CN113093699B - Engine pedestal for unmanned automobile and experimental method - Google Patents

Abstract

The invention discloses an engine bench for unmanned vehicles and an experimental method, including a real vehicle data acquisition system and an engine bench operation system; the real vehicle data acquisition system is installed on an internal combustion engine vehicle, and includes a data acquisition device, an OBD Interface, IMU, RTK terminal and RTK base station; engine bench operation system includes power system, power system controller, gateway, controllable load controller and test bench control system, power system is connected with power system controller; power system control The controller, the controllable load controller and the experimental bench control system are all connected with the gateway. The invention can record the motion parameters and system parameters of the internal combustion engine vehicle during the running process on the road, and then input these data into the control system of the test bench. The data and the operating data of the engine test bench are used to evaluate and improve the control models and algorithms of the power system.

Description

An engine bench and experimental method for unmanned vehicles

technical field

The invention relates to the technical field of unmanned driving, and more particularly, to an engine bench and an experimental method for unmanned vehicles.

Background technique

In recent years, driverless technology has developed vigorously, and advanced computer and artificial intelligence technologies are reshaping the automotive industry. However, at present, driverless technology is mostly applied to electric vehicle platforms, and there is less research on traditional internal combustion engine platforms. As electric vehicles and other new energy vehicles still have some technical defects and cost problems, internal combustion engine vehicles will still occupy an important market position for a long time in the future, and the internal combustion engine power system that can be used for driverless vehicles will also have important economic value. In addition, due to the special performance requirements of military vehicles, diesel engines will still play an important role in military power for a long time.

Therefore, applying advanced computer and artificial intelligence technology to the research of engine control provides a feasible research platform and experimental method for the application of internal combustion engine to unmanned vehicles, so as to solve the control model and control algorithm applied to unmanned internal combustion engine, etc. The key technical problems are problems that those skilled in the art need to solve urgently, and can provide necessary technical guarantees for the intelligentization and unmanned operation of vehicles powered by internal combustion engines.

SUMMARY OF THE INVENTION

The invention provides an engine bench for an unmanned vehicle and an experimental method, which can record the motion parameters and system parameters of the internal combustion engine vehicle during the running process on the actual road, and then input these data into the control system of the experimental bench , after the relevant parameters are processed and calculated, the control command is output to control the operation of the engine bench, and the operating parameters of the bench are collected into the system. , to evaluate and improve control models and algorithms of dynamical systems.

In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: an engine gantry for unmanned vehicles, including a real vehicle data acquisition system and an engine gantry operation system, wherein the real vehicle data acquisition system includes a data acquisition device, OBD interface, IMU (Inertial Measurement Unit), RTK terminal and RTK base station, the engine bench operation system includes electronic brake pedal, electronic accelerator pedal, electronic clutch pedal, engine (can be gasoline engine, diesel engine or rotary engine, etc.), electronic clutch, Automatic gearbox, power system controller, controllable load, controllable load controller, gateway and test bench control system, the test bench control system includes two parts: computer hardware and software platform, the software platform includes reading It is composed of the data module of the acquisition device, the control model of the power system, the communication node of the controller and the result comparison and analysis module.

Preferably, the real vehicle data acquisition system is installed on an internal combustion engine vehicle running on an actual road, and is used to collect motion parameters and system parameters during the actual operation of the vehicle; the data acquisition device is connected with the RTK terminal, the The OBD interface is connected to the IMU, and the data of the data acquisition device can be read into the experimental bench control system by the reading and acquisition device data module; the data acquisition device is connected to the vehicle through the OBD interface The OBD diagnostic interface is connected, and the operating parameters of the car and the engine are read through the CAN bus, such as: vehicle speed, engine speed, accelerator opening, automatic transmission gear position, electronic clutch closed state, etc.; the data acquisition device is also connected with the The RTK terminal is connected to the IMU for collecting data of the RTK terminal and the IMU; the RTK terminal and the RTK base station are used to provide real-time time and real-time high-precision positioning when the vehicle is running, and the RTK terminal It communicates with the RTK base station by radio. RTK refers to the carrier phase difference technology, which is a high-precision positioning system using the global satellite navigation system, which can provide the highest positioning accuracy of centimeters. Try to set the RTK base station at a high place in the open area, and try to perform data collection operations in the open area; the IMU refers to the inertial measurement unit, which is mainly used to measure the three-dimensional acceleration and angular acceleration during the operation of the vehicle, Three-dimensional data such as velocity, angular velocity, displacement and angular displacement can be obtained through motion calculation.

