阅读说明：本技术 一种柴油机自动驾驶车辆的油门控制方法和装置 (Accelerator control method and device for diesel engine automatic driving vehicle ) 是由 王斌 余志敏 许昕航 孟宵 于 2021-08-17 设计创作，主要内容包括：本发明公开了一种柴油机自动驾驶车辆的油门控制方法和装置,其在柴油机自动驾驶车辆上,通过采用一种集成了联动控制开关的油门踏板的新装置,实现基于油门踏板开度状态,控制开关输出使能信号；基于控制开关的使能信号,发动机电控模块ECU判断执行受自动驾驶域控制器DCU的CAN总线油门信号控制或是驾驶室油门踏板的物理油门信号控制。同时该使能信号接入DCU,DCU据此掌握油门实际受控模式,实现闭环控制,从而满足自动驾驶车辆的油门控制要求。本发明巧妙利用了柴油机电控模块ECU存在两路油门输入的特点,结构简单,成本低廉。(The invention discloses a method and a device for controlling an accelerator of a diesel engine automatic driving vehicle, which are used for controlling a switch to output an enabling signal based on the opening state of the accelerator pedal by adopting a novel device of the accelerator pedal integrated with a linkage control switch on the diesel engine automatic driving vehicle; based on the enabling signal of the control switch, the ECU of the engine electric control module judges whether the execution is controlled by a CAN bus throttle signal of a DCU (controller area network) or a physical throttle signal of a cab throttle pedal. Meanwhile, the enabling signal is connected into the DCU, and the DCU grasps the actual controlled mode of the accelerator according to the enabling signal to realize closed-loop control, so that the accelerator control requirement of the automatic driving vehicle is met. The invention skillfully utilizes the characteristic of two-way throttle input of the electronic control module ECU of the diesel engine, and has simple structure and low cost.)

1. A throttle control method of a diesel engine automatic driving vehicle is characterized in that: a bus accelerator of the DCU is connected with a main accelerator of an engine electronic control module ECU, a physical accelerator of a cab accelerator pedal is connected with a remote accelerator of the engine electronic control module ECU, and a control switch linked with the cab accelerator pedal is connected with the DCU and the engine electronic control module ECU; based on the opening state of an accelerator pedal, the control switch outputs an enabling signal to an engine electronic control module ECU and an automatic driving area controller DCU; and the engine electronic control module ECU judges and executes the control of a bus accelerator of the DCU or a physical accelerator of an accelerator pedal of a cab based on the enabling signal, and the DCU executes exit or does not enter an automatic driving mode based on the enabling signal to realize closed-loop control.

2. The throttle control method of a diesel engine autonomous vehicle as claimed in claim 1, characterized in that: and if and only if the pedal arm is in a non-opening state, the enabling signal is equal to 0, the physical accelerator of the accelerator pedal of the cab is not acted, the bus accelerator of the dynamic driving area controller DCU is acted, and the engine is controlled by the bus accelerator of the dynamic driving area controller DCU.

3. The throttle control method of a diesel engine autonomous vehicle as claimed in claim 1, characterized in that: when the pedal arm is pressed down, the enabling switch signal is equal to 1, the physical accelerator of the cab accelerator pedal acts, the bus accelerator of the dynamic driving area controller DCU does not act, and the engine is controlled by the physical accelerator of the cab accelerator pedal.

4. The utility model provides a diesel engine autopilot vehicle's throttle controlling means, includes accelerator pedal, integrate in control switch on accelerator pedal, integrated in pedal position sensor APS, the automatically controlled module ECU of engine and autopilot territory controller DCU on accelerator pedal, its characterized in that: the electronic control unit ECU of the engine comprises a main accelerator signal stitch, a remote accelerator signal and a switch stitch, the DCU of the automatic driving area controller is connected with the main accelerator signal stitch of the electronic control unit ECU of the engine, the APS of the pedal position sensor is connected with the remote accelerator signal stitch of the electronic control unit ECU of the engine, a control switch is integrated on the accelerator pedal, the control switch is connected with the remote accelerator switch stitch of the electronic control unit ECU of the engine, and the control switch is connected with the DCU of the automatic driving area controller.

