A circuit for generating and switching analog throttle signals

Abstract

The present invention discloses a generation and switching circuit of a simulated throttle signal, comprising a first original vehicle throttle voltage signal processing circuit, a second original vehicle throttle voltage signal processing circuit, a microcontroller MCU, a simulated throttle signal DAC circuit and a switching switch circuit, wherein: the microcontroller MCU is respectively connected to the first original vehicle throttle voltage signal processing circuit, the second original vehicle throttle voltage signal processing circuit, the simulated throttle signal DAC circuit and the switching switch circuit; the switching switch circuit is connected to the simulated throttle signal DAC circuit, and is used to select and output the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal, or output two-way simulated throttle signals to the outside. The generation and switching circuit of the simulated throttle signal disclosed by the present invention can not only generate a simulated throttle signal, but also when the automatic driving vehicle enters the manual driving state, it can switch to use the throttle signal of the original vehicle, thereby ensuring the normal use of the vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned modified vehicles, and in particular to a generation and switching circuit of a simulated throttle signal. Background Art

[0002] Autonomous driving technology has been a hot topic in recent years, and more and more companies are investing in the research and production of autonomous vehicles.

[0003] At present, many autonomous driving solution providers have made corresponding modifications to the original finished vehicles to achieve the vehicle's autonomous driving. Therefore, many signals on the original vehicle need to simulate the state of manual driving in the autonomous driving mode. Among them, the throttle signal is one of the important signals.

[0004] When an ordinary high-speed car is converted into an autonomous driving vehicle, on the one hand, the throttle signal in the autonomous driving vehicle is required to be provided through circuit simulation, that is, to provide a simulated throttle signal; on the other hand, it is also required that when the autonomous driving vehicle enters the manual driving state, the throttle signal of the original car can still be used (that is, the throttle signal input directly by the user by pressing the car's accelerator pedal) to ensure the normal use of the vehicle.

[0005] However, there is currently no technology that can reliably achieve the above functions. Summary of the invention

[0006] The purpose of the present invention is to provide a generation and switching circuit of a simulated throttle signal in view of the technical defects in the prior art.

[0007] To this end, the present invention provides a generation and switching circuit of a simulated throttle signal, which includes a first original vehicle throttle voltage signal processing circuit, a second original vehicle throttle voltage signal processing circuit, a microcontroller MCU, a simulated throttle signal DAC circuit and a switching switch circuit, wherein:

[0008] The first original vehicle throttle voltage signal processing circuit is used to perform voltage division processing on the first original vehicle throttle voltage signal output by the external throttle pedal, and then transmit it to the microcontroller MCU;

[0009] The second original vehicle throttle voltage signal processing circuit is used for performing voltage division processing on the second original vehicle throttle voltage signal output by the external throttle pedal, and then transmitting the signal to the microcontroller MCU;

[0010] The microcontroller MCU is respectively connected to the first original vehicle throttle voltage signal processing circuit, the second original vehicle throttle voltage signal processing circuit, the analog throttle signal DAC circuit and the switching switch circuit, and is used to collect the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal output by the first original vehicle throttle voltage signal processing circuit and the second original vehicle throttle voltage signal processing circuit, and when the vehicle driving computer ECU switches the vehicle state from the manual driving state to the automatic driving state, receive the automatic driving state start control signal and the automatic driving state analog throttle control signal sent by the vehicle ECU, and then send the switching control signal to the switching switch circuit accordingly, and send the automatic driving state throttle control signal to the analog throttle signal DAC circuit accordingly;

[0011] The analog throttle signal DAC circuit is used to receive the analog throttle control signal of the automatic driving state output by the microcontroller MCU, generate two corresponding analog throttle signals after digital-to-analog conversion, and then output them to the switching circuit;

[0012] The switching switch circuit is connected to the analog throttle signal DAC circuit, and is used to access the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal output by the external throttle pedal, and access the two-way analog throttle signal output by the analog throttle signal DAC circuit, and according to the switching control signal output by the microcontroller MCU, select to output the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal to the external throttle signal receiving device, or output the two-way analog throttle signal to the outside.

[0013] Preferably, the microcontroller MCU is also used to control the analog throttle signal DAC circuit to generate an analog throttle signal in the same voltage range according to the voltage ranges of the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal after collecting the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal output by the first original vehicle throttle voltage signal processing circuit and the second original vehicle throttle voltage signal processing circuit.

[0014] Preferably, the first original vehicle throttle voltage signal processing circuit comprises a first original vehicle throttle voltage signal input terminal AD0_5C;

[0015] The first original vehicle throttle voltage signal input terminal is respectively connected to one end of the ESD protection diode D1 and one end of the resistor R1;

[0016] The other end of the ESD protection diode D1 is grounded;

[0017] The other end of the resistor R1 is respectively connected to one end of the resistor R2, one end of the capacitor C1 and the first signal acquisition terminal AD0_5V_AN7 of the microcontroller MCU;

[0018] The other end of the resistor R2 and the other end of the capacitor C1 are grounded respectively.

[0019] Preferably, the second original vehicle throttle voltage signal processing circuit comprises a second original vehicle throttle voltage signal input terminal AD1_5C;

[0020] The second original vehicle throttle voltage signal input terminal AD1_5C is connected to one end of the ESD protection diode D2 and one end of the resistor R3 respectively;

[0021] The other end of the ESD protection diode D2 is grounded;

[0022] The other end of the resistor R3 is respectively connected to one end of the resistor R4, one end of the capacitor C2 and the second signal acquisition terminal AD1_5V_AN8 of the microcontroller MCU;

[0023] The other end of the resistor R4 and the other end of the capacitor C2 are grounded respectively.