Preferably, the IMU and the RTK terminal can provide more abundant control parameters for the power system control model in the software platform, for example, the IMU can provide the pitch angle information of the car to judge whether the car is going up and downhill , the IMU can provide the yaw angle information of the car to determine whether the car is turning, and the IMU can provide the acceleration and deceleration information of the car to help determine whether it is an acceleration and deceleration condition.

Preferably, the data acquisition device further includes a real-time clock module, which can freely time the clock after time calibration with the RTK terminal, and provides a time stamp for the data collected by the data acquisition device.

Preferably, the engine, the electronic clutch, the automatic transmission and the controllable load are sequentially connected through a mechanical device, and the engine and the automatic transmission should be as close as possible to the engine of the car used for data collection. It is consistent with the automatic transmission model or has similar parameters, so as to facilitate the comparison and analysis of the results in the later stage; the controllable load is mainly used to simulate the working conditions during the actual operation of the vehicle, and the motor can be used as a choice of the controllable load.

Preferably, the power system controller is electrically connected to the electronic brake pedal, the electronic clutch pedal, the electronic accelerator pedal, the engine, the electronic clutch and the automatic transmission, and the power system The controller can collect the signals of the electronic accelerator pedal and the clutch pedal, the power system controller can control the operation of the engine, control the clutch power of the electronic clutch and the shifting of the automatic transmission, and collect the The operating parameters of the engine and the automatic transmission, such as: engine speed, accelerator opening (here does not refer to the accelerator pedal position, for gasoline engines, it refers to the throttle position; for high-pressure common rail diesel engines, it refers to fuel injection pulse width), automatic transmission gear, etc.

Preferably, the power system controller is different from the traditional engine ECU. The power system controller mainly completes the acquisition of engine bench sensor signals and the output of actuator signals, and the power system control model is used for the original calculation and decision-making. Completed, this can fully meet the computing performance requirements, and also facilitate the integration and adaptation of the power system and the unmanned vehicle software in the later stage.

Preferably, the controllable load controller is connected to the controllable load, and the controllable load controller can control the operation of the controllable load and collect operation data of the controllable load.

Preferably, the main function of the gateway is to be a "bridge" for the communication between the power system controller, the controllable load controller and the test bench control system to complete the conversion of communication protocols. A typical example of the gateway is There are CAN to USB card or CAN to TCP/IP card; the gateway is connected with the power system controller, the controllable load controller and the experimental bench control system, and the gateway can connect the experimental bench The control instructions of the rack control system are sent to the power system controller and the controllable load controller, and the data collected by the power system controller and the controllable load controller can also be uploaded to the experiment. Gantry control system.

Preferably, the experimental bench control system includes a computer hardware and a software platform. The software platform is composed of a reading and collecting device data module, a power system control model, a controller communication node and a result comparison and analysis module.

The reading and collecting device data module in the software platform is used for reading the data stored in the data collecting device, and processing and time-synchronizing the data. Since the frequency of the data output by the RTK terminal (usually about 10 Hz) is much smaller than the frequency of the data output by the IMU, an interpolation algorithm can be used to interpolate the positioning data of the RTK terminal, which is also collected through the OBD interface. The frequency of each data of the car's operation is not exactly the same and lower, and time synchronization and corresponding processing are also required.