5. The throttle control apparatus of a diesel engine autonomous vehicle as claimed in claim 4, characterized in that: and the control switch is directly connected to the DCU through a hard wire.

6. The throttle control apparatus of a diesel engine autonomous vehicle as claimed in claim 4, characterized in that: and the control switch is converted into a bus signal through a small transfer control unit and is connected to the DCU.

7. The throttle control apparatus of a diesel engine autonomous vehicle as claimed in claim 4, characterized in that: the accelerator pedal is welded with a support, the support is U-shaped, the support is vertically connected with the control switch through a bolt, and the control switch comprises a telescopic contact.

8. The throttle control apparatus of a diesel engine autonomous vehicle as claimed in claim 7, characterized in that: the control switch comprises a nut and a stud which are used for connecting the support, a telescopic contact which can elastically stretch under the action of the pedal, a switch main body, a signal line and a connector.

9. The throttle control apparatus of a diesel engine autonomous vehicle as claimed in claim 5, characterized in that: the control switch is a normally closed automatic reset switch.

10. The throttle control apparatus of a diesel engine autonomous vehicle as claimed in claim 9, characterized in that: when the pedal is not stepped, the opening degree of the pedal is 0, the telescopic contact is pressed at the initial position under the action of the pedal arm, the switch is switched off, and the enable signal is equal to 0; after the pedal is stepped on, the telescopic contact pops out along with the pedal arm under the action of the spring in the telescopic contact, the internal switch is switched on, and an enabling signal is equal to 1.

Technical Field

The invention relates to the field of automatic driving of automobiles, in particular to a method and a device for controlling an accelerator signal of an automatic driving vehicle with a diesel engine.

Background

In an autonomous vehicle equipped with a diesel engine, control of an accelerator signal is an important part. The diesel engine is different from a gasoline engine, and usually does not receive a torque request, so that on an automatic driving vehicle carrying the gasoline engine, an automatic driving domain controller DCU (hereinafter, referred to as DCU) can convert torque through acceleration and directly request the torque to an engine electronic control module ECU (hereinafter, referred to as ECU), but on the automatic driving vehicle carrying the diesel engine, the DCU can only send an accelerator signal to the ECU, and then the ECU carries out corresponding torque table look-up.

As shown in fig. 1, in the conventional diesel engine vehicle, the accelerator control mainly includes an accelerator pedal (integrated with an APS), an ECU and a corresponding wire harness, the driver steps on the accelerator pedal, the APS sends out a corresponding voltage signal according to the pedal opening, and the ECU receives the voltage signal and converts the voltage signal into opening information, thereby completing the understanding of the driving intention of the driver. In a diesel engine autonomous vehicle, the throttle signal has two sources: firstly, throttle signals sent by a DCU (control unit) of an automatic driving area are usually sent in a CAN (controller area network) bus form; and secondly, an accelerator signal given by an accelerator pedal in a cab is a physical signal which is usually connected by a hard wire, and the signal of the accelerator pedal in the cab needs to obtain the prior response of an engine after the accelerator pedal is manually pressed down in view of the priority of manual driving. Therefore, the control of the throttle of the diesel autonomous vehicle requires as follows: 1. the engine needs to be capable of respectively responding to two paths of throttle signals of a bus throttle (DCU, in the process of automatic driving) and a physical throttle (a cab throttle pedal, in the process of manual driving); 2. the accelerator priority of an accelerator pedal in a cab is higher than that of a DCU bus accelerator, namely once the accelerator pedal is stepped on, an ECU (electronic control unit) needs to respond to an accelerator pedal signal preferentially; and 3, the DCU needs to master the actual controlled mode of the accelerator, and accordingly, the DCU does not enter or exit the automatic driving mode to form closed-loop control.

The specification of chinese invention patent CN108327532A discloses an accelerator control system and method for an automatic driving automobile, which realizes automatic control of accelerator signals by adding an accelerator signal simulation module, an accelerator signal switching module, etc. between an accelerator pedal and an engine electric control module, and can well realize automatic closed-loop control of accelerator signals, but the system has the following defects: it is costly to add new controller modules to a conventional vehicle architecture, with the more controllers, the greater the bus load.

