CN208141219U

CN208141219U - The detection debug circuit of autonomous driving vehicle throttle control system

Info

Publication number: CN208141219U
Application number: CN201820801011.3U
Authority: CN
Inventors: 舒望
Original assignee: Hunan Automotive Engineering Vocational College
Current assignee: Shenzhen Zhizunbao Automobile Technology Co ltd
Priority date: 2018-05-28
Filing date: 2018-05-28
Publication date: 2018-11-23
Anticipated expiration: 2028-05-28

Abstract

The utility model discloses a kind of detection debug circuits of autonomous driving vehicle throttle control system.Detecting debug circuit includes debugging control module, LCD MODULE, keyboard input module, state indicator module, RS232 communication module, CAN communication module, gas pedal interface, automatic Pilot throttle control system interface module, power module；Accelerator pedal position sensor in the external accelerator pedal device of gas pedal interface, and be connected with automatic Pilot throttle control system interface module；Automatic Pilot throttle control system interface module is also connected with RS232 communication module, CAN communication module, and external automatic Pilot throttle control system, accelerator pedal signal measure interface, two-way direct current digital voltmeter respectively；Debugging control module is connected with LCD MODULE, keyboard input module, state indicator module, RS232 communication module, CAN communication module respectively.The utility model can carry out circuit function test to automatic Pilot throttle control system, and test operation is convenient and visual good.

Description

The detection debug circuit of autonomous driving vehicle throttle control system

Technical field

The utility model relates to automatic driving fields, more particularly, to a kind of autonomous driving vehicle Throttle Opening Control The detection debug circuit of system.

Background technique

Autonomous driving vehicle throttle control system is the automatic control that throttle is realized for autonomous driving vehicle, in automatic Pilot It does not need manually to participate in the process, the automatic control of throttle is realized by the control system.Existing this Throttle Opening Control system of application The throttle control system that system produce in autonomous driving vehicle modification scheme completion is all tested and is debugged without passing through early period, Directly installed on autonomous driving vehicle.The throttle remodeling method of this autonomous driving vehicle, is primarily present following defect：

1, not after the throttle control system of test is directly installed in automobile electric control system, system is due to component matter Inevitably there is certain failure in the reasons such as amount, welding procedure, packaging technology, if the automatically controlled system after the completion of production There are short troubles for system, can power supply and other circuits to automobile original electric-control system after being directly installed in automobile electrically-controlled system processed It damages, can thus give and increase very big difficulty when later period system debug, in addition, the automatically controlled system of former vehicle of replacement artificial damage System also affects the factory consistency of former vehicle electric-control system, there are one also will increase additional cost payout when debugging Fixed security risk.

2, it since the operating space of vehicle is smaller, is not easy to onboard carry out the tune of throttle control system interlock circuit parameter It is whole, and after the completion of the throttle control system connection installed additional, it needs whole system to be powered and carries out parameter adjustment, will affect former vehicle at this time Control system work normally, therefore, this mode is not easy to the repacking and debugging in later period, will affect project progress, corresponding Extend the production cycle.

There is presently no a kind of dedicated detection and debug circuit, performance to the throttle control system after the completion of production and Parameter is detected and is demarcated, and therefore, designs a kind of detection debugging for being specifically applied to autonomous driving vehicle throttle control system Circuit is necessary.

Utility model content

The utility model in order to overcome at least one of the drawbacks of the prior art described above, provides a kind of autonomous driving vehicle oil The detection debug circuit of accelerator control system, the detection debug circuit can carry out circuit function survey to automatic Pilot throttle control system Examination and verifying, test operation are simple, convenient and visual good.

A kind of detection debug circuit for autonomous driving vehicle throttle control system is provided, the detection debug circuit is special It Shi Yongyu not autonomous driving vehicle throttle control system；

The detection debug circuit includes debugging control module, LCD MODULE, keyboard input module, state instruction mould Block, RS232 communication module, CAN communication module, gas pedal interface, automatic Pilot throttle control system interface module, power supply mould Block；Power module provides electric energy for whole system；Gas pedal in the external accelerator pedal device of gas pedal interface input terminal Position sensor, its output port are connected with automatic Pilot throttle control system interface module；Automatic Pilot throttle control system Interface module is also connected with RS232 communication module, CAN communication module, and external automatic Pilot throttle control system, oil respectively Door pedal signal measures interface, two-way direct current digital voltmeter；Debugging control module respectively with LCD MODULE, key-press input Module, state indicator module, RS232 communication module, CAN communication module are connected；

The keyboard input module, which is used to send accelerator open degree to debugging control module, to be increased, reduces signal, driving mode Selection signal and return data instruction；The LCD MODULE is for showing driving mode, accelerator open degree value, automobile speed With engine speed information；The RS232 communication module for detect debugging system simulation host computer function when with it is to be measured from Dynamic driving throttle control system is communicated, and the CAN communication module is for when detecting debugging system simulated automotive function It is communicated with autonomous driving vehicle throttle control system to be measured；The gas pedal interface is used for external gas pedal, and will Gas pedal opening amount signal is sent to autonomous driving vehicle throttle to be measured by automatic Pilot throttle control system interface module Control system；The automatic Pilot throttle control system interface module is for detecting debugging system and autonomous driving vehicle to be measured oil The connection of accelerator control system；Keyboard input module instructs the debugging control module based on the received, adjusts accelerator open degree value, choosing It selects driving mode, notify throttle control system return data to be measured；Control LCD MODULE carries out information and shows；State of a control Indicating module indicates that current driving mode is artificial or automatic driving mode；RS232 communication module is controlled to throttle to be measured Control system sends or receives control command and return data；CAN communication module is controlled when data back function starts, to Throttle control system to be measured sends the running car data of simulation.

In the present solution, since the purpose of autonomous driving vehicle throttle control system is to export analog voltage signal to engine Electronic control module is provided with D/A converting circuit in order to export controllable analog voltage signal in throttle control system, and counts The output voltage of mode converter needs consistent with the output voltage of the accelerator pedal position sensor of orthodox car, it is therefore desirable to right The output voltage of digital analog converter is demarcated.Throttle control system is installed in automobile electric control system, as output voltage cannot When meeting system requirements, parameter adjustment can be carried out to the analog voltage signal of output by this detection debug circuit, avoided Later period is adjusted the inconvenience of operation again after vehicle carries out automatic Pilot repacking.

In the utility model, the debugging control module for detecting debug circuit examines the input signal of keyboard input module It surveys, determines driving mode, and according to key-press input status adjustment accelerator open degree value；When needing to return autonomous driving vehicle throttle control When the running car data that system processed is got, debug circuit is detected at this time to autonomous driving vehicle Throttle Opening Control to be detected system System sends data, and simulation is adapted the electronic engine control module function of automobile, from debugging control module control CAN communication module to The CAN network of autonomous driving vehicle throttle control system sends speed, engine speed information, with this come examine it is to be detected from Whether the CAN communication function of dynamic driving throttle control system is normal；Pass through gas pedal interface accelerator pedal device The throttle of signal, the voltage change verifying autonomous driving vehicle throttle control system shown by two-way direct current digital voltmeter is stepped on Whether plate switching module is normal；Debugging control module passes through RS232 communication module again and receives autonomous driving vehicle Throttle Opening Control system Speed, the engine speed information united in the vehicle traveling process that transmits；Debugging control module controls LCD MODULE By in driving mode, accelerator open degree value, vehicle traveling process speed and engine speed information show on a liquid crystal display； Debugging control module controls RS232 communication module and driving mode, accelerator open degree Value Data is sent to autonomous driving vehicle throttle Control system, switches over the throttle signal of automobile by it and signal imitation.