[0024] Preferably, the switching circuit includes a relay control chip U1;

[0025] Pin 1 of the relay control chip U1 is connected to the switching control signal output terminal VCC_RELAY1 of the microcontroller MCU;

[0026] Pin 2 of the relay control chip U1 is connected to the first original vehicle throttle voltage signal input terminal AD0_5C;

[0027] Pin 7 of the relay control chip U1 is connected to the throttle voltage signal input terminal AD1_5C of the second original vehicle;

[0028] Pin 3 of the relay control chip U1 is connected to the first throttle signal receiving terminal DAOUT0_5V of the external throttle signal receiving device;

[0029] Pin 6 of the relay control chip U1 is connected to the second throttle signal receiving terminal DAOUT1_5V of the external throttle signal receiving device;

[0030] Pin 4 of the relay control chip U1 is connected to the first analog throttle signal output terminal DA0_5V in the analog throttle signal DAC circuit;

[0031] Pin 5 of the relay control chip U1 is connected to the second analog throttle signal output terminal DA1_5V in the analog throttle signal DAC circuit.

[0032] Preferably, pin 1 of the relay control chip U1 is also connected to the cathode of a diode D3;

[0033] The anode of the diode D3 is connected to the pin 8 of the relay control chip U1;

[0034] Pin 8 of the relay control chip U1 is also connected to ground;

[0035] Pin 3 of the relay control chip U1 is also grounded through the ESD protection diode D4;

[0036] Pin 6 of the relay control chip U1 is also grounded through an ESD protection diode D5.

[0037] Preferably, the analog throttle signal DAC circuit includes a DAC chip U2;

[0038] Pin 1 of the DAC chip U2 is connected to the first analog throttle signal output terminal DA0_5V;

[0039] The first analog throttle signal output terminal DA0_5V is connected to pin 4 of the relay control chip U1;

[0040] Pin 5 of the DAC chip U2 is connected to the second analog throttle signal output terminal DA1_5V;

[0041] The second analog throttle signal output terminal DA1_5V is connected to the pin 5 of the relay control chip U1;

[0042] Pin 3 of the DAC chip U2 is connected to a 5V power supply VCC, one end of a capacitor C4, and one end of a capacitor C6 respectively;

[0043] The other end of the capacitor C4 and the other end of the capacitor C6 are grounded after being merged.

[0044] Preferably, pin 2, pin 14 and pin 17 of the DAC chip U2 are grounded;

[0045] Pins 4, 15 and 16 of the DAC chip U2 are left unused.

[0046] Preferably, the pin 10 of the DAC chip U2 is connected to the first connection terminal A;

[0047] Pin 11 of the DAC chip U2 is connected to the second connection terminal B;

[0048] Pin 12 of the DAC chip U2 is connected to the third connection terminal C;

[0049] Pin 6 of the DAC chip U2 is connected to the fourth connection terminal D;

[0050] Pin 7 of the DAC chip U2 is connected to the fifth connection terminal E;

[0051] Pin 13 of the DAC chip U2 is connected to the sixth connection terminal F;

[0052] Among them, the first connection terminal A, the second connection terminal B, the third connection terminal C, the fourth connection terminal D, the fifth connection terminal E, and the sixth connection terminal F correspond to pins P15.3, pin P15.2, pin P15.5, pin P15.4, pin P15.6 and pin P15.7 on the microcontroller MCU 300, respectively.

[0053] Preferably, after the pin 8 and the pin 9 of the DAC chip U2 intersect, they are respectively connected to one end of the capacitor C3, one end of the capacitor C5 and a power supply;

[0054] The other end of the capacitor C3 and the other end of the capacitor C5 are connected to the ground after merging;

[0055] Pin 11 of the DAC chip U2 is also connected to one end of the resistor R6;

[0056] The other end of the resistor R6 is connected to one end of the resistor R5 and a power supply respectively;

[0057] The other end of resistor R5 is connected to pin 13 of DAC chip U2;

[0058] Pin 17 of the DAC chip U2 is also grounded through a resistor R15.

[0059] It can be seen from the technical solution provided by the present invention that, compared with the prior art, the present invention provides a circuit for generating and switching a simulated throttle signal, which has a scientific structural design and can not only generate a simulated throttle signal, but also switch to use the throttle signal of the original vehicle when the autonomous driving vehicle enters the manual driving state, thereby ensuring the normal use of the vehicle, which has great production practical significance.

[0060] In addition, the present invention can achieve electrostatic protection through the design of the ESD protection diode, thereby preventing the acquisition circuit from being damaged by static electricity.

[0061] In addition, for many currently manufactured modified vehicles, the application of the present invention can relatively simply realize the simulation of the throttle signal, control the simulation of the throttle signal during the automatic driving process, and thus control the speed of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A block diagram of the working principle of a simulation throttle signal generation and switching circuit provided by the present invention;

[0063] Figure 2 A schematic diagram of a first original vehicle throttle voltage signal processing circuit for processing a first original vehicle throttle voltage signal before connecting to a microcontroller MCU in a simulation throttle signal generation and switching circuit provided by the present invention;

[0064] Figure 3 A schematic diagram of a second original vehicle throttle voltage signal processing circuit for processing the second original vehicle throttle voltage signal before connecting to the microcontroller MCU in a simulation throttle signal generation and switching circuit provided by the present invention;

[0065] Figure 4 A schematic diagram of a switching switch circuit in a circuit for generating and switching a simulated throttle signal provided by the present invention;

[0066] Figure 5 A schematic diagram of a simulated throttle signal DAC (digital-to-analog converter) circuit in a simulated throttle signal generation and switching circuit provided by the present invention;

[0067] Figure 6 The invention provides a connection circuit diagram of a microcontroller MCU in a generation and switching circuit for simulating a throttle signal. DETAILED DESCRIPTION

[0068] In order to make the technical means implemented by the present invention easier to understand, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant application, rather than to limit the application. It is also necessary to explain that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings.