The specification of the chinese invention patent CN110082132A discloses a mechanical leg for operating an automatic driving automobile pedal, which realizes automatic accelerator control by pushing an accelerator pedal through an accelerator pedal mechanical leg; the specification of the chinese invention patent CN103163886B discloses an automatic driving device and a control method for an intelligent vehicle, which are connected with a gasoline accelerator pedal through a ball screw, and are driven by a servo motor to realize automatic control of the accelerator pedal. Although the two schemes can also realize the throttle control, the two schemes have a plurality of disadvantages: 1. in preparation, the two schemes are actually used for mechanically controlling the accelerator pedal, a mechanical device needs to be additionally arranged, the driving space of a common passenger car is limited, and no space is additionally arranged at all. 2. The scheme is closer to a temporary refitting scheme, does not systematically consider the relationship among ASPs, ECUs and DCUs, and has no closed-loop control. 3. The structure is complicated, and the cost is higher.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides a method and a device for controlling the throttle of an automatic diesel engine driving vehicle, which have the advantages of small structural change, low cost, closed-loop control realization and capability of meeting the throttle control requirement of the automatic diesel engine driving vehicle.

The invention provides a throttle control method of a diesel engine automatic driving vehicle, which is shown in a figure 2:

a bus accelerator signal of a DCU is accessed to an ECU main accelerator of an engine electronic control module, and a physical accelerator signal of an accelerator pedal of a cab is accessed to an ECU remote accelerator;

acquiring a corresponding signal as an enabling signal for opening and closing a remote accelerator function based on the opening state of an accelerator pedal, wherein the enabling signal has two states of 0 and 1; based on the enabling signal, the ECU judges and executes the control of a main accelerator (DCU bus accelerator) or a remote accelerator (accelerator pedal physical accelerator);

the enabling signal is accessed into the DCU, the DCU grasps the throttle controlled mode according to the signal, and the automatic driving mode is executed to exit or not entered, so that the closed-loop control is realized.

In a preferred embodiment of the invention, the enable signal is 0, the remote throttle is inactive, the main throttle is active, and the engine is controlled by a main throttle (DCU bus throttle), if and only if the pedal arm is in the no-open state.

In a preferred embodiment of the invention, when the pedal arm is depressed, the enable signal is 1, the remote throttle is active, the main throttle is inactive, and the engine is controlled by the remote throttle (accelerator pedal physical throttle).

The invention also discloses an accelerator control device of the diesel engine automatic driving vehicle, which comprises an accelerator pedal, a control switch integrated on the accelerator pedal, a pedal position sensor APS integrated on the accelerator pedal, an engine electronic control module ECU and an automatic driving area controller DCU. The electronic control unit ECU of the engine comprises a main accelerator pin (CAN bus pin) and a remote accelerator signal and switch pin, the DCU of the automatic driving area controller is connected with the electronic control unit ECU of the engine through the CAN bus, the APS of the pedal position sensor is connected with the remote accelerator signal pin of the electronic control unit ECU of the engine, the control switch is connected with the remote accelerator switch pin of the electronic control unit ECU of the engine, and the control switch is connected with the DCU hard wire or bus of the automatic driving area controller.

In a preferred embodiment of the invention, a bracket is welded on the accelerator pedal, the bracket is U-shaped, and the control switch is connected to the bracket through a bolt.

In a preferred embodiment of the present invention, the control switch includes a nut and a stud for connecting the bracket, a telescopic contact capable of elastically expanding and contracting under the action of the pedal arm, a switch main body, a signal line and a connector.

In a preferred embodiment of the present invention, the control switch is a normally closed automatic reset switch; when the pedal is not stepped, the opening degree of the pedal is 0, the telescopic contact is pressed at the initial position under the action of the pedal arm, the switch is disconnected, and the switch enable signal is equal to 0; after the pedal is stepped on, the telescopic contact pops out along with the pedal arm under the action of the spring in the telescopic contact, the internal switch is switched on, and a switch enabling signal is equal to 1.

