in pilot steering pattern：Accelerator pedal signal handover module is by the accelerator pedal position sensor of automobile
Simple two-way signal is exported to electronic engine control module, and the signal integrity of accelerator pedal position sensor is transferred to former car engine electricity
Module is controlled, process is controlled and traditional non-automatic driving is completely the same.
When in automatic driving mode：
Accelerator pedal signal handover module is under the control of micro controller module by the signal of accelerator pedal position sensor
It disconnects；Specifically, the pin 1 of microcontroller U8 exports resistance R1 of the low level signal to accelerator pedal signal handover module, three poles
The coil of pipe Q1 saturation conductions, relay K1 obtains electric, the normally-closed contact action of relay K1, the PCM_ of electronic engine control module
The ports APP1, the ports PCM_APP2 become ingredient by being separately connected the ports APP1 and the ports APP2 of accelerator pedal position sensor
Not Lian Jie gas pedal analog signal generation module the ports VR_APP1, the ports VR_APP2；
The pin 5 of micro controller module to pin 12 and gas pedal analog signal generation module analog-to-digital conversion module
U1, analog-to-digital conversion module U2 connections；Micro controller module receives the accelerator open degree value of host computer by host computer communication interface, then
It controls gas pedal analog signal generation module and exports simulation accelerator pedal signal corresponding with opening value to engine electric-controlled mould
Block controls analog-to-digital conversion module U1, analog-to-digital conversion module U2 output transducer analog signals respectively；As shown in figure 12, bent in figure
Line VR_APP1 and curve VR_APP2 respectively represents two-way gas pedal analog signal, wherein the value range of VR_APP1 is
The value range of 0.8V-4.2V, VR_APP2 are 0.4V-2.1V；
Electronic engine control module is realized electronic air throttle body according to its intrinsic control strategy and method and is controlled, due to electricity
Engine load sensor is integrated in sub- throttle body, electronic engine control module can accurately know the aperture of air throttle, from
And realize closed-loop control；
Throttle control system is provided with CAN network interface, which is connected with automobile mounted network, in throttle control system
Micro controller module by parse CAN network communication data, can accurately know the speed and engine speed of automobile, from
And realize closed-loop control.
The main control flow of the present embodiment autonomous driving vehicle throttle control system is as shown in Figure 10.
Step 100：Microcontroller first carries out initialization operation, CAN communication module and the RS232 of input/output port after the power is turned on
Communication module configuration, digital analog converter configuration；
Step 101：Read and parse the host computer driving mode data that RS232 interface is got；
Step 102：Driving mode is judged, is transferred to step 104 when being automatic driving mode, when pilot steering pattern
It is transferred to step 103；
Step 103：PP3 mouthfuls of output high level of microcontroller, accelerator pedal signal handover module are failure to actuate, are stepped on by former vehicle throttle
Board position sensor outputs signal to electronic engine control module, and controlling gas pedal by driver realizes pilot steering；
Step 104：The host computer throttle pedal position data that CAN interface is got is read and parses, supply microcontroller is defeated
Go out gas pedal analog signal；
Step 105：Microcontroller control gas pedal analog signal generation module exports two-way analog voltage to gas pedal
Signal switching module；
Step 106：PP3 mouthfuls of output low levels of microcontroller, the action of accelerator pedal signal handover module are simulated by gas pedal
Signal generator module exports simulation accelerator pedal signal to electronic engine control module, is believed according to the simulation by electronic engine control module
Number to electronic throttle carry out air inlet control, to realize that the throttle of automobile automatically controls.
As shown in figure 11, the main control flow of autonomous driving vehicle throttle control system is as follows：Wherein, in microcontroller timing
Disconnected effect is the timing piece of 10 milliseconds of setting, and reading, the running car of PC control data are completed in each Interruption
The reading of dynamic data sends running car dynamic data to host computer.
Step 110：Microcontroller enters Interruption service routine, first carries out the resetting of timing constant；
Step 111：Microcontroller RS232 serial line interface interrupt service routine real-time reception host computer data, in Interruption
Control command is read from host computer data buffer zone in service routine, is compared with the data that last time receives, when changing
Just control command is updated and gives microcontroller master control program；
Step 112：Microcontroller CAN network communication interface interrupt service routine real-time reception data of vehicle electric control system,
The traveling dynamic data such as rotating speed of automobile engine, speed is obtained from CAN network data buffering area in Interruption service routine, is supplied
Host computer carries out automated closed-loop control；
Step 113：It often interrupts 10 times, i.e., 100 milliseconds of time interval sends vapour by RS232 serial line interfaces to host computer
Vehicle travels dynamic data, while ensureing control accuracy, reduces network communication load.