Further, debugging control module includes single-chip microcontroller US4, filter inductance LS1, filter capacitor CS12, decoupling capacitance CS13, short-circuit resistance RS15, short-circuit resistance RS16, filter capacitor CS15, decoupling capacitance CS17, filter capacitor CS19, decoupling electricity Hold CS14, decoupling capacitance CS16, decoupling capacitance CS18, crystal oscillator YS1, corrective capacity CS20, corrective capacity CS21, impedance Build-out resistor RS17, it resets charging resistor RS20, reset charging capacitor CS35, reset key SB5, pull-up resistor RS18, current limliting Resistance RS19, program download interface PS7, decoupling capacitance CS22, decoupling capacitance CS23, decoupling capacitance CS24, decoupling capacitance CS25； The model MC9S12XS128MAA of single-chip microcontroller US4；The 15th foot of single-chip microcontroller US4 connect with one end of current-limiting resistance RS18, is electric The other end of resistance is connect with program download interface；It resets charging resistor RS20 and resets that charging capacitor CS35 is end to end connects Between power supply and ground, the midpoint of its connection is connected with the 30th foot of reset pin of single-chip microcontroller US4, reset key SB5 is attempted by Reset the both ends of charging capacitor CS35；The port PS0, PS1, PS2, PS3 of single-chip microcontroller US4 is connected with RS232 communication module respectively； The port PM0, PM1 of single-chip microcontroller US4 is connected with CAN communication module respectively；The port PB of single-chip microcontroller US4, PA0, PA1, PP0, PT5 It is connected respectively with LCD MODULE to the port PT7；The port PT1 to PT4 of single-chip microcontroller US4 respectively with keyboard input module phase Even；The port PP1, PP2 of single-chip microcontroller US4 is connected with state indicator module respectively；

Further, LCD MODULE includes liquid crystal display US1, decoupling capacitance CS11, contrast adjustment potentiometer RWS1, backlight adjust triode QS1, current-limiting resistance RS1；The model LCD12864 of liquid crystal display US1；Liquid crystal display Data port the 7th foot to the 14th foot of US1 is connected with the port PB of the single-chip microcontroller US4 in debugging control module respectively；Liquid crystal Show the 4th foot of control port of device US1, the 5th foot, the 6th foot, the 15th foot, the 17th foot respectively with the single-chip microcontroller in debugging control module The port PA0, PA1, PT7, PT6, PT5 of US4 is connected；The backlight electric power anode of liquid crystal display US1 is connected with power supply, its cathode The emitter for adjusting triode QS1 with backlight is connected, and the collector that backlight adjusts triode QS1 is connected to the ground, its base stage passes through Current-limiting resistance RS1 is connected with the port PP0 of the single-chip microcontroller US4 in debugging control module；The one of contrast adjustment potentiometer RWS1 End is connected with power supply, its other end is connected with the 18th foot of liquid crystal display US1, its center point of adjustment and liquid crystal display The 3rd foot of US1 is connected.

Further, keyboard input module include pull-up resistor RS2, throttle increase regulating key SB1, pull-up resistor RS3, Throttle reduces regulating key SB2, pull-up resistor RS4, data back key SB3, pull-up resistor RS5, mode selection switch SB4； Pull-up resistor RS2 and throttle increase regulating key SB1 it is end to end connect between power supply and ground, the midpoint of its connection and debugging The port PT4 of single-chip microcontroller US4 in control module is connected；It is end to end that pull-up resistor RS3 and throttle reduce regulating key SB2 It connects between power supply and ground, the midpoint of its connection is connected with the port PT3 of the single-chip microcontroller US4 in debugging control module；Pull-up electricity Resistance RS4 and data back key SB3 is end to end to be connect between power supply and ground, in the midpoint and debugging control module of its connection Single-chip microcontroller US4 the port PT2 be connected；Pull-up resistor RS5 and mode selection switch SB4 is end to end to be connect in power supply and ground Between, its connection midpoint be connected with the port PT1 of the single-chip microcontroller US4 in debugging control module.

Further, state indicator module include current-limiting resistance RS6, state instruction diode DS1, driving triode QS2, Current-limiting resistance RS12, current-limiting resistance RS7, state instruction diode DS2, driving triode QS3, current-limiting resistance RS13；Current limliting electricity The anode of resistance RS6 and state instruction diode DS1 is connected and is serially connected between power supply and the emitter of driving triode QS2, drives The collector of dynamic triode QS2 is connected to the ground, its base stage passes through the single-chip microcontroller US4 in current-limiting resistance RS12 and debugging control module The port PP1 be connected；Current-limiting resistance RS7 is connected with the anode of state instruction diode DS2 and is serially connected in three poles of power supply and driving Between the emitter of pipe QS3, the collector of driving triode QS3 is connected to the ground, its base stage passes through current-limiting resistance RS13 and debugging The port PP2 of single-chip microcontroller US4 in control module is connected.

Further, RS232 communication module include electrical level transferring chip US3, pump capacitor CS5 and CS4, pump capacitor CS7 and CS8, decoupling capacitance CS6；The model MAX232 of electrical level transferring chip US3；The 11st foot of electrical level transferring chip US3, the 10th foot, 12nd foot, the 9th foot are connected with the port PS of the single-chip microcontroller US4 in debugging control module respectively；Pump capacitor CS5 is serially connected in level and turns It changes between the 1st foot of chip US3 and the 3rd foot；Pump capacitor CS4 is serially connected between the 4th foot of electrical level transferring chip US3 and the 5th foot； Pump capacitor CS7 is serially connected between the 2nd foot of electrical level transferring chip US3 and ground；Pump capacitor CS8 is serially connected in electrical level transferring chip US3 The 6th foot and ground between；The 7th foot of electrical level transferring chip US3 and the 8th foot respectively with automatic Pilot throttle control system interface mould It is connected in block；The 14th foot of electrical level transferring chip US3 and the 13rd foot respectively with automatic Pilot throttle control system interface module phase Even.

Further, CAN communication module includes bus driver US2, bus termination resistance RS8, bus termination resistance RS9, bus termination resistance RS10, bus termination resistance RS11, decoupling capacitance CS1, shunt capacitance CS2 and CS3；Bus driver The model TJA1050 of US2；The 1st foot of bus driver US2 and the 4th foot respectively with the single-chip microcontroller US4 in debugging control module PM1 be connected with PM0；The 7th foot of bus driver US2 and the 6th foot distinguish automatic Pilot throttle control system interface module phase Even；Bus termination resistance RS11 and RS8 be serially connected in a manner of end to end bus driver US2 the 7th foot and the 6th foot it Between, its midpoint is connected to the ground by shunt capacitance CS2；Bus termination resistance RS9 and RS10 are serially connected in a manner of end to end Between the 7th foot of bus driver US2 and the 6th foot, its midpoint is connected to the ground by shunt capacitance CS3.

Further, gas pedal interface includes accelerator pedal sensor interface PS6, filter capacitor CS10, decoupling capacitance CS9；The external gas pedal of accelerator pedal sensor interface PS6；The 2nd foot of accelerator pedal sensor interface PS6 and the 5th foot difference It is connected with automatic Pilot throttle control system interface module.

Further, automatic Pilot throttle control system interface module includes 12V power interface PS1, accelerator pedal signal Interface PS2, CAN network interface PS3, RS232 communication interface PS4, RS232 communication interface PS5；12V power interface PS1, throttle Pedal signal interface PS2, CAN network interface PS3, RS232 communication interface PS4, RS232 communication interface PS5 with it is external from The dynamic the corresponding interface docking driven in throttle control system；The 1st foot ground connection, the 2nd foot and the power module of 12V power interface PS1 + 12V output be connected；The 1st foot and the 2nd foot of accelerator pedal signal interface PS2 respectively with the PS6 in gas pedal interface 2 feet and the 5th foot are connected, and the 3rd foot, the 4th foot, the 5th foot measure the engine in interface with external accelerator pedal signal respectively Electronic control module APP2 signal measurement interface, electronic engine control module APP1 signal measurement interface, electronic engine control module APP2 letter Number ground connection be connected；CAN network interface PS3 is connected with the 7th foot, the 6th foot of bus driver US2 in CAN communication module respectively； RS232 communication interface PS4 is connected with the 8th foot, the 7th foot of the electrical level transferring chip US3 in RS232 communication module respectively；RS232 Communication interface PS5 is connected with the 13rd foot, the 14th foot of the electrical level transferring chip US3 in RS232 communication module respectively.

Compared with prior art, the beneficial effects of the utility model are as follows.

1, after the completion of the production of autonomous driving vehicle throttle control system, function and performance are carried out on this detection debug circuit Test, after the completion can directly using and be installed on autonomous driving vehicle, former vehicle circuit will not be caused due to the system failure Damage can effectively save the production cost of product, effectively improve the safety of automobile after repacking.