[0069] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0070] See also Figures 1 to 6 The present invention provides a circuit for generating and switching an analog throttle signal, comprising a first original vehicle throttle voltage signal processing circuit 100, a second original vehicle throttle voltage signal processing circuit 200, a microcontroller MCU 300, an analog throttle signal DAC (digital-to-analog converter) circuit 400 and a switching circuit 500, wherein:

[0071] The first original vehicle throttle voltage signal processing circuit 100 is used to perform voltage division processing on the first original vehicle throttle voltage signal output by the external throttle pedal, and then transmit it to the microcontroller MCU;

[0072] The second original vehicle throttle voltage signal processing circuit 200 is used to perform voltage division processing on the second original vehicle throttle voltage signal output by the external throttle pedal, and then transmit it to the microcontroller MCU;

[0073] The microcontroller MCU 300 is respectively connected to the first original vehicle throttle voltage signal processing circuit 100, the second original vehicle throttle voltage signal processing circuit 200, the analog throttle signal DAC (digital-to-analog converter) circuit 400 and the switching switch circuit 500, and is used to collect the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal output by the first original vehicle throttle voltage signal processing circuit and the second original vehicle throttle voltage signal, and when the automobile ECU (electronic controller unit, i.e., the driving computer) switches the vehicle state from the manual driving state to the automatic driving state, receive the automatic driving state start control signal and the automatic driving state analog throttle control signal (the signal is a digital signal) sent by the automobile ECU, and then send the switching control signal to the switching switch circuit accordingly, and send the automatic driving state throttle control signal to the analog throttle signal DAC (digital-to-analog converter) circuit accordingly.

[0074] The analog throttle signal DAC (digital-to-analog converter) circuit 400 is used to receive the analog throttle control signal (the signal is a digital signal) of the automatic driving state output by the microcontroller MCU, and after performing digital-to-analog conversion, generate two corresponding analog throttle signals, and then output them to the switching circuit 500;

[0075] In the present invention, it should be noted that the existing automobile ECU (electronic controller unit, i.e., on-board computer) will generate an automatic driving state simulation throttle control signal when the vehicle state is switched from a manual driving state to an automatic driving state. This automatic driving state simulation throttle control signal is generated according to existing technology and is a throttle control signal that can adapt to actual road conditions.

[0076] It should also be noted that the vehicle used in conjunction with the circuit of the present invention is an existing autonomous driving vehicle equipped with various perception sensors (such as laser radar, camera, millimeter wave radar), which can perceive the external environment in real time (just like human eyes, seeing the actual situation outside, the ECU is similar to the human brain, deciding whether to accelerate or decelerate at this time, wherein acceleration and deceleration are achieved by controlling the voltage size (such as 0-5V) of the analog signal of the simulated throttle (i.e., the analog throttle control signal in the autonomous driving state).

[0077] The switching switch circuit 500 is connected to the analog throttle signal DAC (digital-to-analog converter) circuit 400, and is used to access the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal output by the external throttle pedal, and access the two analog throttle signals output by the analog throttle signal DAC (digital-to-analog converter) circuit 400, and according to the switching control signal output by the microcontroller MCU, select to output the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal to an external throttle signal receiving device (such as the vehicle controller VCU on the original vehicle), or output two analog throttle signals to the outside.

[0078] It should be noted that the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal, as original vehicle throttle signals, are provided by the original vehicle pedal.

[0079] The circuit of the present invention finally outputs a throttle signal which is given to the vehicle controller VCU (a controller that can collect analog voltage and has similar functions to the ECU) on the original vehicle. After being processed by the VCU, the throttle signal is given to the vehicle engine management system EMS on the vehicle for execution.

[0080] In the present invention, the analog throttle signal is an analog signal with a voltage range of 0 to 5V, which is the same as the throttle pedal of the original vehicle, 5V is the maximum speed, and 0V is the minimum speed.

[0081] In the present invention, in a specific implementation, the microcontroller MCU 300 is also used to control the analog throttle signal DAC (digital-to-analog converter) circuit 400 to generate an analog throttle signal in the same voltage range according to the voltage ranges of the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal after collecting the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal output by the first original vehicle throttle voltage signal processing circuit and the second original vehicle throttle voltage signal processing circuit.

[0082] It should be noted that, for the present invention, the reason why the microcontroller MCU 300 collects the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal output by the first original vehicle throttle voltage signal processing circuit and the second original vehicle throttle voltage signal processing circuit is that the purpose of the collection is to collect the voltage range of the actual throttle signal of the original vehicle (the range may be inconsistent for different vehicles), and then according to the actual original vehicle voltage range, when entering the automatic driving state, the microcontroller MCU controls the digital-to-analog converter DAC in the analog throttle signal DAC (digital-to-analog converter) circuit 400 to generate an analog throttle signal with a voltage consistent with the original vehicle throttle voltage signal (i.e., the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal).

[0083] In the present invention, it should be noted that the switching circuit 500 can output the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal, or simulate the throttle signal to the automobile engine management system EMS (Engine Mangement System) through the vehicle controller VCU, so as to further control the engine's fuel injection operation (such as the amount of fuel injected), and then control the speed of the vehicle.

[0084] In the present invention, it should be noted that, for the existing external accelerator pedal, after the user steps on it, two original vehicle accelerator signals will be output through two signal lines.

[0085] like Figure 2 , Figure 3 The first original vehicle throttle voltage signal processing circuit 100 and the second original vehicle throttle voltage signal processing circuit 200 shown in the figure, the two original vehicle throttle signals output by the existing automobile pedal specifically include the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal, wherein the first original vehicle throttle voltage signal is an AD0_5C signal, and the second original vehicle throttle voltage signal is an AD1_5V signal. In the current design, the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal are designed according to an input voltage range of 0 to 5V.

[0086] Wherein, the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal are both analog signals.