The throttle control system of the present embodiment realizes the precision to Throttle Opening Control by dual closed-loop control.And with
The Throttle Opening Control of former vehicle is mutually compatible with, and is easy to Project Realization, at low cost.
The same or similar label correspond to the same or similar components；Position relationship described in attached drawing is used to be only used for showing
Example property explanation, should not be understood as the limitation to this patent.Obviously, the above embodiment of the present invention is only intended to clearly illustrate this
Invention example, rather than a limitation of the embodiments of the present invention.Those of ordinary skill in the art are come
It says, other different forms of changes or modifications may be made based on the above description.There is no need and unable to all
Embodiment be exhaustive.All any modification, equivalent and improvement made by all within the spirits and principles of the present invention etc.,
It should all be included in the scope of protection of the claims of the present invention.
Claims (9)
1. a kind of autonomous driving vehicle throttle control system, including it is gas pedal, accelerator pedal position sensor, engine electric-controlled
Module, engine load sensor, electronic air throttle body and engine inlets；Electronic engine control module and electronic throttle
Body connects, and electronic air throttle body controls engine inlets；Engine load sensor is integrated in electronic air throttle body, and will section
Valve opening feeds back to electronic engine control module；It is characterized in that, further including accelerator pedal signal handover module, reference voltage mould
Block, gas pedal analog signal generation module, micro controller module, CAN network interface module, host computer communication interface modules with
And power module；
The accelerator pedal position sensor is for incuding accelerator pedal position and cutting position signal by accelerator pedal signal
Mold changing block is connect with electronic engine control module；Reference voltage module provides benchmark electricity for gas pedal analog signal generation module
Pressure, gas pedal analog signal generation module are connect by accelerator pedal signal handover module with electronic engine control module；Micro-control
Device module processed is connect with accelerator pedal signal handover module, controls the letter of electronic engine control module and accelerator pedal position sensor
Number disconnection or connection, control electronic engine control module and the disconnection of gas pedal analog signal generation module or be connected to；Micro-control
Device module processed is connect with gas pedal analog signal generation module, and is connect with Automobile contained network by CAN network interface module,
It is connect with host computer by host computer communication interface.
2. autonomous driving vehicle throttle control system according to claim 1, which is characterized in that the accelerator pedal signal
Handover module includes driving triode Q1, current-limiting resistance R1, signal switching relay K1, accelerator pedal signal interface P1；Current limliting
One end of resistance R1 is connected with the single-chip microcomputer output mouth of micro controller module, the base stage phase of other end and driving triode Q1
Even；Coil one end of signal switching relay K1 is connected with power supply, other end is connected with the emitter of driving triode Q1；Letter
The common of number switching relay K1 is stepped on by the throttle of accelerator pedal signal interface P1 external automobile electronic engine control modules
Partitioned signal line；The normally-closed contact of signal switching relay K1 passes through accelerator pedal signal interface P1 external automobile accelerator pedal positions
The signal wire of sensor；Signal switches the digital-to-analogue conversion of the normally opened contact and gas pedal analog signal generation module of relay K1
Device analog voltage output port is connected；Accelerator pedal signal interface P1 is connected with accelerator pedal of automobile position sensor.
3. autonomous driving vehicle throttle control system according to claim 1 or 2, which is characterized in that gas pedal is simulated
Signal generator module include digital analog converter U1 and U2, pull-up resistor R2 and R3, shunt capacitance C1 and C4, decoupling capacitance C2 and
C5, filter capacitor C3 and C6；The model DAC7512 of digital analog converter U1 and U2；The data of digital analog converter U1 and U2 communicate
Interface is connected with the ports microcontroller PT of micro controller module respectively；The analog voltage output port of digital analog converter U1 and U2 point
It is not connected with the normally opened contact of the relay of accelerator pedal signal handover module.