The power system control model receives the data processed by the reading and collecting device data module and performs calculation to obtain control parameters for each actuator of the power system.

The controller communication node receives the control parameters generated by the power system control model, generates a data frame according to the communication protocol, and transmits it to the power system controller and the controllable load controller through the gateway, thereby realizing Control of the powertrain.

The result comparison and analysis module receives the data collected by the power system controller and the controllable load controller, and compares it with the data received from the reading and collecting device data module to generate a visual chart for The powertrain control models and algorithms are evaluated and improved.

The engine bench operating system may further add test instruments as required to detect other operating parameters of the power system for further experiments and analysis.

In addition, the present invention also provides an experimental method for an unmanned engine test bench, comprising:

(1) Record the motion parameters and system parameters of the internal combustion engine vehicle in the process of running on the actual road;

(2) Input the data into the engine test bench system;

(3) Process the relevant parameters and calculate the motion model;

(4) Output control commands to control the operation of the gantry and collect the operation data of the gantry;

(5) Compare the data during the actual operation of the internal combustion engine vehicle with the operation data of the engine test bench;

(6) Evaluate the control model and algorithm of the power system;

(7) Improve the control model and algorithm of the power system;

(8) Repeat steps (3), (4), (5), (6), (7) to make the difference between the operating data of the experimental bench control system and the data during the actual operation of the internal combustion engine vehicle as small as possible and satisfy Anticipated requirements.

The present invention has the following beneficial effects:

The invention can be used to study the control model and control algorithm of the power system of the engine of the unmanned vehicle, so as to evaluate and improve the control model and control algorithm, and to explore the application of advanced computer and artificial intelligence technology to the traditional engine. This is of positive significance for the design of internal combustion engine power systems that can be used in unmanned vehicles, and provides technical guarantees for the intelligence and unmannedness of equipment using internal combustion engine power.

The invention can also be used to study the control method of the internal combustion engine power system which has both the manual control mode and the unmanned control mode and can switch the mode.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.

Fig. 1 is the structural representation of the engine test bench for unmanned vehicle provided by the present invention;

Fig. 2 is the experimental method flow chart of the engine test bench for unmanned vehicle provided by the present invention;

In the figure: 1- Engine bench operating system; 2- Test bench control system; 3- Computer hardware; 4- Software platform; 5- Gateway; 6- Read acquisition device data module; 7- Power system control model; 8 -controller communication node; 9-result comparison analysis module; 10-RTK terminal; 11-data acquisition device; 12-RTK base station; 13-OBD interface; 14-IMU; 15-real vehicle data acquisition system; 16-controllable Load controller; 17-controllable load; 18-automatic transmission; 19-power system controller; 20-electronic clutch; 21-engine; 22-electronic accelerator pedal; 23-electronic clutch pedal; 24-electronic brake pedal.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Embodiment 1 of the present invention discloses an engine test bench for an unmanned vehicle, which mainly includes two parts: a real vehicle data acquisition system 15 and an engine bench operation system 1, wherein the real vehicle data acquisition system 15 includes: The data acquisition device 11, the OBD interface 13, the IMU 14 (inertial measurement unit), the RTK terminal 10 and the RTK base station 12; the engine stand operation system 1 includes: an electronic brake pedal 24, an electronic accelerator pedal 22, an electronic clutch pedal 23, an engine 21 ( Can be gasoline engine, diesel engine or rotary engine, etc.), electronic clutch 20, automatic transmission 18, power system controller 19, controllable load 17, controllable load controller 16, gateway 5 and test bench control system 2, test bench The rack control system 2 includes computer hardware 3 and a software platform 4 . The software platform 4 includes a reading and collecting device data module 6 , a power system control model 7 , a controller communication node 8 and a result comparison and analysis module 9 .