2, the throttle control system after the completion of detection debug circuit test of the utility model, the parameter of each circuit, function Calibration and test is completed in energy and output performance, does not need additional debugging operations, energy after being installed in automobile electrically-controlled system processed The effective production cycle for shortening product improves production economy benefit；Due to reequiping the simplification of process, worker is effectively reduced Labor intensity.

3, the detection debugging platform of the utility model is simple to operate, and visual performance is good, applies with important market Value.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of embodiment 2.

Fig. 2 is that embodiment 1 detects debug circuit functional block diagram.

Fig. 3 is the debugging control modular circuit schematic illustration that embodiment 1 detects debug circuit.

Fig. 4 is the LCD MODULE circuit theory schematic diagram that embodiment 1 detects debug circuit.

Fig. 5 is the circuit theory schematic diagram for the keyboard input module that embodiment 1 detects debug circuit.

Fig. 6 is the state indicator module circuit theory schematic diagram that embodiment 1 detects debug circuit.

Fig. 7 is the RS232 communication module circuitry schematic illustration that embodiment 1 detects debug circuit.

Fig. 8 is the CAN communication module circuit theory schematic diagram that embodiment 1 detects debug circuit.

Fig. 9 is the gas pedal interface module circuit schematic illustration that embodiment 1 detects debug circuit.

Figure 10 is the automatic Pilot throttle control system interface module circuit principle signal that embodiment 1 detects debug circuit Figure.

Figure 11 is the power module circuitry schematic illustration that embodiment 1 detects debug circuit.

Figure 12 is the debugging control module main program flow chart that embodiment 1 detects debug circuit.

Figure 13 is the circuit theory schematic diagram of automatic Pilot throttle control system.

Figure 14 is the micro controller module circuit diagram of automatic Pilot throttle control system.

Figure 15 is the accelerator pedal signal switching module circuit diagram of automatic Pilot throttle control system

Figure 16 is the gas pedal analog signal generation module circuit diagram of automatic Pilot throttle control system.

Figure 17 is the reference voltage module circuit schematic of automatic Pilot throttle control system.

Figure 18 is the CAN network interface module circuit schematic diagram of automatic Pilot throttle control system.

Figure 19 is the host computer communication interface modules circuit diagram of automatic Pilot throttle control system.

Figure 20 is the power module circuit schematic of automatic Pilot throttle control system.

In figure, 1- accelerator pedal device, 2- AC Power supply socket, 3- total power switch, 4, power supply indicator, 5- liquid crystal Display screen, 6- manual/automatic selector switch, 7- electronic engine control module return data button, 8- throttle increasing button, 9- throttle subtract Small button, 10- autonomous driving vehicle throttle control system, 11- battery interface, 12- accelerator pedal signal interface, 13-CAN are total Line interface, 14- host computer communication interface one, 15, host computer communication interface two, 16- electronic engine control module APP1 signal measurement Interface, 17- manual mode indicator light, 18- automatic mode indicator light, 19- electronic engine control module signal ground, 20- engine Electronic control module APP2 signal measurement interface, 21- two-way direct current digital voltmeter.

Specific embodiment

The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；

In order to better illustrate this embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent actual product 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 the concrete meaning of the utility model with concrete condition. The technical solution of the utility model is described further with reference to the accompanying drawings and examples.

Embodiment 1

The present embodiment provides a kind of detection debug circuits for autonomous driving vehicle throttle control system.

The detection debug circuit is debugged especially suitable for the detection of autonomous driving vehicle throttle control system.

One, autonomous driving vehicle throttle control system

As shown in figure 13, autonomous driving vehicle throttle control system includes accelerator pedal signal switching 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；

Accelerator pedal signal switching module distinguishes external gas pedal, motivation electronic control module；Electronic engine control module and electricity Sub- throttle body connection, electronic air throttle body control engine inlets；Engine load sensor is integrated in electronic throttle Body, and throttle opening is fed back to electronic engine control module；

Accelerator pedal position sensor is for incuding accelerator pedal position and sending position signal to accelerator pedal signal Switching module；Reference voltage module provides reference voltage, gas pedal analog signal for gas pedal analog signal generation module Generation module is connect by accelerator pedal signal switching module with electronic engine control module；Micro controller module and gas pedal are believed The connection of number switching module controls the disconnection or connection of the signal of electronic engine control module and accelerator pedal position sensor, control Electronic engine control module and the disconnection of gas pedal analog signal generation module are connected to；Micro controller module and gas pedal mould Quasi- signal generator module connection, and being connect by CAN network interface module with Automobile support grid, by host computer communication interface and Host computer connection.

Accelerator pedal of automobile position sensor and electronic engine control module line are disconnected, throttle control system is concatenated to it In, when being in pilot steering mode, accelerator pedal signal switching module is by the two-way of the accelerator pedal position sensor of automobile Signal is exported to electronic engine control module, and the signal integrity of accelerator pedal position sensor is transferred to the automatically controlled mould of former car engine Block, control process and traditional non-automatic driving are completely the same.When being in automatic driving mode, accelerator pedal signal is cut Block is changed the mold to disconnect the signal of accelerator pedal position sensor under the control of micro controller module；Micro controller module passes through upper Position machine communication interface receives the accelerator open degree value of host computer, then controls the output of gas pedal analog signal generation module and opening value Corresponding simulation accelerator pedal signal to electronic engine control module, by electronic engine control module according to its intrinsic control strategy and Method is realized electronic air throttle body and is controlled, and due to being integrated with engine load sensor in electronic air throttle body, starts electromechanics Control module can accurately know the aperture of air throttle, to realize closed-loop control.In addition, throttle control system is provided with CAN net Network interface, the interface are connected with automobile mounted network, and the micro controller module in throttle control system is logical by parsing CAN network Letter data can accurately know the speed and engine speed of automobile, to realize closed-loop control.

As shown in figure 14, micro controller module includes single-chip 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 single-chip microcontroller U8；The 15th foot of single-chip 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 single-chip 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 single-chip microcontroller U8 respectively with CAN network interface module Bus driver be connected；The port PT0, PT1, PT2, PT3, PT4, PT5 of single-chip microcontroller U8 respectively with gas pedal analog signal The communication port of the analog-digital chip of generation module is connected；PP3 mouth and the accelerator pedal signal switching module of single-chip microcontroller U8 Transistor base current-limiting resistance is connected.

As shown in figure 15, in the specific implementation process, accelerator pedal signal switching module includes driving triode Q1, current limliting Resistance R1, signal switch 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；Coil one end of signal switching 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 module；Signal switches the normal of relay K1 Closed contact passes through the signal wire of accelerator pedal signal interface P1 external automobile accelerator pedal position sensor；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 16, 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 port single-chip 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 switching module respectively It is connected.

As shown in figure 17, reference voltage module includes current-limiting resistance R4, filter capacitor C7, accurate regulated power supply U3, partial pressure Resistance R5 and R6, filter capacitor C8, potentiometer Rw1 is adjusted；The model TL431 of accurate regulated power supply U3；Current-limiting resistance R4's One end is connected with the positive 12V power supply of power module, other end is connected with the 2nd foot of accurate regulated power supply U3；Divider resistance R5, Divider resistance R6, adjust potentiometer Rw1 be serially connected in a manner of end to end accurate regulated power supply U3 the 2nd foot and the 3rd foot it Between, adjust potentiometer Rw1 middle tone node be connected with the 1st foot of regulated power supply U3.

As shown in figure 18, CAN network interface module includes bus driver U5, bus termination resistance R7, bus termination electricity Hinder 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 micro controller module The PM0 of middle single-chip microcontroller is connected with PM1；The 7th foot of bus driver U5 and the 6th foot pass through CAN interface P5 and automobile respectively CAN network bus is connected；Bus termination resistance R7 and R8 be serially connected in a manner of end to end bus driver U5 the 7th foot and Between 6th foot, its midpoint is connected to the ground by shunt capacitance C9；Bus termination resistance R9 and the R10 string in a manner of end to end It connects between the 7th foot of bus driver U5 and the 6th foot, its midpoint is connected to the ground by shunt capacitance C10.