In a preferred embodiment of the present invention, the control switch is directly connected to the autopilot domain controller DCU through a hard wire or is converted into a bus signal through a relay small control unit to be connected to the autopilot domain controller DCU.

The invention has the beneficial effects that: the invention skillfully utilizes the existing characteristics of the diesel engine ECU: 1. two-way throttle input of a main throttle and a remote throttle exists; 2. the remote throttle and the main throttle can switch and respond according to the enabling signal. Based on the characteristics, the novel device for additionally arranging the control switch on the pedal outputs an enabling signal on the basis of the original vehicle, simultaneously adjusts the connection relation of related parts and the calibration of the ECU to realize the control of the accelerator, has small structural change and low cost, and meets the control requirement of the automatic driving accelerator.

Drawings

FIG. 1 is a prior art schematic illustration of a conventional diesel vehicle throttle control;

FIG. 2 is a schematic illustration of a throttle control method of the diesel autopilot vehicle of the present invention;

FIG. 3 is a schematic view of a throttle control apparatus of a diesel engine autonomous vehicle of the present invention

Fig. 4 is a schematic control switch diagram of a throttle control device of the diesel engine automatic driving vehicle according to the invention.

Detailed Description

The invention will now be described in further detail, including the preferred embodiments, with reference to the accompanying drawings and by way of illustration of some alternative embodiments of the invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

The invention discloses a throttle control method of a diesel engine automatic driving vehicle, which comprises the following steps:

a bus accelerator signal of the DCU is connected to an ECU main accelerator, and a physical accelerator signal of an accelerator pedal is connected to an ECU remote accelerator;

acquiring a corresponding enabling signal as an enabling signal for opening and closing a remote accelerator function based on the opening state of an accelerator pedal, wherein the enabling signal only has two states of 0 and 1; based on the enabling signal, the ECU judges and executes the control of a main accelerator (DCU bus accelerator) or a remote accelerator (accelerator pedal physical accelerator);

the enabling switch signal is connected to the DCU, the DCU grasps the throttle controlled mode according to the signal, and the automatic driving mode is executed to exit or not entered, so that closed-loop control is realized.

In a preferred embodiment of the invention, the enable switch signal is 0, the remote throttle is inactive, the main throttle is active, and the engine is controlled by a main throttle (DCU bus throttle), if and only if the pedal arm is in the no-open state.

In a preferred embodiment of the invention, when the pedal arm is depressed, the enable switch signal is 1, the remote throttle is active, the main throttle is inactive, and the engine is controlled by the remote throttle (physical throttle of the accelerator pedal).

The invention also discloses an accelerator control device of the diesel engine automatic driving vehicle, which comprises an accelerator pedal, a control switch integrated on the accelerator pedal, a pedal position sensor APS integrated on the accelerator pedal, an engine electronic control module ECU and an automatic driving area controller DCU. The electronic control module ECU of the engine comprises a main throttle signal pin (CAN bus pin) and a remote throttle signal and a switch pin, the DCU of the automatic driving area controller is connected with the electronic control module ECU of the engine through a CAN bus, the APS of the pedal position sensor is connected with the remote throttle signal pin of the electronic control module ECU of the engine, the control switch is connected with the remote throttle switch pin of the electronic control module ECU of the engine, and the control switch is connected with the DCU of the automatic driving area controller through a hard wire or a bus.

The DCU is connected with the ECU through a CAN bus, and the relative calibration of the ECU is modified: setting the type of a main accelerator as a bus accelerator, and writing a data source address as a DCU address; secondly, starting a remote accelerator function, and setting a corresponding working mode (the remote accelerator generally has three modes, and the remote accelerator is set to be in a mode that an enabling signal is 1, and the remote accelerator is enabled); and thirdly, adjusting the electrical characteristics of the remote accelerator to be consistent with those of the pedal.