4. autonomous driving vehicle throttle control system according to claim 3, which is characterized in that reference voltage module includes
Current-limiting resistance R4, filter capacitor C7, accurate regulated power supply U3, divider resistance R5 and R6, filter capacitor C8；Accurate regulated power supply U3
Model TL431；One end of current-limiting resistance R4 is connected with the positive 12V power supplys of power module, other end and accurate voltage stabilizing are electric
The 2nd foot of source U3 is connected；Divider resistance R5 and R6 are serially connected in the 2nd foot and of accurate regulated power supply U3 in a manner of end to end
Between 3 feet, its midpoint is connected with the 1st foot of regulated power supply U3.
5. autonomous driving vehicle throttle control system according to claim 4, which is characterized in that micro controller module includes
Microcontroller U8, current-limiting resistance R11, power supply instruction diode D1, filter inductance L1, filter capacitor C25, filter capacitor C26, short circuit
Resistance R12, short-circuit resistance R13, filter capacitor C28, decoupling capacitance C27, filter capacitor C30, decoupling capacitance C29, filter capacitor
C32, decoupling capacitance C31, crystal oscillator Y3, corrective capacity C33, corrective capacity C34, impedance matching resistor R14, charging is resetted
Resistance R15, it resets charging capacitor C35, reset key S1, pull-up resistor R17, current-limiting resistance R16, program download interface P8, move back
Coupling capacitance C36, decoupling capacitance C37, decoupling capacitance C38, decoupling capacitance C39；The model MC9S12XS128MAA of microcontroller U8；
The 15th foot of microcontroller U8 connect with one end of current-limiting resistance R16, the 3rd foot of the other end of resistance and program download interface P8
Connection；The port PS0, PS1, PS2, PS3 of microcontroller U8 is connected with the electrical level transferring chip of host computer communication interface modules respectively；
The port PM0, PM1 of microcontroller U8 is connected with the bus driver of CAN network interface module respectively；PT0, PT1 of microcontroller U8,
The port PT2, PT3, PT4, PT5 communication port phase with the analog-digital chip of gas pedal analog signal generation module respectively
Even；The PP3 mouths of microcontroller U8 are connected with the transistor base current-limiting resistance of accelerator pedal signal handover module.
6. autonomous driving vehicle throttle control system according to claim 5, which is characterized in that CAN network interface module
Including bus driver U5, bus termination resistance R7, bus termination resistance R8, bus termination resistance R9, bus termination resistance
R10, CAN interface P5, decoupling capacitance C15, shunt capacitance C9 and C10；The model TJA1050 of bus driver U5；Always
The 1st foot of line drive U5 and the 4th foot are connected with the PM0 of microcontroller in micro controller module and PM1 respectively；Bus driver U5
The 7th foot and the 6th foot be connected respectively with automotive CAN network bus by CAN interface P5；Bus termination resistance R7 and R8 with
End to end mode is serially connected between the 7th foot of bus driver U5 and the 6th foot, its midpoint passes through shunt capacitance C9 and ground phase
Even；Bus termination resistance R9 and R10 be serially connected in a manner of end to end between the 7th foot of bus driver U5 and the 6th foot, it
Midpoint is connected to the ground by shunt capacitance C10.
7. autonomous driving vehicle throttle control system according to claim 6, which is characterized in that host computer communication interface mould
Block includes electrical level transferring chip U6, pump capacitance C16 and C17, pump capacitance C18 and C20, decoupling capacitance C19, host computer communication interface
P7 and P6；The model RS232 of electrical level transferring chip U6；The 11st foot, the 10th foot, the 12nd foot, the 9th foot of electrical level transferring chip U6
It is connected respectively with the ports PS of microcontroller in micro controller module；Pump capacitance C16 be serially connected in electrical level transferring chip U6 the 1st foot and
Between 3rd foot；Pump capacitance C17 is serially connected between the 4th foot of electrical level transferring chip U6 and the 5th foot；Pump capacitance C18 is serially connected in level
Between the 2nd foot and ground of conversion chip U6；Pump capacitance C20 is serially connected between the 6th foot of electrical level transferring chip U6 and ground；Level turns
The 14th foot and the 7th foot for changing chip U6 are connected with host computer communication interface P7 respectively；The 13rd foot of electrical level transferring chip U6 and the 8th
Foot is connected with host computer communication interface P6 respectively；The serial communication interface of the external host computers of host computer communication interface P6.