As shown in figure 19, host computer communication interface modules includes electrical level transferring chip U6, pump capacitor C16 and C17, pump capacitor 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 port PS of single-chip microcontroller in micro controller module respectively；Pump Capacitor C16 is serially connected between the 1st foot of electrical level transferring chip U6 and the 3rd foot；Pump capacitor C17 is serially connected in electrical level transferring chip U6's Between 4th foot and the 5th foot；Pump capacitor C18 is serially connected between the 2nd foot of electrical level transferring chip U6 and ground；Pump capacitor 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 computer of P6.

As shown in figure 20, power module include battery 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 battery interface P2 external automobile battery.

Working principle is as described below.

The working principle of autonomous driving vehicle throttle control system is as described below.

When being in pilot steering mode：Accelerator pedal signal switching 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, control process and traditional non-automatic driving are completely the same.

When being in automatic driving mode：

Accelerator pedal signal switching module is under the control of micro controller module by the signal of accelerator pedal position sensor It disconnects；Specifically, the pin 1 of single-chip microcontroller U8 exports low level signal to the resistance R1 of accelerator pedal signal switching module, three poles Pipe Q1 saturation conduction, the coil of relay K1 obtain electric, the normally-closed contact movement of relay K1, the PCM_ of electronic engine control module The port APP1, the port PCM_APP2 are become point by being separately connected the port APP1 and the port APP2 of accelerator pedal position sensor Not Lian Jie gas pedal analog signal generation module the port VR_APP1, the port 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 connection；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 signal 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 parsing CAN network communication data, can accurately know the speed and engine speed of automobile, from And realize closed-loop control.

Two, for the detection debug circuit of autonomous driving vehicle throttle control system

This detection debug circuit is for carrying out detection debugging to above-mentioned autonomous driving vehicle throttle control system.

Referring to fig. 2, the present embodiment provides a kind of detection debug circuit for autonomous driving vehicle throttle control system, packets Include debugging control module, LCD MODULE, keyboard input module, state indicator module, RS232 communication module, CAN communication mould Block, gas pedal interface, automatic Pilot throttle control system interface module, power module；Power module provides for whole system Electric energy；Accelerator pedal position sensor, its output port in the external accelerator pedal device of gas pedal interface input terminal with from The dynamic throttle control system interface module that drives is connected；Automatic Pilot throttle control system interface module also with RS232 communication module, CAN communication module is connected, and external automatic Pilot throttle control system, accelerator pedal signal measurement interface, two-way are straight respectively Streaming digital voltmeter；Debugging control module is logical with LCD MODULE, keyboard input module, state indicator module, RS232 respectively Believe that module, CAN communication module are connected.

As a kind of specific embodiment of the present embodiment, as shown in figure 3, the debugging control module of the present embodiment includes single Piece machine US4, filter inductance LS1, filter capacitor CS12, decoupling capacitance CS13, short-circuit resistance RS15, short-circuit resistance RS16, filtering Capacitor CS15, decoupling capacitance CS17, filter capacitor CS19, decoupling capacitance CS14, decoupling capacitance CS16, decoupling capacitance CS18, crystalline substance Oscillation body device YS1, it corrective capacity CS20, corrective capacity CS21, impedance matching resistor RS17, resets charging resistor RS20, reset Charging capacitor CS35, reset key SB5, pull-up resistor RS18, current-limiting resistance RS19, program download interface PS7, decoupling capacitance CS22, decoupling capacitance CS23, decoupling capacitance CS24, decoupling capacitance CS25；The model MC9S12XS128MAA of single-chip microcontroller US4； The 15th foot of single-chip microcontroller US4 connect with one end of current-limiting resistance RS18, the other end of resistance and program download interface PS7 the The connection of 3 feet；Reset charging resistor RS20 and reset charging capacitor CS35 it is end to end connect between power supply and ground, its connection Midpoint is connected with the 30th foot of reset pin of single-chip microcontroller US4, reset key SB5 is attempted by the both ends for resetting charging capacitor CS35； The port PS0, PS1, PS2, PS3 of single-chip microcontroller US4 is connected with the electrical level transferring chip of RS232 communication module respectively；Single-chip microcontroller US4 The port PM0, PM1 be connected respectively with the bus driver of CAN communication module；The port PB of single-chip microcontroller US4, PA0, PA1, PP0, PT5 is connected respectively to the port PT7 with LCD MODULE；The port PT1 to PT4 of single-chip microcontroller US4 respectively with keyboard input module It is connected；The port PP1, PP2 of single-chip microcontroller US4 is connected with state indicator module respectively.

As a kind of specific embodiment of the present embodiment, as shown in figure 4, the LCD MODULE of the present embodiment includes liquid Crystal display US1, decoupling capacitance CS11, contrast adjustment potentiometer RWS1, backlight adjust triode QS1, current-limiting resistance RS1； The model LCD12864 of liquid crystal display US1；Data port the 7th foot to the 14th foot of liquid crystal display US1 respectively with debugging The port PB of single-chip microcontroller US4 in control module is connected；The 4th foot of control port, the 5th foot, the 6th foot, of liquid crystal display US1 15 feet, the 17th foot are connected with the port PA0, PA1, PT7, PT6, PT5 of the single-chip microcontroller US4 in debugging control module respectively；Liquid crystal The backlight electric power anode of display US1 is connected with power supply, its cathode is connected with the emitter that backlight adjusts triode QS1, backlight The collector of adjusting triode QS1 is connected to the ground, its base stage passes through the single-chip microcontroller in current-limiting resistance RS1 and debugging control module The port PP0 of US4 is connected；One end of contrast adjustment potentiometer RWS1 is connected with power supply, its other end and liquid crystal display The 18th foot of US1 is connected, its center point of adjustment is connected with the 3rd foot of liquid crystal display US1.

As a kind of specific embodiment of the present embodiment, as shown in figure 5, the keyboard input module of the present embodiment includes upper Pull-up resistor RS2, throttle increase regulating key SB1, pull-up resistor RS3, throttle and reduce regulating key SB2, pull-up resistor RS4, number According to passback key SB3, pull-up resistor RS5, mode selection switch SB4；It is first that pull-up resistor RS2 and throttle increase regulating key SB1 What tail was connected connect between power supply and ground, the midpoint of its connection and the port the PT4 phase of the single-chip microcontroller US4 in debugging control module Even；Pull-up resistor RS3 and throttle reduce regulating key SB2 it is end to end connect between power supply and ground, the midpoint of its connection with The port PT3 of single-chip microcontroller US4 in debugging control module is connected；Pull-up resistor RS4 and data back key SB3 are end to end It connects between power supply and ground, the midpoint of its connection is connected with the port PT2 of the single-chip microcontroller US4 in debugging control module；Pull-up electricity Resistance RS5 and mode selection switch SB4 is end to end to be connect between power supply and ground, in the midpoint and debugging control module of its connection Single-chip microcontroller US4 the port PT1 be connected.

As a kind of specific embodiment of the present embodiment, as shown in fig. 6, the state indicator module of the present embodiment includes limit Leakage resistance RS6, state instruction diode DS1, driving triode QS2, current-limiting resistance RS12, current-limiting resistance RS7, state instruction two Pole pipe DS2, driving triode QS3, current-limiting resistance RS13；Current-limiting resistance RS6 is connected simultaneously with the anode of state instruction diode DS1 It is serially connected between power supply and the emitter of driving triode QS2, the collector of driving triode QS2 is connected to the ground, its base stage is logical Current-limiting resistance RS12 is crossed to be connected with the port PP1 of the single-chip microcontroller US4 in debugging control module；Current-limiting resistance RS7 and state instruction The anode of diode DS2 is connected and is serially connected between power supply and the emitter of driving triode QS3, the collection of driving triode QS3 Electrode is connected to the ground, its base stage is connected by current-limiting resistance RS13 with the port PP2 of the single-chip microcontroller US4 in debugging control module.