The real vehicle data acquisition system 15 is installed on the internal combustion engine vehicle running on the actual road, and is used to collect the motion parameters and system parameters during the actual operation of the vehicle; the data acquisition device 11 is connected with the RTK terminal 10, the OBD interface 13 and the IMU 14, and the data The data of the acquisition device 11 can be read into the experimental bench control system 2 by the reading acquisition device data module 6; the data acquisition device 11 is connected to the OBD diagnostic interface on the car through the OBD interface 13, and reads the car and the engine through the CAN bus. The operating parameters, such as: vehicle speed, engine speed, accelerator opening, automatic transmission gear position, electronic clutch closed state, etc.; the data acquisition device 11 is also connected with the RTK terminal 10 and the IMU 14 for collecting the data of the RTK terminal 10 and the IMU 14 The RTK terminal 10 and the RTK base station 12 are used to provide real-time time and real-time high-precision positioning when the vehicle is running. The RTK terminal 10 and the RTK base station 12 communicate by radio. The high-precision positioning system of the navigation system can provide the highest positioning accuracy of centimeter level. In order to ensure stable and reliable signals, the RTK base station 12 should be set up as high as possible in the open area, and the data collection operation should be carried out in the open area as much as possible; IMU14 refers to The first is the inertial measurement unit, which is mainly used to measure the three-dimensional acceleration and angular acceleration during the operation of the car, and can obtain data such as speed, angular velocity, displacement and angular displacement through motion calculation.

The IMU 14 and the RTK terminal 10 can provide more abundant control parameters for the power system control model 7 in the software platform 4. For example, the IMU 14 can provide the pitch angle information of the car to judge whether the car is going up and down, and the IMU 14 can provide the yaw angle information of the car. In order to determine whether the car is turning, the IMU 14 can provide the acceleration and deceleration information of the car to help determine whether it is an acceleration and deceleration condition.

The data acquisition device 11 also includes a real-time clock module, which can freely time the clock after the time calibration with the RTK terminal 10 , and provides a time stamp for the data collected by the data acquisition device 11 .

The engine 21, the electronic clutch 20, the automatic transmission 18 and the controllable load 17 in the engine bench operating system 1 are sequentially connected by mechanical devices. The engine 21 and the automatic transmission 18 should be as close as possible to the engine and the engine and The automatic transmission models are kept the same or the parameters are similar, so as to facilitate the comparison and analysis of the results in the later stage. The controllable load 17 is mainly used to simulate the working conditions during the actual operation of the vehicle, and the motor can be used as a choice of the controllable load 17 .

The power system controller 19 is electrically connected with the electronic brake pedal 24, the electronic clutch pedal 23, the electronic accelerator pedal 22, the engine 21, the electronic clutch 20 and the automatic transmission 18, and the power system controller 19 can collect the electronic accelerator pedal 22 and the According to the signal of the clutch pedal 23, the power system controller 19 can control the operation of the engine 21, control the clutch power of the electronic clutch 20 and the shifting of the automatic transmission 18, and collect the operating parameters of the engine 21 and the automatic transmission 18, such as: engine speed, accelerator Opening (here does not refer to the accelerator pedal position, for gasoline engines, it refers to the throttle position; for high-pressure common rail diesel engines, it refers to the injection pulse width), automatic transmission gear, etc.

The power system controller 19 is different from the traditional engine ECU. The power system controller 19 mainly completes the acquisition of the engine bench sensor signal and the output of the actuator signal, while the original calculation and decision-making are completed by the power system control model 7, which can fully satisfy the It also facilitates the integration and adaptation of the power system in the later stage and the whole vehicle software of the unmanned vehicle.

The controllable load controller 16 is connected to the controllable load 17 , and the controllable load controller 16 can control the operation of the controllable load 17 and collect the operation data of the controllable load 17 .

The main function of the gateway 5 is the "bridge" for the communication between the power system controller 19, the controllable load controller 16 and the test bench control system 2, and completes the conversion of the communication protocol. Typical examples of the gateway 5 are CAN to USB card or CAN to TCP/IP card; the gateway 5 is connected to the power system controller 19, the controllable load controller 16 and the experimental bench control system 2, and the gateway 5 can issue the control instructions of the experimental bench control system 2 to the power system controller 19 and the controllable load controller 16 , the data collected by the power system controller 19 and the controllable load controller 16 can also be uploaded to the experimental bench control system 2 .