8. autonomous driving vehicle throttle control system according to claim 7, which is characterized in that power module includes electric power storage
Pond interface P2, three port voltage-stablizer U4 and U7, filter capacitor C11 and C21, decoupling capacitance C12 and C22, filter capacitor C14 and
C24, decoupling capacitance C13 and C23；The model ASM1117-5 of three port voltage-stablizer U4 and U7；The 1st of three port voltage-stablizer U4
Foot power input passes through accumulator interface P2 external automobile accumulators.
9. a kind of control method applying autonomous driving vehicle throttle control system described in claim 3 to 8 any one,
It is characterized in that, when entering automatic driving mode, disconnects accelerator pedal position sensor signal, micro controller module passes through upper
Machine communication interface receives the accelerator open degree value of host computer, and control gas pedal analog signal generation module output is corresponding with opening value
Simulation accelerator pedal signal to electronic engine control module, electronic engine control module is realized electronic air throttle body and is controlled, solar term
Opening amount signal is sent to electronic engine control module and carries out closed-loop control by door jaw opening sensor；The external vapour of CAN network interface module
The vehicle-mounted net of vehicle, micro controller module obtain Throttle Opening Control as a result, and passing through host computer communication interface modules by CAN network interface
Host computer is fed back to realize closed-loop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810317097.7A CN108327532A (en) | 2018-04-10 | 2018-04-10 | A kind of autonomous driving vehicle throttle control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810317097.7A CN108327532A (en) | 2018-04-10 | 2018-04-10 | A kind of autonomous driving vehicle throttle control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108327532A true CN108327532A (en) | 2018-07-27 |
Family
ID=62934008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810317097.7A Withdrawn CN108327532A (en) | 2018-04-10 | 2018-04-10 | A kind of autonomous driving vehicle throttle control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108327532A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109209653A (en) * | 2018-08-28 | 2019-01-15 | 开沃新能源汽车集团有限公司 | It is a kind of to realize that CAN data are converted into the gas pedal control method of analog data based on gateway and D/A module |
| CN109515180A (en) * | 2018-10-22 | 2019-03-26 | 北京长城华冠汽车科技股份有限公司 | A kind of power output system and power output method of electric car |
| CN109556885A (en) * | 2018-12-07 | 2019-04-02 | 安徽江淮汽车集团股份有限公司 | A kind of the automatic Pilot control method and system of electric car performance test |
| CN110147064A (en) * | 2019-06-14 | 2019-08-20 | 湖南汽车工程职业学院 | Autonomous driving vehicle positioning control system based on carrier phase difference and station telecommunication |
| CN110320053A (en) * | 2019-06-28 | 2019-10-11 | 安徽合力股份有限公司 | A kind of fork truck traveling accelerating performance test method |
| CN110318887A (en) * | 2019-07-15 | 2019-10-11 | 天津英创汇智汽车技术有限公司 | Accelerator control device, system and method |
| CN110425048A (en) * | 2019-08-19 | 2019-11-08 | 江铃重型汽车有限公司 | A kind of vehicle drive control circuit and method |
| CN111959269A (en) * | 2020-07-20 | 2020-11-20 | 易显智能科技有限责任公司 | Accelerator controller, vehicle safety protection system and method and vehicle |
| CN112198864A (en) * | 2020-09-28 | 2021-01-08 | 中国汽车工程研究院股份有限公司 | Accelerator pedal and brake pedal signal control device for test vehicle and method thereof |
| CN112857818A (en) * | 2019-11-12 | 2021-05-28 | 广州汽车集团股份有限公司 | Accelerator pedal control device and method |
| CN113607429A (en) * | 2021-08-03 | 2021-11-05 | 北京汽车集团越野车有限公司 | Accelerator pedal simulation test tool and test method |
-
2018
- 2018-04-10 CN CN201810317097.7A patent/CN108327532A/en not_active Withdrawn
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109209653A (en) * | 2018-08-28 | 2019-01-15 | 开沃新能源汽车集团有限公司 | It is a kind of to realize that CAN data are converted into the gas pedal control method of analog data based on gateway and D/A module |