[0087] It should be noted that the accelerator pedal on existing passenger cars generally has two wires. As a safety redundancy, two original vehicle throttle signals will be output through the two wires. Only when the two wires have voltage at the same time and are in a corresponding relationship, will the car give corresponding gas.

[0088] See also Figure 2 As shown, in the present invention, the first original vehicle throttle voltage signal processing circuit 100 includes a first original vehicle throttle voltage signal input terminal (ie, AD0_5C signal terminal);

[0089] The first original vehicle throttle voltage signal input terminal (i.e., AD0_5C signal terminal) is respectively connected to one end of an ESD (electrostatic discharge) protection diode D1 and one end of a resistor R1;

[0090] The other end of the ESD (electrostatic discharge) protection diode D1 is grounded;

[0091] The other end of the resistor R1 is respectively connected to one end of the resistor R2, one end of the capacitor C1 and the first signal acquisition end (i.e., AD0_5V_AN7 end) of the microcontroller MCU 300;

[0092] The other end of the resistor R2 and the other end of the capacitor C1 are grounded respectively.

[0093] See also Figure 3 As shown, in the present invention, the second original vehicle throttle voltage signal processing circuit 200 includes a second original vehicle throttle voltage signal input terminal (ie, AD1_5C signal terminal);

[0094] The second original vehicle throttle voltage signal input terminal (i.e., AD1_5C signal terminal) is respectively connected to one end of an ESD (electrostatic discharge) protection diode D2 and one end of a resistor R3;

[0095] The other end of the ESD (electrostatic discharge) protection diode D2 is grounded;

[0096] The other end of the resistor R3 is respectively connected to one end of the resistor R4, one end of the capacitor C2 and the second signal acquisition end (i.e., AD1_5V_AN8 end) of the microcontroller MCU 300;

[0097] The other end of the resistor R4 and the other end of the capacitor C2 are grounded respectively.

[0098] For specific implementation, see Figure 2 , Figure 3 As shown, after the voltage is divided by resistors R1 and R2, and resistors R3 and R4, the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal are collected by the microcontroller MCU. The resistance values ​​of resistors R1, R2, R3 and R4 can be flexibly configured according to the input voltage and the maximum voltage collected by the AD of the MCU.

[0099] In the present invention, see Figure 4 As shown, the switching circuit 500 includes a relay control chip U1;

[0100] Pin 1 of the relay control chip U1 is connected to the switching control signal output terminal (VCC_RELAY1 terminal) of the microcontroller MCU 300;

[0101] Pin 2 of the relay control chip U1 is connected to the throttle voltage signal input terminal of the first original vehicle (i.e., AD0_5C signal terminal);

[0102] Pin 7 of the relay control chip U1 is connected to the throttle voltage signal input terminal of the second original vehicle (i.e., the AD1_5C signal terminal);

[0103] Pin 3 of the relay control chip U1 is connected to the first throttle signal receiving terminal (i.e., DAOUT0_5V terminal) of an external throttle signal receiving device (e.g., the vehicle controller VCU on the original vehicle);

[0104] Pin 6 of the relay control chip U1 is connected to the second throttle signal receiving terminal (i.e., DAOUT1_5V terminal) of the external throttle signal receiving device;

[0105] Pin 4 of the relay control chip U1 is connected to the first analog throttle signal output terminal (corresponding to the analog throttle signal DAC (digital-to-analog converter) circuit 400) of the analog throttle signal. Figure 5 Connect to the DA0_5V terminal in the

[0106] Pin 5 of the relay control chip U1 is connected to the second analog throttle signal output terminal (corresponding to the analog throttle signal DAC (digital-to-analog converter) circuit 400) of the analog throttle signal. Figure 5 Connect to DA1_5V in the

[0107] In specific implementation, pin 1 of the relay control chip U1 is also connected to the cathode of a diode D3;

[0108] The anode of the diode D3 is connected to the pin 8 of the relay control chip U1;

[0109] Pin 8 of the relay control chip U1 is also grounded.

[0110] In specific implementation, pin 3 of the relay control chip U1 is also grounded through an ESD (electrostatic discharge) protection diode D4;

[0111] Pin 6 of the relay control chip U1 is also grounded through an ESD (electrostatic discharge) protection diode D5.

[0112] It should be noted that, in the present invention, the relay control chip U1 is an existing dual-circuit relay control chip, the model of which is as follows: Figure 4 Shown is SBAS21LTIG.

[0113] For the relay control chip U1, pin 1 is the control pin. When the pin is floating or at a low level, the relay is in a normally closed state, and when the pin is connected to a 5V high level, the pin is switched to a normally open state.

[0114] Pin 2: When the relay pin 1 is normally closed, pin 2 and pin 3 are connected by default. When the relay is switched to normally open, pins 2 and 3 are disconnected.

[0115] Pin 3: It is the common terminal of the relay. When the relay pin 1 is in the normally closed state, pin 3 is connected to pin 2, and when the relay pin 1 is in the normally open state, it is connected to pin 4.

[0116] Pin 4: It is the normally open terminal of the relay. It is disconnected from pin 3 by default. When it is normally open, it is connected to pin 3.

[0117] Pin 7: It is the normally closed terminal of the relay. By default, pin 7 is connected to pin 6. When the relay is switched to normally open, pins 7 and 6 are disconnected.

[0118] Pin 6: It is the common terminal of the relay. When relay 6 is in the normally closed state, it is connected to pin 7, and when it is in the normally open state, it is connected to pin 5.

[0119] Pin 5: It is the normally open terminal of the relay. It is disconnected from pin 6 by default. When it is normally open, it is connected to pin 6.