As a kind of specific embodiment of the present embodiment, as shown in fig. 7, the RS232 communication module of the present embodiment includes Electrical level transferring chip US3, pump capacitor CS5 and CS4, pump capacitor CS7 and CS8, decoupling capacitance CS6；The type of electrical level transferring chip US3 Number be MAX232；The 11st foot of electrical level transferring chip US3, the 10th foot, the 12nd foot, the 9th foot are respectively and in debugging control module The port PS of single-chip microcontroller US4 is connected；Pump capacitor CS5 is serially connected between the 1st foot of electrical level transferring chip US3 and the 3rd foot；Pump capacitor CS4 is serially connected between the 4th foot of electrical level transferring chip US3 and the 5th foot；Pump capacitor CS7 is serially connected in the of electrical level transferring chip US3 Between 2 feet and ground；Pump capacitor CS8 is serially connected between the 6th foot of electrical level transferring chip US3 and ground；The of electrical level transferring chip US3 7 feet and the 8th foot are connected with the PS4 in automatic Pilot throttle control system interface module respectively；The 14th of electrical level transferring chip US6 Foot and the 13rd foot are connected with the PS5 in automatic Pilot throttle control system interface module respectively.

As a kind of specific embodiment of the present embodiment, as shown in figure 8, the CAN communication module of the present embodiment includes total Line drive US2, bus termination resistance RS8, bus termination resistance RS9, bus termination resistance RS10, bus termination resistance RS11, decoupling capacitance CS1, shunt capacitance CS2 and CS3；The model TJA1050 of bus driver US2；Bus driver US2 The 1st foot and the 4th foot be connected respectively with the PM1 and PM0 of the single-chip microcontroller US4 in debugging control module；The of bus driver US2 PS3 in 7 feet and the 6th foot difference automatic Pilot throttle control system interface module is connected；Bus termination resistance RS11 and RS8 with End to end mode is serially connected between the 7th foot of bus driver US2 and the 6th foot, its midpoint passes through shunt capacitance CS2 and ground It is connected；Bus termination resistance RS9 and RS10 be serially connected in a manner of end to end bus driver US2 the 7th foot and the 6th foot it Between, its midpoint is connected to the ground by shunt capacitance CS3.

As a kind of specific embodiment of the present embodiment, as shown in figure 9, the gas pedal interface of the present embodiment includes oil Door pedal sensor interface PS6, filter capacitor CS10, decoupling capacitance CS9；The external throttle of accelerator pedal sensor interface PS6 is stepped on Plate；The 2nd foot and the 5th foot of accelerator pedal sensor interface PS6 is respectively and in automatic Pilot throttle control system interface module The 1st foot of PS2 and the 2nd foot are connected.

As a kind of specific embodiment of the present embodiment, as shown in Figure 10, the automatic Pilot Throttle Opening Control of the present embodiment System interface module include 12V power interface PS1, accelerator pedal signal interface PS2, CAN network interface PS3, RS232 communication connect Mouth PS4, RS232 communication interface PS5；12V power interface PS1, accelerator pedal signal interface PS2, CAN network interface PS3, RS232 communication interface PS4, RS232 communication interface PS5 with the corresponding interface pair in external automatic Pilot throttle control system It connects；The 1st foot ground connection of 12V power interface PS1, the 2nd foot are connected with+the 12V of power module output；Accelerator pedal signal interface The 1st foot of PS2 and the 2nd foot are connected with the 2nd foot of the PS6 in gas pedal interface and the 5th foot respectively, the 3rd foot, the 4th foot, 5 feet measure electronic engine control module APP2 signal measurement interface, engine in interface with external accelerator pedal signal respectively Electronic control module APP1 signal measurement interface, electronic engine control module APP2 signal ground are connected；CAN network interface PS3 respectively with The 7th foot of bus driver US2, the 6th foot are connected in CAN communication module；RS232 communication interface PS4 communicates mould with RS232 respectively The 8th foot, the 7th foot of electrical level transferring chip US3 in block is connected；RS232 communication interface PS5 is respectively and in RS232 communication module The 13rd foot of electrical level transferring chip US3, the 14th foot is connected.

As a kind of specific embodiment of the present embodiment, as shown in figure 11, the power module of the present embodiment includes exchange Power interface PS8, rectifier diode DS4, rectifier diode DS5, rectifier diode DS6, rectifier diode DS7, filter capacitor CS26, switch integrated regulator US5, sustained diode S12, energy storage inductor LS2, filter capacitor CS28, decoupling capacitance CS27, AC power interface PS9, rectifier diode DS8, rectifier diode DS9, rectifier diode DS10, rectifier diode DS11, filter Wave capacitor CS29, switch integrated regulator US6, sustained diode S13, energy storage inductor LS3, filter capacitor CS30, decoupling capacitance CS31, current-limiting resistance RS14, power supply instruction diode DS3；Switch the model LM2576S-12 of integrated regulator US5；Switch The model LM2576S-5.0 of integrated regulator US6；The external 15V power frequency AC of AC power interface PS8；AC power source The external 9V power frequency AC of interface PS9.

As shown in figure 12, the debugging control module main program flow of the present embodiment is as follows：

Step 100：Match after system electrification to the initialization operation of liquid crystal display, to CAN network related register It sets, RS232 communication related register is configured, go to step 101；

Step 101：The state of driving mode selection switch SB4 is judged, when the shape of driving mode selection switch SB4 State goes to step 105 when being 1, goes to step 102 when the state of SB4 is 0；

Step 102：In automatic driving mode, automatic driving mode indicator light DS2 is lighted, extinguishing pilot steering mode refers to Show lamp DS1, so that tester understands the current driving mode of autonomous driving vehicle throttle control system, goes to step 103；

Step 103：Throttle is read to increase the state of regulating key SB1 and throttle reduction regulating key SB2, judge that key is It is no to press, throttle target opening value is adjusted according to the state of key, goes to step 104；

Step 104：Automatic driving mode and throttle target opening value number is written to RS232 serial communication data buffer area According to, it is issued and is ordered to tested autonomous driving vehicle throttle control system by RS232 communication port, simulation Throttle Opening Control system Host computer issues the function of order when system work, goes to step 107；To throttle control system issue serial communication data frame by The frame head of 2 bytes, the IDS code of 2 bytes, the driving mode of 1 byte, the accelerator open degree value of 1 byte, 1 byte Postamble totally 8 bytes compositions of check code, 1 byte, format and meaning are as shown in table 1 below：

Table 1 sends data frame definition

Step 105：In pilot steering mode, pilot steering mode indicating lamp DS1 is lighted, extinguishing automatic driving mode refers to Show lamp DS2, so that tester understands the current driving mode of autonomous driving vehicle throttle control system, goes to step 106；

Step 106：It is 0 to RS232 serial communication data buffer area write-in pilot steering mode data, accelerator open degree value, The format of communications data frame is identical as table 1, goes to step 107；

Step 107：Autonomous driving vehicle throttle control system passback key SB3 is detected, when SB3 is pressed, Step 108 is gone to, otherwise, goes to step 109；

Step 108：It is delayed after Key dithering, data back function starting, system simulated automotive function is sent out to CAN communication module The rotating speed of automobile engine of simulation, vehicle speed data is sent to give autonomous driving vehicle throttle control system, then receive autonomous driving vehicle The data that throttle control system is returned by RS232 communication module, and by the data be sent into liquid crystal display display buffer It is shown, goes to step 109；The data frame returned by autonomous driving vehicle throttle control system by 2 bytes frame head, 2 The IDS code of a byte, the vehicle speed value of 1 byte, the engine speed of 2 bytes, the check code of 1 byte, 1 byte frame Totally 9 bytes form tail, and format and meaning are as shown in table 2 below：

2 return data frame definition of table

Step 109：Liquid crystal display function is called, the display for carrying out 12864 character liquid crystals drives operation, in liquid crystal display Upper display driving mode (artificial/automatic), accelerator open degree value (0%~100%), return data (speed, engine speed), journey The sequence step 101 without exception that goes to realizes circulation.