The control switch is arranged on an accelerator pedal and is in hard-line connection with a remote accelerator switch pin on the ECU to be used as a remote accelerator enabling switch. And simultaneously setting a remote accelerator enabling switch mode in the ECU: when the enabling signal is 1, the remote accelerator is started, and the main accelerator is not acted; when the enabling signal is equal to 0, the remote accelerator is not acted, and the main accelerator is acted. The telescopic contact of the control switch is in contact linkage with the accelerator pedal arm, and when and only when the pedal arm is in a non-opening state, the switch is closed, an enable signal is equal to 0, the remote accelerator is not acted, the main accelerator is acted, and the engine is controlled by the main accelerator (a DCU bus accelerator); once the pedal is stepped on, the switch is turned on after the pedal has a certain opening degree, the enabling switch signal is equal to 1, the remote accelerator acts, and at the moment, the engine is controlled by the remote accelerator (a physical accelerator in a cab).

Meanwhile, the enable switch signal can be directly connected to the DCU through a hard wire or converted into a bus signal through a small transfer control unit to be connected to the DCU, so that the feedback of the actual controlled state of the accelerator is realized. When the enable switch signal is 1, the DCU performs a mode of not entering or exiting the autonomous driving.

In conclusion, the scheme meets the accelerator control requirement of automatic driving, namely the engine can be respectively controlled by a DCU bus accelerator and a cab accelerator pedal, the priority of the cab accelerator pedal is higher than that of the DCU, and meanwhile, the actual controlled mode of the accelerator can be fed back to the DCU, so that closed-loop control is realized.

In a preferred embodiment of the present invention, as shown in fig. 3, a bracket 2 is welded on the accelerator pedal 1, and a control switch 3 is detachably connected to the bracket 2. Specifically, the bracket 2 is U-shaped, the bracket 2 is provided with a threaded hole (in this example, a threaded hole is formed by welding a nut under the bent bracket), the front end of the control switch 3 is a stud, the stud is vertically installed on the bracket through the threaded hole on the bracket 2, and the position is adjusted and fastened through the nut.

In a preferred embodiment of the present invention, as shown in fig. 4, the control switch 3 includes a telescopic contact 3.1 capable of elastically stretching under the action of the pedal arm, a switch main body 3.3, a signal line 3.4 and a connector 3.5 for connecting the bracket nut and the stud 3.2, wherein the nut and the stud 3.2 are used for being mounted on the bracket 2, and the screw structure enables the feeding position of the telescopic contact 3.1 to be adjusted by rotating the nut, so that the telescopic contact 3.1 is in the starting position without affecting the pedal under the condition of no pedal opening.

In a preferred embodiment of the invention, the control switch 3 is a normally closed automatic reset switch, and the telescopic contact 3.1 pops up in a natural state and a circuit is closed; when the telescopic contact 3.1 is pressed down, the circuit is broken. When the pedal is not stepped, the opening degree of the pedal is 0, the telescopic contact 3.1 is pressed at the initial position under the action of the pedal arm, the switch is switched off, the enabling signal is equal to 0, the remote accelerator is closed, the main accelerator acts, and the engine is controlled by the DCU bus accelerator; after the pedal is stepped on, the telescopic contact 3.1 pops out along with the pedal arm under the action of the spring in the telescopic contact, the internal switch is switched on, and an enabling signal is equal to 1. The remote accelerator is started, and the engine is controlled by the accelerator of the cab; when the pedal is released to the bottom, the contact is pressed back to the starting position under the action of the pedal arm, the enabling signal is equal to 0, and the engine is controlled by the DCU bus accelerator again.

For the engine module software portion, the main points of change from the conventional calibration include: setting the type of a main accelerator as a bus accelerator and setting a data source address as a DCU address; secondly, opening a remote accelerator function and setting a corresponding working mode; and thirdly, adjusting the electrical characteristic of the remote accelerator to be consistent with the main accelerator and the output characteristic of the accelerator pedal.

For the DCU part, a corresponding hard wire interface can be arranged on the DCU to receive the pedal enabling signal, and a transfer control unit can be arranged to convert the enabling switch signal into a bus signal to be connected into the DCU.

The present invention is not limited to the above embodiments, and any modification, combination, replacement, or improvement made by the spirit and principle of the present invention is included in the protection scope of the present invention.