[0120] For the present invention, it should be noted that the microcontroller MCU 300 defaults to the state of the vehicle as the manual driving state. In the default state, the switching control signal output terminal (VCC_RELAY1 terminal) of the microcontroller MCU 300 does not output the switching control signal (specifically a 5V voltage signal) to pin 1 of the relay control chip U1;

[0121] In specific implementation, in the default state, pins 2 and 3 of the relay control chip U1 are connected, and pins 6 and 7 of the relay control chip U1 are connected. That is, the microcontroller MCU 300 defaults to the manual driving state of the vehicle, so the input throttle signal is directly output to the outside after passing through the relay control chip U1 in the switching circuit 500.

[0122] In specific implementation, when in a non-default state, that is, when the automobile ECU (electronic controller unit, i.e., the driving computer) switches the vehicle state from the manual driving state to the automatic driving state, the vehicle state should be the automatic driving state at this time. When the microcontroller MCU 300 receives the automatic driving state start control signal sent by the automobile ECU, the microcontroller MCU 300 switches the control signal output end (VCC_RELAY1 end) to output a switching control signal (specifically a 5V voltage signal) to the pin 1 of the relay control chip U1. At this time, the relay control chip U1 starts to switch, and at this time, the pins 3 and 4 of the relay control chip U1 are connected, and the pins 5 and 6 are connected (at this time, the pins 2 and 3 are no longer connected, and the pins 6 and 7 of the relay control chip U1 are no longer connected). The pins 4 and 5 of the relay control chip U1 are respectively connected to the two analog throttle signals (i.e., analog voltage signals) output by the analog throttle signal DAC (digital-to-analog converter) circuit 400, and then output to the external throttle signal receiving device (such as the vehicle controller VCU on the original vehicle).

[0123] Therefore, based on the above technical solution, it can be known that for the present invention, through the relay control chip U1, the output selection of the actual throttle signal (i.e. the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal) and the simulated throttle signal (i.e. two-way simulated throttle signal) can be realized.

[0124] In the present invention, see Figure 5 As shown, the analog throttle signal DAC (digital-to-analog converter) circuit 400 includes a DAC (digital-to-analog converter) chip U2;

[0125] Pin 1 of the DAC (digital-to-analog converter) chip U2 (i.e., the VOUTA terminal of the chip U2) is connected to the first analog throttle signal output terminal (i.e., the DA0_5V terminal);

[0126] The first analog throttle signal output terminal (i.e. Figure 5DA0_5V terminal in the relay control chip U1 is connected to pin 4;

[0127] Pin 5 of the DAC (digital-to-analog converter) chip U2 (i.e., the VOUTB terminal of the chip U2) is connected to the second analog throttle signal output terminal (i.e., the DA1_5V terminal);

[0128] The second analog throttle signal output terminal (i.e. Figure 5 DA1_5V terminal in the relay control chip U1 is connected to pin 5;

[0129] Pin 3 of the DAC (digital-to-analog converter) chip U2 is connected to a 5V power supply VCC, one end of a capacitor C4, and one end of a capacitor C6;

[0130] The other end of the capacitor C4 and the other end of the capacitor C6 are grounded after being merged.

[0131] In a specific implementation, pins 2, 14, and 17 of the DAC (digital-to-analog converter) chip U2 are grounded;

[0132] Pins 4, 15 and 16 of the DAC (digital-to-analog converter) chip U2 are vacant, ie, not used.

[0133] In a specific implementation, pin 10 of the DAC (digital-to-analog converter) chip U2 is connected to the first connection terminal A (i.e., the DAC5V_SCLK_P15.3 terminal);

[0134] Pin 11 of the DAC (digital-to-analog converter) chip U2 is connected to the second connection terminal B (i.e., DAC5V_CS_P15.2 terminal);

[0135] Pin 12 of the DAC (digital-to-analog converter) chip U2 is connected to the third connection terminal C (i.e., DAC5V_MTSR_P15.5 terminal);

[0136] Pin 6 of the DAC (digital-to-analog converter) chip U2 is connected to the fourth connection terminal D (i.e., the DAC5V_MTST_P15.4 terminal);

[0137] Pin 7 of the DAC (digital-to-analog converter) chip U2 is connected to the fifth connection terminal E (i.e., DAC5V_LDAC_P15.6 terminal);

[0138] Pin 13 of the DAC (digital-to-analog converter) chip U2 is connected to the sixth connection terminal F (ie, the DAC5V_RESET_P15.7 terminal).

[0139] It should be noted that the first connection terminal A (i.e., DAC5V_SCLK_P15.3 terminal), the second connection terminal B (i.e., DAC5V_CS_P15.2 terminal), the third connection terminal C (i.e., DAC5V_MTSR_P15.5 terminal), the fourth connection terminal D (i.e., DAC5V_MTST_P15.4 terminal), the fifth connection terminal E (i.e., DAC5V_LDAC_P15.6 terminal), and the sixth connection terminal F (i.e., DAC5V_RESET_P15.7 terminal), these six connection terminals, are all connected to the corresponding pins on the microcontroller MCU chip. The specific connection relationship is described below.

[0140] In the present invention, for the DAC (digital-to-analog converter) chip U2, the functions of the various pins thereof are described as follows:

[0141] Pin 1, namely V OUT A terminal, is used to provide the analog output voltage of DAC (digital-to-analog converter) A channel (first channel), and the output amplifier can work in rail-to-rail mode.

[0142] Pin 2, the GND terminal, is used as the ground reference point for all circuits on the DAC (digital-to-analog converter) (specifically the AD5689R / AD5687R).

[0143] Pin 3, VDD, is used as a power input pin. For the AD5689R / AD5687R DAC (digital-to-analog converter), it can be powered by a 2.7V to 5.5V power supply, and the power supply should be decoupled to GND through a 10μF capacitor and a 0.1μF capacitor in parallel.

[0144] Pin 4, NC terminal, is not connected. Do not connect this pin.

[0145] Pin 5, namely V OUT B terminal, is used to provide the analog output voltage of DAC (digital-to-analog converter) B path (second path), and the output amplifier can work in rail-to-rail mode.