The working principle of the present embodiment is as follows：

Referring to fig. 2 and Figure 13, in the present solution, the host computer communication interface of autonomous driving vehicle throttle control system, CAN net Network interface, power module, accelerator pedal signal switching module are connect by detecting the automatic Pilot throttle control system of debug circuit Mouth mold block respectively with detection debug circuit RS232 communication module, CAN communication module connect, power module, gas pedal interface It is connected, realizes that the communication, electric energy supply, gas pedal of detection debug circuit and autonomous driving vehicle throttle control system to be measured are believed Number transmission；Specifically, the P2 phase in PS1 and autonomous driving vehicle throttle control system Figure 20 in debug circuit Figure 10 is detected Even；PS2 in detection debug circuit Figure 10 is connected with the P1 in autonomous driving vehicle throttle control system Figure 15；Detection debugging electricity PS3 in the Figure 10 of road is connected with the P5 in autonomous driving vehicle throttle control system Figure 18；Detect the PS4 in debug circuit Figure 10 It is connected with the P6 in autonomous driving vehicle throttle control system Figure 19；Detect the PS5 and automatic Pilot vapour in debug circuit Figure 10 P7 in vehicle throttle control system Figure 19 is connected；

Debugging control module detects the mode selection switch SB4 in keyboard input module, is opened according to model selection The state for closing SB4 determines driving mode；

Debugging control module increases regulating key SB1 to throttle, throttle reduces regulating key SB2 and detects, according to tune Save the status adjustment accelerator open degree value of key；

Debugging control module detects data back key SB3, when needing to return autonomous driving vehicle Throttle Opening Control When the running car data that system is got, debug circuit is detected at this time to autonomous driving vehicle throttle control system to be detected Data are sent, simulation is adapted the electronic engine control module function of automobile, controls CAN communication module to certainly from debugging control module The CAN network of dynamic driving throttle control system sends speed, engine speed information, to be detected automatic to examine with this Whether the CAN communication function of driving throttle control system is normal；

Debugging control module passes through RS232 communication module again and receives what autonomous driving vehicle throttle control system transmitted Speed, engine speed information in vehicle traveling process；

Debugging control module controls LCD MODULE for the vehicle in driving mode, accelerator open degree value, vehicle traveling process Speed and engine speed information are shown on a liquid crystal display；

Debugging control module controls RS232 communication module and driving mode, accelerator open degree Value Data is sent to automatic Pilot Automobile throttle control system, switches over the throttle signal of automobile by it and signal imitation.

The detection adjustment method of the present embodiment is as follows：

A. driving mode is set by the keyboard input module of detection debugging system, respectively pilot steering mode and automatic Driving mode；

B. enter pilot steering mode capabilities to test, accelerator pedal device passes through gas pedal interface and automatic Pilot oil Gas pedal opening amount signal is sent to the throttle of autonomous driving vehicle throttle control system to be measured by accelerator control system interface module Pedal signal switching module is become by the output voltage of autonomous driving vehicle throttle control system accelerator pedal signal switching module Change the pilot steering whether matched with the variation of gas pedal opening amount signal to judge gas pedal switching module, micro controller module Mode capabilities it is normal whether；

When autonomous driving vehicle throttle control system to be measured output voltage change and input accelerator open degree variation not Timing is then adjusted examining system；It is described to be adjusted to by adjusting autonomous driving vehicle throttle control system benchmark to be measured The adjusting potentiometer of voltage module keeps reference voltage constant in standard value 5v；Accelerator pedal device is operated again, if automatically When the voltage change of driving throttle control system output and the accelerator open degree variation of input still mismatch, gas pedal is judged Analog signal generation module breaks down；

C. enter automatic driving mode functional test,

C1. debugging system simulated automotive function is detected, sends simulated engine revolving speed, vehicle speed information to automatic Pilot to be measured The CAN network interface module of automobile throttle control system；It detects debugging system and simulates host computer function, mould is communicated by RS232 Block receives the information that autonomous driving vehicle throttle control system to be measured is fed back to, and is shown by liquid crystal display device module； It is compared according to the data of display with the simulated engine revolving speed of transmission, vehicle speed information, to judge that CAN network to be measured connects Mouthful, host computer communication interface it is normal whether；

C2. detection debugging system simulates host computer function, sends accelerator open degree value signal to autonomous driving vehicle oil to be measured Accelerator control system host computer communication interface, and mould is switched by autonomous driving vehicle throttle control system accelerator pedal signal to be measured The output voltage variation of block judges that micro controller module, throttle are stepped on whether the variation of the gas pedal opening amount signal of input matches The automatic driving mode function and gas pedal analog signal generation module, reference voltage module of partitioned signal switching module are normal Whether.

The detection debug circuit for autonomous driving vehicle throttle control system of the present embodiment can satisfy to driving automatically All detection debugging functions for sailing automobile throttle control system avoid the prior art since the system failure causes former vehicle circuit Damage can effectively save the production cost of product, effectively improve the safety of automobile after repacking.

Embodiment 2

Referring to Fig. 1, the present embodiment difference from example 1 is that, the detection debug circuit is set to platform.

Specifically, the table top of platform is equipped with power supply indicator 4, manual mode indicator light 17, automatic mode indicator light 18, hands over Galvanic electricity supply socket 2, total power switch 3 are set to the side of platform；Accelerator pedal device 1 includes gas pedal and gas pedal position Sensor is set, mesa base is set to, accelerator pedal position sensor is stepped on the throttle in Fig. 9 in gas pedal interface module The PS6 connection of plate sensor interface；Liquid crystal display 5, manual/automatic selector switch 6, electronic engine control module return data button 7, throttle increasing button 8, throttle reduce button 9, autonomous driving vehicle throttle control system 10, battery interface 11, throttle and step on Partitioned signal interface 12, CAN interface 13, host computer communication interface 1, host computer communication interface 2 15, engine electric-controlled mould Block APP1 signal measurement interface 16, electronic engine control module signal ground 19, electronic engine control module APP2 signal measurement interface 20, two-way direct current digital voltmeter 21 is arranged on platform.

Power supply indicator 4 in Fig. 1 is the power supply instruction diode DS3 in Figure 11, and liquid crystal display 5 is liquid crystal display mode Liquid crystal display US1 in block, manual/automatic selector switch 6 are the mode selection switch SB4 in Fig. 5 keyboard input module, hair Motivation electronic control module return data button 7 is the data back key SB3 in Fig. 5 keyboard input module, and throttle increasing button 8 is Throttle in Fig. 5 keyboard input module increases regulating key SB1, throttle reduces the throttle in button 9 i.e. Fig. 5 keyboard input module Reduce regulating key SB2, accelerator pedal signal interface 12 is accelerator pedal signal interface PS2 in Figure 10, and CAN interface 13 is CAN network interface PS3, host computer communication interface 1 are RS232 communication interface PS4 in Figure 10 in Figure 10, and host computer communication connects RS232 communication interface PS5 in mouth 2 15 i.e. Figure 10, manual mode indicator light 17 are state instruction diode DS2 in Fig. 6, automatically Mode indicating lamp 18 is state instruction diode DS1 in Fig. 6, remaining component for detecting debug circuit is integrated in platform interior. Detection debug circuit passes sequentially through AC transformer, total power switch 3, the external 220v AC power source of AC Power supply socket 2, to obtain Obtain low-voltage alternating current power supply.

The course of work of the present embodiment is as follows：

After autonomous driving vehicle throttle control system 10 completes, it is connect with the interface battery reserved on platform Mouthfuls 11, accelerator pedal signal interface 12, CAN interface 13, host computer communication interface 1, host computer communication interface 2 15 into Row connection.The positive 12V DC electricity that autonomous driving vehicle throttle control system 10 passes through battery interface 11 and detection debug circuit Source is connected, to power for the control system.By 2 external power supply of AC Power supply socket, and total power switch 3 is pressed, test system Unite electric, power supply indicator 4 is lighted.

Host computer analog functuion is provided on platform, by the manual/automatic selector switch 6 on operating platform, by upper Position machine communication interface 1 sends driving mode control command to autonomous driving vehicle throttle control system 10, is verified automatically with this Whether the host computer communication interface modules work of driving throttle control system 10 is normal.

When being in pilot steering mode, platform lights manual mode indicator light 17, at this point, tester steps on platform bottom Whether the accelerator pedal device 1 in portion, the voltage value on two-way direct current digital voltmeter 21 on the right side of observation platform follow throttle to step on Plate is trampled depth and is changed, or with multimeter measurement electronic engine control module APP1 signal measurement interface 16 and starts electromechanics The voltage value between modules A PP2 signal measurement interface 20 and electronic engine control module signal ground 19 is controlled, sees whether it follows oil Door pedal is trampled depth and is changed, and switches mould with the accelerator pedal signal that this verifies autonomous driving vehicle throttle control system 10 Whether block work is normal.