| CN109515180A (en) * | 2018-10-22 | 2019-03-26 | 北京长城华冠汽车科技股份有限公司 | A kind of power output system and power output method of electric car |
| CN109556885A (en) * | 2018-12-07 | 2019-04-02 | 安徽江淮汽车集团股份有限公司 | A kind of the automatic Pilot control method and system of electric car performance test |
| CN110147064A (en) * | 2019-06-14 | 2019-08-20 | 湖南汽车工程职业学院 | Autonomous driving vehicle positioning control system based on carrier phase difference and station telecommunication |
| CN110320053A (en) * | 2019-06-28 | 2019-10-11 | 安徽合力股份有限公司 | A kind of fork truck traveling accelerating performance test method |
| CN110318887B (en) * | 2019-07-15 | 2021-09-21 | 天津英创汇智汽车技术有限公司 | Throttle control device, system and method |
| CN110318887A (en) * | 2019-07-15 | 2019-10-11 | 天津英创汇智汽车技术有限公司 | Accelerator control device, system and method |
| CN110425048A (en) * | 2019-08-19 | 2019-11-08 | 江铃重型汽车有限公司 | A kind of vehicle drive control circuit and method |
| CN112857818A (en) * | 2019-11-12 | 2021-05-28 | 广州汽车集团股份有限公司 | Accelerator pedal control device and method |
| CN112857818B (en) * | 2019-11-12 | 2023-05-30 | 广州汽车集团股份有限公司 | Accelerator pedal control device and method |
| CN111959269A (en) * | 2020-07-20 | 2020-11-20 | 易显智能科技有限责任公司 | Accelerator controller, vehicle safety protection system and method and vehicle |
| CN112198864A (en) * | 2020-09-28 | 2021-01-08 | 中国汽车工程研究院股份有限公司 | Accelerator pedal and brake pedal signal control device for test vehicle and method thereof |
| CN112198864B (en) * | 2020-09-28 | 2021-08-31 | 中国汽车工程研究院股份有限公司 | Accelerator pedal and brake pedal signal control device for test vehicle |
| CN113607429A (en) * | 2021-08-03 | 2021-11-05 | 北京汽车集团越野车有限公司 | Accelerator pedal simulation test tool and test method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108327532A (en) | A kind of autonomous driving vehicle throttle control system and method | |
| CN101365276B (en) | Adaptive front lamp set control system based on network technique and controlling method thereof | |
| CN205087004U (en) | Intelligent vehicle autopilot control system | |
| CN100494948C (en) | Vehicle anti-block brake system and detection device and method for performance of its controller | |
| CN101739862B (en) | Electronic throttle control simulation experiment system | |
| CN201319679Y (en) | Structure of adaptive front-lighting system based on network technologies | |
| CN101122334A (en) | Double-clutch automatic speed-changer electric controller and its control method | |
| CN208053110U (en) | A kind of autonomous driving vehicle throttle control system | |
| CN102848990A (en) | Electronic control network of automobile | |
| CN101235786B (en) | Engine electric control unit | |
| CN107472170A (en) | A kind of whole-control system | |
| CN201137527Y (en) | Engine electric control unit | |
| CN206589720U (en) | A kind of Modular electrical motor-car alternating-current charging pile control panel | |
| CN201071758Y (en) | Intelligent control system of double-fuel gas engine for automobile | |
| CN101070790A (en) | Automobile electronic gas-saving valve system | |
| CN207106417U (en) | A kind of whole-control system | |
| CN102606318B (en) | Intelligent remote accelerator switching controller based on CAN (controller area network) bus and control method | |
| CN202170538U (en) | Engine double-throttle control system of bulldozer based on CAN bus | |
| CN103359106B (en) | New forms of energy whole car controller of hybrid electric car and analog signal output method thereof | |
| CN201566495U (en) | Serial automotive electronic accelerator safe oil saving control device | |
| CN204196774U (en) | A kind of engine noise analog system | |
| CN110162064A (en) | A kind of automatic Pilot positioning and control system for tour bus | |
| CN205896205U (en) | Intelligent butterfly valve by CAN bus communication | |
| CN206678788U (en) | New energy electric vehicle electric electronic throttle master control borad assembly | |
| CN202900426U (en) | Auxiliary throttle control device for electronic-controlled engine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180727 |
|
| WW01 | Invention patent application withdrawn after publication |