[0146] Pin 6, SDO, is used for serial data output. The SDO terminal can be used to connect multiple AD5689R / AD5687R devices together in a daisy-chain form or for readback. Serial data is transmitted on the rising edge of SCLK and is valid on the falling edge of this clock.

[0147] Pin 7, LDAC LDAC terminal, is used to support two modes of operation: asynchronous and synchronous. After sending a pulse to make this pin low, any or all DAC registers can be updated when there is new data in the input register; both DAC outputs can be updated simultaneously. It is also possible to tie this pin permanently low.

[0148] Pin 8, GAIN, is used for gain selection. When this pin is connected to GND, the output range of both DACs is 0V to V REF (V REF is the reference voltage, see Pin 15). If this pin is connected to V LOGIC (pin 9), the output voltage of the two DACs (i.e., the two analog output voltages output by pins 1 and 5) ranges from 0V to 2×V REF.

[0149] Pin 9, V LOGIC digital power supply terminal, has a voltage range of 1.8V to 5.5V.

[0150] Pin 10, the SCLK serial clock input, reads data into the shift register on the falling edge of the serial clock input, and data can be transmitted at a rate of up to 50MHz.

[0151] Pin 11, the SYNC low level active control input, is the frame synchronization signal for the input data. When SYNC goes low, data is read in on the falling edge of the next 24 clocks.

[0152] Pin 12, SDIN, is used for serial data input. The device has a 24-bit input shift register, and data is read into the register on the falling edge of the serial clock input.

[0153] Pin 13, RESET asynchronous reset input. The RESET input is falling edge sensitive. When RESET is low, all LDAC pulses are ignored. When RESET is valid, the input registers and DAC registers are updated to zero scale or midscale, depending on the state of the RSTSEL pin.

[0154] Pin 14, RSTSEL, is used for power-on reset selection. When this pin is connected to GND, both DACs are powered up to zero scale. When this pin is connected to V LOGIC, both DACs are powered up to midscale.

[0155] Pin 15 is the V REF reference voltage terminal. The DAC (digital-to-analog converter) (specifically, the AD5689R) has a common reference pin. When the internal reference voltage source is used, this pin is the reference output. When an external reference voltage source is used, this pin is the reference input. This pin is used as the reference output by default.

[0156] Pin 16, which is the NC terminal, is not connected. Do not connect this pin.

[0157] Pin 17, EPAD, exposed pad. The exposed pad must be connected to GND.

[0158] In specific implementation, after the pin 8 and pin 9 of the DAC (digital-to-analog converter) chip U2 intersect, they are respectively connected to one end of the capacitor C3, one end of the capacitor C5, and a 3V3 (i.e., 3.3V) power supply (which is the chip power supply);

[0159] The other end of the capacitor C3 and the other end of the capacitor C5 are connected to the ground after being merged.

[0160] In specific implementation, pin 11 of the DAC (digital-to-analog converter) chip U2 is also connected to one end of the resistor R6;

[0161] The other end of the resistor R6 is connected to one end of the resistor R5 and a 3V3 (i.e. 3.3V) power supply;

[0162] The other end of resistor R5 is connected to pin 13 of DAC (digital-to-analog converter) chip U2;

[0163] Pin 17 of the DAC (digital-to-analog converter) chip U2 is also grounded through a resistor R15.

[0164] It should be noted that the analog throttle signal DAC (digital-to-analog converter) circuit 400, by connecting to the automatic driving state analog throttle control signal output terminal (VMCU_3V3 terminal) of the microcontroller MCU300, can receive the automatic driving state analog throttle control signal (the signal is a digital signal) output by the microcontroller MCU, and after digital-to-analog conversion, generate corresponding two-way analog throttle signals, and then output them to the switching switch circuit 500;

[0165] In the present invention, in a specific implementation, in the analog throttle signal DAC (digital-to-analog converter) circuit 400, the DAC (digital-to-analog converter) chip U2 can be a multi-channel voltage output digital-to-analog converter model AD5689 produced by Analog Devices (AD I) Semiconductor Corporation.

[0166] In specific implementation, the DAC (digital-to-analog converter) chip U2 communicates with the microcontroller MCU 300 via a serial peripheral interface (SPI). The microcontroller MCU 300 can flexibly configure the output voltage of the DAC (digital-to-analog converter) conversion chip U2 within 0-5V.

[0167] For the present invention, it should be noted that D1, D2, D4, and D5 are ESD protection diodes, which can prevent static electricity from being introduced into the circuit through the connector and damaging the components in the circuit, thereby providing static protection.

[0168] In the present invention, in a specific implementation, the microcontroller MCU 300 is an existing MCU, and any MCU with SPI communication and IO output can be used, for example, the Infineon TC297 single-chip microcomputer can be used.

[0169] In specific implementation, the present invention takes the Infineon TC297 single-chip microcomputer as an example, the SPI communication pins (specifically including pins such as P15.2, P15.3, P15.4, P15.5, etc.) on the single-chip microcomputer are SPI communication pins, which are used to perform SPI communication with the DAC (digital-to-analog converter) chip U2;

[0170] Pins P15.6 and P15.7 on the single chip microcomputer are IO pins, which are used to control the relevant functions of the DAC (digital-to-analog converter) chip U2 (i.e., to perform functional control on pins 7 and 13 on the DAC (digital-to-analog converter) chip U2).

[0171] In terms of specific implementation, Figure 5 The first connection terminal A (i.e., DAC5V_SCLK_P15.3 terminal), the second connection terminal B (i.e., DAC5V_CS_P15.2 terminal), the third connection terminal C (i.e., DAC5V_MTSR_P15.5 terminal), the fourth connection terminal D (i.e., DAC5V_MTST_P15.4 terminal), the fifth connection terminal E (i.e., DAC5V_LDAC_P15.6 terminal), and the sixth connection terminal F (i.e., DAC5V_RESET_P15.7 terminal) in the analog throttle signal DAC (digital-to-analog converter) circuit 400 shown in the figure correspond to pins P15.3, P15.2, P15.5, P15.4, P15.6 and P15.7 on the microcontroller MCU 300 chip, respectively.