When being in automatic driving mode, platform lights automatic mode indicator light 18, at this point, tester adjusts a platform left side The throttle increasing button 8 and throttle of side reduce 9 two operation buttons of button, meanwhile, after simultaneous display is adjusted on liquid crystal display 5 Accelerator open degree value and current driving mode, the electricity on two-way direct current digital voltmeter 21 on the right side of tester's observation platform Whether pressure value follows the variation of throttle adjustment and changes, or is connect with multimeter measurement electronic engine control module APP1 signal measurement Mouth 16 and the voltage value between electronic engine control module APP2 signal measurement interface 20 and electronic engine control module signal ground 19, It sees whether it follows the variation of throttle adjustment and change, the gas pedal of autonomous driving vehicle throttle control system 10 is verified with this Whether signal switching module, reference voltage module, gas pedal analog signal generation module, host computer communication interface modules work Normally.When the voltage value and APP2 of the voltage value or APP1 signal measurement interface shown on two-way direct current digital voltmeter 21 are believed The voltage value of number measurement interface adjusts automatic Pilot when being unsatisfactory for the corresponding relationship between gas pedal depth and output voltage values The adjusting potentiometer RW1 of reference voltage module, keeps reference voltage constant in 5V in automobile throttle control system 10.

Tester presses electronic engine control module return data button 7, and whether observation liquid crystal display 5 has display vehicle Speed, engine speed information, the CAN network interface module and host computer of autonomous driving vehicle throttle control system 10 are verified with this Whether communication interface modules work is normal.

The function of all functional modules of autonomous driving vehicle throttle control system 10 is verified, detects as a result, parameter It is corrected.

In the present embodiment, platform is debugged by the detection, it can detection tune to autonomous driving vehicle throttle control system Examination is divided into pilot steering mode and automatic driving mode both of which is tested, with autonomous driving vehicle throttle control system Function matches, and first tests the component for being related to pilot steering mode capabilities, due to this part few, Neng Gougeng that is related to component It is quickly found fault point, improves testing efficiency；After ensuring that the section components are normal, then carry out being related to Function for Automatic Pilot The component of mode is tested, since the functional component and Function for Automatic Pilot component of pilot steering mode are overlapped, if from When dynamic functional test judges failure, the failure for being overlapped component can be excluded, thus the event of automatic driving mode can be quickly located Hinder point, further improves testing efficiency and accuracy.

2, it when carrying out detection debugging, is placed directly in automobile compared with the existing technology and carries out detection debugging, the present embodiment It only needs for autonomous driving vehicle throttle control system to be measured to be connected with the interface in tabletop of platform, operation installation is simple just It is prompt.

3, the present embodiment will test debug circuit and be set to detection debugging platform, and Platform Designing is reasonable；The choosing of driving mode The control of the big minor adjustment, data back of selecting, simulate accelerator open degree, which passes through operation button, to be carried out, easy to operate；Pass through Detection debugging mode is indicated equipped with various indicator lights, it is right respectively to be equipped with liquid crystal display, two-way direct current digital voltmeter Detection tuning parameter is shown, so that commissioning staff is more clear intuitively debugging process, debugging result is analyzed without complicated, Reduce debugging difficulty；And while being provided with two-way direct current digital voltmeter, tabletop of platform is provided with engine electric-controlled mould The various measurement interfaces of block can carry out redundant validation to result, further improve accurate testing degree.

The same or similar label correspond to the same or similar components；Described in attached drawing positional relationship for being only used for showing Example property explanation, should not be understood as the limitation to this patent.Obviously, the above embodiments of the present invention be only be clearly to say Bright examples for clearly illustrating the present invention, and be not limitations of the embodiments of the present invention.For the general of fields For logical technical staff, other different forms of changes or modifications may be made based on the above description.Here it is not necessarily to Also all embodiments can not be exhaustive.It is made within the spirit and principle of the present invention it is any modification, Equivalent replacement and improvement etc., should be included within the utility model scope of the claims.

Claims

1. a kind of detection debug circuit for autonomous driving vehicle throttle control system, which is characterized in that the detection debugging Circuit is especially suitable for autonomous driving vehicle throttle control system；The autonomous driving vehicle throttle control system includes that throttle is stepped on Partitioned signal switching module, reference voltage module, gas pedal analog signal generation module, debugging control module, CAN network interface Module, host computer communication interface modules and the power module of electric energy is provided for it；

The external accelerator pedal position sensor of accelerator pedal signal switching module and electronic engine control module, reference voltage module are Gas pedal analog signal generation module provides reference voltage, and gas pedal analog signal generation module passes through accelerator pedal signal Switching module is connect with electronic engine control module；Debugging control module is connect with accelerator pedal signal switching module, and control is started The disconnection or connection of the signal of Electrical Control module and accelerator pedal position sensor control electronic engine control module and gas pedal The disconnection or connection of analog signal generation module；Debugging control module is connect with gas pedal analog signal generation module, and is led to It crosses CAN network interface module to connect with Automobile support grid, be connect by host computer communication interface with host computer；

The detection debug circuit include debugging control module, LCD MODULE, keyboard input module, state indicator module, RS232 communication module, CAN communication module, gas pedal interface, automatic Pilot throttle control system interface module, whole system The power module of electric energy is provided；Accelerator pedal position sensor in the external accelerator pedal device of gas pedal interface input terminal, Its output port is connected with automatic Pilot throttle control system interface module；Automatic Pilot throttle control system interface module also with RS232 communication module, CAN communication module are connected, and external automatic Pilot throttle control system, accelerator pedal signal are surveyed respectively Measure interface, two-way direct current digital voltmeter；Debugging control module refers to LCD MODULE, keyboard input module, state respectively Show that module, RS232 communication module, CAN communication module are connected；

The keyboard input module is used to send accelerator open degree to debugging control module and increases, reduces signal, driving mode selection Signal and return data instruction；The LCD MODULE is for showing driving mode, accelerator open degree value, automobile speed and hair Motivation rotary speed information；It is driven automatically when the RS232 communication module is for detecting debugging system simulation host computer function with to be measured Automobile throttle control system is sailed to be communicated, the CAN communication module for when detecting debugging system simulated automotive function with to Autonomous driving vehicle throttle control system is surveyed to be communicated；The gas pedal interface is used for external gas pedal, and by throttle Pedal opening signal is sent to autonomous driving vehicle Throttle Opening Control to be measured by automatic Pilot throttle control system interface module System；The automatic Pilot throttle control system interface module is for detecting debugging system and autonomous driving vehicle throttle control to be measured The connection of system processed；Keyboard input module instructs the debugging control module based on the received, adjusts accelerator open degree value, selection is driven It sails mode, notify throttle control system return data to be measured；Control LCD MODULE carries out information and shows；State of a control instruction Module indicates that current driving mode is artificial or automatic driving mode；RS232 communication module is controlled to Throttle Opening Control to be measured System sends or receives control command and return data；CAN communication module is controlled when data back function starts, to be measured Throttle control system sends the running car data of simulation.

2. the detection debug circuit of autonomous driving vehicle throttle control system according to claim 1, which is characterized in that adjust Examination control module includes single-chip microcontroller US4, filter inductance LS1, filter capacitor CS12, decoupling capacitance CS13, short-circuit resistance RS15, short Road resistance RS16, filter capacitor CS15, decoupling capacitance CS17, filter capacitor CS19, decoupling capacitance CS14, decoupling capacitance CS16, Decoupling capacitance CS18, it crystal oscillator YS1, corrective capacity CS20, corrective capacity CS21, impedance matching resistor RS17, resets and fills Resistance RS20, reset charging capacitor CS35, reset key SB5, pull-up resistor RS18, current-limiting resistance RS19, program downloading connect Mouth PS7, decoupling capacitance CS22, decoupling capacitance CS23, decoupling capacitance CS24, decoupling capacitance CS25；The model of single-chip microcontroller US4 MC9S12XS128MAA；The 15th foot of single-chip microcontroller US4 connect with one end of current-limiting resistance RS18, the other end and program of resistance Download interface connection；Reset charging resistor RS20 and reset charging capacitor CS35 it is end to end connect between power supply and ground, its The midpoint of connection is connected with the 30th foot of reset pin of single-chip microcontroller US4, reset key SB5 is attempted by and resets charging capacitor CS35's Both ends；The port PS0, PS1, PS2, PS3 of single-chip microcontroller US4 is connected with RS232 communication module respectively；PM0, PM1 of single-chip microcontroller US4 Port is connected with CAN communication module respectively；The port PB of single-chip microcontroller US4, PA0, PA1, PP0, PT5 to the port PT7 respectively with liquid Brilliant display module is connected；The port PT1 to PT4 of single-chip microcontroller US4 is connected with keyboard input module respectively；The PP1 of single-chip microcontroller US4, The port PP2 is connected with state indicator module respectively.