The experimental bench control system 2 includes computer hardware 3 and a software platform 4 . The software platform consists of a reading and collecting device data module 6 , a power system control model 7 , a controller communication node 8 and a result comparison and analysis module 9 .

The reading and collecting device data module 6 in the software platform 4 is used for reading the data stored in the data collecting device 11, and processing and time-synchronizing the data. Since the frequency of the data output by the RTK terminal 10 (usually about 10 Hz) is much smaller than the frequency of the data output by the IMU 14 , the interpolation algorithm can be used to interpolate the positioning data of the RTK terminal 10 . The frequency of item data is not exactly the same and lower, and time synchronization and corresponding processing are also required.

The power system control model 7 receives the data processed by the data module 6 of the reading acquisition device and performs calculation to obtain the control parameters for each actuator of the power system.

The controller communication node 9 receives the control parameters generated by the power system control model 7, generates a data frame according to the communication protocol, and transmits it to the power system controller 19 and the controllable load controller 16 through the gateway, thereby realizing the control of the power system.

The result comparison and analysis module 9 receives the data collected by the power system controller 19 and the controllable load controller 17, and compares it with the data received from the reading acquisition device data module 6 to generate a visual chart, so as to analyze the power system control model. and algorithms to evaluate and improve.

The engine bench operating system 1 may further add test instruments as required to detect other operating parameters of the power system for further experiments and analysis.

The present invention discloses the experimental method of the engine bench used for the unmanned vehicle in Embodiment 2: the experimental method and process of the engine bench refer to Fig. 2:

(1) The real vehicle data acquisition system 15 records the motion parameters and system parameters of the internal combustion engine vehicle during the running process on the actual road;

(2) Input the motion parameters and system parameters into the engine stand operation system 1;

(3) The engine bench operating system 1 processes the relevant parameters and calculates the motion model;

(4) Output control commands to control the operation of the gantry and collect the operation data of the gantry;

(5) The result comparison and analysis module 9 compares the data in the actual operation process of the internal combustion engine vehicle and the operation data of the engine test bench;

(6) Evaluate the control model and algorithm of the power system;

(7) Improve the control model and algorithm of the power system;

(8) Repeat steps (3), (4), (5), (6), (7) to make the difference between the operating data of the engine test bench and the data during the actual operation of the internal combustion engine vehicle as small as possible and meet expectations Require.

The invention creatively uses the high-precision positioning parameters collected by the RTK terminal, the three-dimensional acceleration and angular acceleration collected by the IMU (Inertial Navigation Unit), and the calculated three-dimensional velocity, angular velocity, displacement, angular displacement and other parameters as the dynamic system model and algorithm. The input control parameters of the test bench take the engine speed, vehicle speed, accelerator opening and other state parameters of the internal combustion engine vehicle running on the actual road collected by the OBD interface as the control target, so that the engine on the test bench can be automatically controlled according to the motion state of the vehicle, Realize the intelligent and unmanned engine.

The present invention can be used to study the control model and control algorithm of the power system of the engine of the unmanned vehicle, so as to evaluate and improve the control model and control algorithm.

The invention can be used to explore the application of advanced computer and artificial intelligence technology to the control of traditional engines, which has positive significance for designing an internal combustion engine power system that can be used for unmanned vehicles, and can be used for the intelligentization of equipment using internal combustion engine power. And unmanned to provide technical guarantee.