[0172] In the present invention, the function of the microcontroller MCU 300 is to receive instructions from the upper layer (such as the automobile driving computer ECU) and convert the instructions into relevant control signals, control the switching of the relay control chip U1, and the generation of analog voltage on the DAC (digital-to-analog converter) chip U2, etc.

[0173] In the present invention, it should be noted that Figure 2 In the first original vehicle throttle voltage signal processing circuit 100 shown in FIG. 1 , the first signal acquisition terminal (i.e., AD0_5V_AN7 terminal) of the microcontroller MCU 300 may specifically be an AD acquisition pin (e.g., Figure 6 As shown in the figure, the AN7 pin on the MCU can be any pin with AD acquisition function on the MCU to collect the analog voltage value input at this time.

[0174] In the present invention, it should be noted that Figure 3The second original vehicle throttle voltage signal processing circuit 200 shown in the figure, wherein the second signal acquisition terminal (i.e., AD1_5V_AN8 terminal) of the microcontroller MCU 300 can be specifically an AD acquisition pin on the MCU (not shared with the pin of the first signal acquisition terminal of the microcontroller MCU 300, for example Figure 6 As shown in the figure, the AN8 pin on the MCU can be any pin with AD acquisition function on the MCU to collect the analog voltage value input at this time.

[0175] In the present invention, in specific implementation, for Figure 4 Pin 1 in the switching switch circuit 500 is connected to the switching control signal output terminal (VCC_RELAY1 terminal) of the microcontroller MCU 300. Specifically, any control pin on the microcontroller MCU 300 chip that can output a high level can be used. The control is to give a high level, and the high level is to switch the relay to the normally open state.

[0176] In the present invention, it should be noted that Figure 5 In the analog throttle signal DAC (digital-to-analog converter) circuit 400, pins 8, 9 and 11 in the DAC (digital-to-analog converter) chip U2 are respectively connected to a 3V3 (i.e. 3.3V) power supply, indicating that the communication level during system communication is 3V3 (i.e. 3.3V), which is consistent with the communication level of the microcontroller MCU. If the communication signal level at the MCU end is 5V, it can also be powered and pulled up to 5V.

[0177] Based on the above technical solutions, it can be known that the present invention can not only realize electrostatic protection and prevent the acquisition circuit from being damaged by static electricity, but also can easily realize the simulation of throttle signals for many currently completed modified cars, and control the vehicle speed by controlling the throttle signal during the automatic driving process.

[0178] It should be noted that, in the present invention, the components used in the circuit can be implemented by using components from different manufacturers, or by using components with similar functions.

[0179] It should be noted that, through the circuit design of the present invention, it is possible to generate a simulated throttle signal and to switch the throttle signal under different driving conditions.

[0180] In summary, compared with the prior art, the analog throttle signal generation and switching circuit provided by the present invention has a scientific structural design and can not only generate an analog throttle signal, but also switch to use the original vehicle's throttle signal when the autonomous driving vehicle enters the manual driving state, thereby ensuring the normal use of the vehicle, which has great production practical significance.

[0181] In addition, the present invention can achieve electrostatic protection through the design of the ESD protection diode, thereby preventing the acquisition circuit from being damaged by static electricity.

[0182] In addition, for many currently manufactured modified vehicles, the application of the present invention can relatively simply realize the simulation of the throttle signal, control the simulation of the throttle signal during the automatic driving process, and thus control the speed of the vehicle.

[0183] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A circuit for generating and switching a simulated throttle signal, characterized in that: The invention comprises a first original vehicle throttle voltage signal processing circuit (100), a second original vehicle throttle voltage signal processing circuit (200), a microcontroller MCU (300), an analog throttle signal DAC circuit (400) and a switching circuit (500), wherein: A first original vehicle throttle voltage signal processing circuit (100) is used to perform voltage division processing on the first original vehicle throttle voltage signal output by an external throttle pedal, and then transmit the signal to a microcontroller MCU; A second original vehicle throttle voltage signal processing circuit (200) is used to perform voltage division processing on the second original vehicle throttle voltage signal output by the external throttle pedal, and then transmit the signal to the microcontroller MCU; The microcontroller MCU (300) is respectively connected to the first original vehicle throttle voltage signal processing circuit (100), the second original vehicle throttle voltage signal processing circuit (200), the analog throttle signal DAC circuit (400) and the switching switch circuit (500), and is used to collect the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal output by the first original vehicle throttle voltage signal processing circuit and the second original vehicle throttle voltage signal output by the second original vehicle throttle voltage signal processing circuit, and when the vehicle driving computer ECU switches the vehicle state from the manual driving state to the automatic driving state, receive the automatic driving state start control signal and the automatic driving state analog throttle control signal sent by the vehicle driving computer ECU, and then send the switching control signal to the switching switch circuit accordingly, and send the automatic driving state throttle control signal to the analog throttle signal DAC circuit accordingly; The analog throttle signal DAC circuit (400) is used to receive the automatic driving state analog throttle control signal output by the microcontroller MCU, perform digital-to-analog conversion, generate two corresponding analog throttle signals, and then output them to the switching circuit (500); The switching switch circuit (500) is connected to the analog throttle signal DAC circuit (400) and is used for receiving a first original vehicle throttle voltage signal and a second original vehicle throttle voltage signal output by an external throttle pedal, and receiving two analog throttle signals output by the analog throttle signal DAC circuit (400), and according to a switching control signal output by a microcontroller MCU, selecting to output the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal to an external throttle signal receiving device, or outputting two analog throttle signals to the outside.