3. the detection debug circuit of autonomous driving vehicle throttle control system according to claim 2, which is characterized in that liquid Brilliant display module includes liquid crystal display US1, decoupling capacitance CS11, contrast adjustment potentiometer RWS1, backlight adjusting triode QS1, current-limiting resistance RS1；The model LCD12864 of liquid crystal display US1；The 7th foot of data port of liquid crystal display US1 is extremely 14th foot is connected with the port PB of the single-chip microcontroller US4 in debugging control module respectively；The control port the 4th of liquid crystal display US1 Foot, the 5th foot, the 6th foot, the 15th foot, the 17th foot respectively with PA0, PA1 of the single-chip microcontroller US4 in debugging control module, PT7, PT6, The port PT5 is connected；The backlight electric power anode of liquid crystal display US1 is connected with power supply, its cathode and backlight adjust triode QS1's Emitter is connected, and the collector that backlight adjusts triode QS1 is connected to the ground, its base stage passes through current-limiting resistance RS1 and debugging control The port PP0 of single-chip microcontroller US4 in module is connected；One end of contrast adjustment potentiometer RWS1 is connected with power supply, its other one End is connected with the 18th foot of liquid crystal display US1, its center point of adjustment is connected with the 3rd foot of liquid crystal display US1.

4. the detection debug circuit of autonomous driving vehicle throttle control system according to claim 2, which is characterized in that press Key input module includes pull-up resistor RS2, throttle increase regulating key SB1, pull-up resistor RS3, throttle reduction regulating key SB2, pull-up resistor RS4, data back key SB3, pull-up resistor RS5, mode selection switch SB4；Pull-up resistor RS2 and throttle Increase the end to end monolithic connect between power supply and ground, in the midpoint that it is connected and debugging control module of regulating key SB1 The port PT4 of machine US4 is connected；Pull-up resistor RS3 and throttle reduce that regulating key SB2 is end to end to be connect on power supply and ground Between, its connection midpoint be connected with the port PT3 of the single-chip microcontroller US4 in debugging control module；Pull-up resistor RS4 and data back Key SB3 is end to end to be connect between power supply and ground, the midpoint of its connection and the single-chip microcontroller US4 in debugging control module The port PT2 is connected；Pull-up resistor RS5 and mode selection switch SB4 is end to end to be connect between power supply and ground, in its connection Point is connected with the port PT1 of the single-chip microcontroller US4 in debugging control module.

5. the detection debug circuit of autonomous driving vehicle throttle control system according to claim 2, which is characterized in that shape State indicating module includes current-limiting resistance RS6, state instruction diode DS1, driving triode QS2, current-limiting resistance RS12, current limliting electricity Hinder RS7, state instruction diode DS2, driving triode QS3, current-limiting resistance RS13；Two pole current-limiting resistance RS6 and state instruction The anode of pipe DS1 is connected and is serially connected between power supply and the emitter of driving triode QS2, the collector of driving triode QS2 It is connected to the ground, its base stage is connected by current-limiting resistance RS12 with the port PP1 of the single-chip microcontroller US4 in debugging control module；Current limliting The anode of resistance RS7 and state instruction diode DS2 are connected and are serially connected between power supply and the emitter of driving triode QS3, The collector of driving triode QS3 is connected to the ground, its base stage passes through the single-chip microcontroller in current-limiting resistance RS13 and debugging control module The port PP2 of US4 is connected.

6. the detection debug circuit of autonomous driving vehicle throttle control system according to claim 2, which is characterized in that RS232 communication module includes electrical level transferring chip US3, pump capacitor CS5 and CS4, pump capacitor CS7 and CS8, decoupling capacitance CS6；Electricity The model MAX232 of flat conversion chip US3；The 11st foot of electrical level transferring chip US3, the 10th foot, the 12nd foot, the 9th foot respectively with The port PS of single-chip microcontroller US4 in debugging control module is connected；Pump capacitor CS5 be serially connected in electrical level transferring chip US3 the 1st foot and Between 3rd foot；Pump capacitor CS4 is serially connected between the 4th foot of electrical level transferring chip US3 and the 5th foot；Pump capacitor CS7 is serially connected in electricity Between the 2nd foot and ground of flat conversion chip US3；Pump capacitor CS8 is serially connected between the 6th foot of electrical level transferring chip US3 and ground；Electricity The 7th foot and the 8th foot of flat conversion chip US3 is connected with automatic Pilot throttle control system interface module respectively；Level conversion The 14th foot of chip US3 and the 13rd foot are connected with automatic Pilot throttle control system interface module respectively.

7. the detection debug circuit of autonomous driving vehicle throttle control system according to claim 2, which is characterized in that CAN communication module includes bus driver US2, bus termination resistance RS8, bus termination resistance RS9, bus termination resistance RS10, bus termination resistance RS11, decoupling capacitance CS1, shunt capacitance CS2 and CS3；The model of bus driver US2 TJA1050；The 1st foot of bus driver US2 and the 4th the foot PM1 and PM0 with the single-chip microcontroller US4 in debugging control module respectively It is connected；The 7th foot of bus driver US2 and the 6th foot difference automatic Pilot throttle control system interface module are connected；Bus termination Resistance RS11 and RS8 are serially connected between the 7th foot of bus driver US2 and the 6th foot in a manner of end to end, its midpoint passes through Shunt capacitance CS2 is connected to the ground；Bus termination resistance RS9 and RS10 are serially connected in bus driver US2 in a manner of end to end The 7th foot and the 6th foot between, its midpoint is connected to the ground by shunt capacitance CS3.

8. the detection debug circuit of autonomous driving vehicle throttle control system according to claim 2, which is characterized in that oil Door pedal interface includes accelerator pedal sensor interface PS6, filter capacitor CS10, decoupling capacitance CS9；Accelerator pedal sensor connects The mouth external gas pedal of PS6；The 2nd foot and the 5th foot of accelerator pedal sensor interface PS6 respectively with automatic Pilot Throttle Opening Control system Interface module of uniting is connected.

9. the detection debug circuit of autonomous driving vehicle throttle control system according to claim 2, which is characterized in that from The dynamic throttle control system interface module that drives includes 12V power interface PS1, accelerator pedal signal interface PS2, CAN network interface PS3, RS232 communication interface PS4, RS232 communication interface PS5；12V power interface PS1, accelerator pedal signal interface PS2, CAN Network interface PS3, RS232 communication interface PS4, RS232 communication interface PS5 is and in external automatic Pilot throttle control system The corresponding interface docking；The 1st foot ground connection of 12V power interface PS1, the 2nd foot are connected with+the 12V of power module output；Throttle is stepped on The 1st foot and the 2nd foot of partitioned signal interface PS2 is connected with the 2nd foot of the PS6 in gas pedal interface and the 5th foot respectively, and the 3rd Foot, the 4th foot, the 5th foot measure the electronic engine control module APP2 signal measurement in interface with external accelerator pedal signal respectively Interface, electronic engine control module APP1 signal measurement interface, electronic engine control module APP2 signal ground are connected；CAN network connects Mouth PS3 is connected with the 7th foot, the 6th foot of bus driver US2 in CAN communication module respectively；RS232 communication interface PS4 respectively with The 8th foot, the 7th foot of electrical level transferring chip US3 in RS232 communication module is connected；RS232 communication interface PS5 respectively with RS232 The 13rd foot, the 14th foot of electrical level transferring chip US3 in communication module is connected.