The invention can also be used to study the control method of the internal combustion engine power system which has both the manual control mode and the unmanned control mode and can switch the mode.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. an engine bench for unmanned vehicle, it is characterized in that, comprise real vehicle data acquisition system (15) and engine bench operation system (1); Wherein, described real vehicle data acquisition system (15) Installed on an internal combustion engine vehicle, it includes a data acquisition device (11), an OBD interface (13), an IMU (14), an RTK terminal (10) and an RTK base station (12), the RTK base station (12) and the RTK terminal ( 10) Through wireless communication connection, the RTK terminal (10), the OBD interface (13) and the IMU (14) are all connected with the data acquisition device (11); The engine bench operation system (1) includes a power system, a power system controller (19), a gateway (5), a controllable load controller (16) and an experimental bench control system (2), the power system and the The power system controller (19) is connected; the power system controller (19), the controllable load controller (16) and the experimental bench control system (2) are all connected to the gateway (5) connection; the experimental bench control system (2) includes computer hardware (3) and a software platform (4), the software platform (4) includes a reading acquisition device data module (6), a power system control model (7) , a controller communication node (8) and a result comparison and analysis module (9); The data of the data acquisition device (11) can be read by the reading and acquisition device data module (6) and entered into the experimental bench control system (2), and the reading and acquisition device data module (6) Data is processed and time synchronized. 2. A kind of engine bench for unmanned vehicle according to claim 1, is characterized in that, described gateway (5) sends the control instruction of described experimental bench control system (2) to all The power system controller (19) and the controllable load controller (16) can also upload the data collected by the power system controller (19) and the controllable load controller (16) to the experiment Gantry control system (2). 3. An engine bench for an unmanned vehicle according to claim 1, characterized in that, the power system control model (7) receives the processed data of the reading and collecting device data module (6). The data is solved to obtain the control parameters of the dynamic system. 4. An engine bench for an unmanned vehicle according to claim 1, wherein the controller communication node (8) receives the control parameters generated by the power system control model (7), A data frame is generated according to the communication protocol, and transmitted to the power system controller (19) and the controllable load controller (16) through the gateway (5), thereby realizing the control of the power system. 5. The engine bench for unmanned vehicles according to claim 1, wherein the result comparison and analysis module (9) receives the power system controller (19) and the controllable The data collected by the load controller (16) is compared with the data received by the reading and collecting device data module (6) to generate a visual chart for evaluating the power system control model (7) and the algorithm and improvement. 6. An engine stand for an unmanned vehicle according to claim 1, wherein the power system comprises an electronic accelerator pedal (22), an electronic clutch pedal (23), and an electronic brake pedal (24). ), engine (21), electronic clutch (20), automatic transmission (18) and controllable load (17), said engine (21), said electronic clutch (20), said automatic transmission (18) and the controllable load (17) are sequentially connected through a mechanical device, and the power system controller (19) is connected to the electronic brake pedal (24), the electronic accelerator pedal (22), the engine (21), The electronic clutch (20) is electrically connected to the automatic gearbox (18), and the controllable load controller (16) is connected to the controllable load (17). 7. A kind of engine stand for unmanned vehicle according to claim 1, is characterized in that, described data acquisition device (11) also comprises real-time clock module, compares with described RTK terminal (10) After the time has elapsed, time can be freely timed to provide time stamps for the data collected by the data collection device (11). 8. an experimental method for the engine bench of unmanned vehicle, is characterized in that, utilizes the engine bench described in any one of claim 1-7, comprises the following steps: (1) Record the motion parameters and system parameters of the internal combustion engine vehicle in the process of running on the actual road; (2) Input the data into the engine stand operation system (1); (3) Process the motion parameters and system parameters and calculate the motion model; (4) output control instructions to control the operation of the experimental bench control system (2) and collect its operation data; (5) Compare the data during the actual operation of the internal combustion engine vehicle with the operation data of the engine bench operation system (1); (6) Evaluate the control model and algorithm of the power system; (7) Improve the control model and algorithm of the power system; (8) Repeat steps (3), (4), (5), (6), (7) to make the difference between the operating data of the engine test bench and the data during the actual operation of the internal combustion engine vehicle as small as possible and meet expectations Require.

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