2. The analog throttle signal generation and switching circuit according to claim 1, characterized in that: The microcontroller MCU (300) is further used to control the analog throttle signal DAC circuit (400) to generate an analog throttle signal within the same voltage range according to the voltage ranges of the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal after collecting the first original vehicle throttle voltage signal and the second original vehicle throttle voltage signal output by the first original vehicle throttle voltage signal processing circuit and the second original vehicle throttle voltage signal processing circuit.

3. The analog throttle signal generation and switching circuit according to claim 1, characterized in that: The first original vehicle throttle voltage signal processing circuit (100) comprises a first original vehicle throttle voltage signal input terminal AD0_5C; The first original vehicle throttle voltage signal input terminal is respectively connected to one end of the ESD protection diode D1 and one end of the resistor R1; The other end of the ESD protection diode D1 is grounded; The other end of the resistor R1 is respectively connected to one end of the resistor R2, one end of the capacitor C1 and a first signal acquisition terminal AD0_5V_AN7 of the microcontroller MCU (300); The other end of the resistor R2 and the other end of the capacitor C1 are grounded respectively.

4. The circuit for generating and switching a simulated throttle signal as claimed in claim 1, characterized in that: The second original vehicle throttle voltage signal processing circuit (200) comprises a second original vehicle throttle voltage signal input terminal AD1_5C; The second original vehicle throttle voltage signal input terminal AD1_5C is connected to one end of the ESD protection diode D2 and one end of the resistor R3 respectively; The other end of the ESD protection diode D2 is grounded; The other end of the resistor R3 is respectively connected to one end of the resistor R4, one end of the capacitor C2 and the second signal acquisition terminal AD1_5V_AN8 of the microcontroller MCU (300); The other end of the resistor R4 and the other end of the capacitor C2 are grounded respectively.

5. The circuit for generating and switching a simulated throttle signal as claimed in claim 1, characterized in that: The switching circuit (500) comprises a relay control chip U1; Pin 1 of the relay control chip U1 is connected to the switching control signal output terminal VCC_RELAY1 of the microcontroller MCU (300); Pin 2 of the relay control chip U1 is connected to the first original vehicle throttle voltage signal input terminal AD0_5C; Pin 7 of the relay control chip U1 is connected to the throttle voltage signal input terminal AD1_5C of the second original vehicle; Pin 3 of the relay control chip U1 is connected to the first throttle signal receiving terminal DAOUT0_5V of the external throttle signal receiving device; Pin 6 of the relay control chip U1 is connected to the second throttle signal receiving terminal DAOUT1_5V of the external throttle signal receiving device; Pin 4 of the relay control chip U1 is connected to the first analog throttle signal output terminal DA0_5V in the analog throttle signal DAC circuit (400); Pin 5 of the relay control chip U1 is connected to the second analog throttle signal output terminal DA1_5V in the analog throttle signal DAC circuit (400).

6. The circuit for generating and switching a simulated throttle signal as claimed in claim 5, characterized in that: Pin 1 of the relay control chip U1 is also connected to the cathode of a diode D3; The anode of the diode D3 is connected to the pin 8 of the relay control chip U1; Pin 8 of the relay control chip U1 is also connected to ground; Pin 3 of the relay control chip U1 is also grounded through the ESD protection diode D4; Pin 6 of the relay control chip U1 is also grounded through an ESD protection diode D5.

7. The analog throttle signal generation and switching circuit according to claim 1, characterized in that: The analog throttle signal DAC circuit (400) comprises a DAC chip U2; Pin 1 of the DAC chip U2 is connected to the first analog throttle signal output terminal DA0_5V; The first analog throttle signal output terminal DA0_5V is connected to pin 4 of the relay control chip U1; Pin 5 of the DAC chip U2 is connected to the second analog throttle signal output terminal DA1_5V; The second analog throttle signal output terminal DA1_5V is connected to the pin 5 of the relay control chip U1; Pin 3 of the DAC chip U2 is connected to a 5V power supply VCC, one end of a capacitor C4, and one end of a capacitor C6 respectively; The other end of the capacitor C4 and the other end of the capacitor C6 are grounded after being merged.

8. The circuit for generating and switching a simulated throttle signal as claimed in claim 7, characterized in that: Pin 2, pin 14 and pin 17 of DAC chip U2 are grounded; Pins 4, 15 and 16 of the DAC chip U2 are left unused.

9. The circuit for generating and switching a simulated throttle signal as claimed in claim 7, characterized in that: Pin 10 of the DAC chip U2 is connected to the first connection terminal A; Pin 11 of the DAC chip U2 is connected to the second connection terminal B; Pin 12 of the DAC chip U2 is connected to the third connection terminal C; Pin 6 of the DAC chip U2 is connected to the fourth connection terminal D; Pin 7 of the DAC chip U2 is connected to the fifth connection terminal E; Pin 13 of the DAC chip U2 is connected to the sixth connection terminal F; The first connection terminal A, the second connection terminal B, the third connection terminal C, the fourth connection terminal D, the fifth connection terminal E, and the sixth connection terminal F are respectively connected to pins P15.3, P15.2, P15.5, P15.4, P15.6, and P15.7 on the microcontroller MCU (300).

10. The circuit for generating and switching a simulated throttle signal as claimed in claim 9, characterized in that: After the pin 8 and the pin 9 of the DAC chip U2 intersect, they are respectively connected to one end of the capacitor C3, one end of the capacitor C5 and a power supply; The other end of the capacitor C3 and the other end of the capacitor C5 are connected to the ground after merging; Pin 11 of the DAC chip U2 is also connected to one end of the resistor R6; The other end of the resistor R6 is connected to one end of the resistor R5 and a power supply respectively; The other end of resistor R5 is connected to pin 13 of DAC chip U2; Pin 17 of the DAC chip U2 is also grounded through a resistor R15.

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