A throttle control method and device for autonomous driving

Abstract

The application provides a throttle control method and device for automatic driving, and the method comprises the following steps: acquiring a current vehicle condition, wherein the current vehicle condition comprises a current vehicle speed; determining a target acceleration of the current vehicle by using the current vehicle speed and a target vehicle speed; determining a target throttle bus signal by using a pre-labeled acceleration corresponding graph based on the target acceleration; converting the target throttle bus signal into a target throttle voltage signal; and determining a fuel injection amount corresponding to the throttle by using the target throttle voltage signal, wherein the fuel injection amount represents a throttle opening degree of the throttle. The throttle control method and device for automatic driving can effectively reflect the driving throttle demand of automatic driving and meet the fuel demand of the vehicle in the low-speed climbing working condition and the low-speed driving working condition.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a throttle control method and device for automatic driving. BACKGROUND

[0002] The throttle is the most initial input to control the power of the vehicle, which is associated with the engine output torque. The power demand of a manned vehicle is determined by the driver, who changes the throttle signal by pressing the throttle pedal. The engine controller determines the torque demand according to the throttle signal (including other necessary input signals), and then determines the fuel injection amount according to the torque demand and engine speed to finally control the power output.

[0003] Generally, the automatic driving controller of an automatic driving off-road vehicle sends a target vehicle speed to the vehicle controller, which then adjusts the fuel injection amount according to the target vehicle speed, and the engine controller controls the power output. This method of controlling fuel injection amount based on target vehicle speed can meet the automatic driving needs on flat roads, but cannot meet the throttle control needs in climbing conditions.

[0004] The method of directly adjusting the fuel injection amount by the target vehicle speed needs to consider the safety of low-speed driving. For lower target vehicle speed and smaller target acceleration, a smaller fuel injection amount is usually calibrated, which cannot meet the needs of climbing steep slopes (the specific slope value is determined by the vehicle speed and the corresponding fuel injection amount, and the slope value is usually 60%). In order to calibrate a large fuel injection amount through a specific steep slope, the low-speed road driving condition is not applicable. SUMMARY

[0005] The technical problem to be solved by the present application is the conflict between the fuel demand of low-speed climbing and low-speed flat road driving conditions in the prior art, which leads to safety hazards and other problems. In view of this, the present application provides a throttle control method and device for automatic driving.

[0006] The technical solution adopted by the present application is that the throttle control method for automatic driving comprises:

[0007] Obtaining the current vehicle condition, wherein the current vehicle condition comprises the current vehicle speed;

[0008] Determining the target acceleration of the current vehicle by using the current vehicle speed and the target vehicle speed;

[0009] Determining the target throttle bus signal by using the pre-calibrated acceleration corresponding graph based on the target acceleration;

[0010] Converting the target throttle bus signal into a target throttle voltage signal;

[0011] The target throttle voltage signal is used to determine a fuel injection amount corresponding to the throttle, wherein the fuel injection amount is used to represent a throttle opening degree of the throttle.

[0012] In one embodiment, the current vehicle condition includes an engine speed of the current vehicle.

[0013] In one embodiment, the target acceleration of the current vehicle is determined based on the current vehicle speed and a target vehicle speed, including:

[0014] The target vehicle speed and a required time of the current vehicle are configured;

[0015] The target acceleration of the current vehicle is determined based on the current vehicle speed according to the target vehicle speed and the required time.

[0016] In one embodiment, the fuel injection amount corresponding to the throttle is determined based on the target throttle voltage signal, including:

[0017] The required torque of the current vehicle is determined based on the engine speed and the target throttle voltage signal using a pre-labeled required torque corresponding map;

[0018] The fuel injection amount corresponding to the throttle is determined based on the required torque of the current vehicle and the engine speed.

[0019] Another aspect of the present application also provides a throttle control device for automatic driving, including: an automatic driving controller, a throttle converter, an engine controller;

[0020] The automatic driving controller is configured to:

[0021] The current vehicle condition is obtained, wherein the current vehicle condition includes a current vehicle speed;

[0022] The target acceleration of the current vehicle is determined based on the current vehicle speed and a target vehicle speed;

[0023] The target throttle bus signal is determined based on the target acceleration using a pre-labeled acceleration corresponding map;

[0024] The throttle converter is configured to convert the target throttle bus signal into a target throttle voltage signal;

[0025] The engine controller is configured to determine a fuel injection amount corresponding to the throttle using the target throttle voltage signal, wherein the fuel injection amount is used to represent a throttle opening degree of the throttle.

[0026] In one embodiment, the automatic driving controller is further configured to obtain an engine speed of the current vehicle

[0027] In one embodiment, the automatic driving controller is further configured to:

[0028] configure the target vehicle speed and the required time for the current vehicle;

[0029] determine the target acceleration of the current vehicle according to the current vehicle speed based on the target vehicle speed and the required time.

[0030] In one embodiment, the engine controller is further configured to:

[0031] determine the required torque of the current vehicle by using a pre-calibrated required torque corresponding map according to the engine speed and the target throttle voltage signal;

[0032] determine the fuel injection amount corresponding to the throttle based on the required torque of the current vehicle and the engine speed.

[0033] Another aspect of the present application also provides a vehicle comprising the device for automatic driving throttle control according to any one of the above.

[0034] Another aspect of the present application also provides a computer storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of the method for automatic driving throttle control according to any one of the above.

[0035] By adopting the above technical solution, the present application has at least the following advantages:

[0036] The method and device for automatic driving throttle control according to the present application can effectively reflect the driving throttle demand of automatic driving and meet the fuel demand in low-speed climbing and low-speed driving conditions. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 Flow chart of the method for automatic driving throttle control according to an embodiment of the present application;

[0038] Figure 2 Schematic diagram of the execution device structure of the method for automatic driving throttle control according to an embodiment of the present application;

[0039] Figure 3 Acceleration corresponding map (vehicle speed conversion target throttle MAP schematic diagram) according to an embodiment of the present application;

[0040] Figure 4 Required torque corresponding map (engine speed and torque MAP schematic diagram) according to an embodiment of the present application.

[0041] REFERENCE NUMERALS

[0042] 1 - Automatic driving controller, 2 - Engine controller, 3 - Throttle converter. DETAILED DESCRIPTION

[0043] In order to further clarify the technical means and effects of the present application, the following will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0044] It should also be understood that the words "comprise", "comprising", "include", "including", "contain", "containing", "have", "having", "composed of", "comprised of", and the like, when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. In addition, when describing the embodiments of the present application, the use of "may" indicates that one or more embodiments of the present application. Also, the word "exemplary" is intended to mean an example or an illustration.

[0045] As used herein, the words "substantially", "approximately", and similar terms are used as terms of approximation and not as terms of degree, and are intended to account for the inherent deviations in a measuring or computing process.

[0046] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It should also be understood that the terms should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0047] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0048] The description of the method flow in the specification of the present application and the steps of the flowchart in the drawings of the present application do not necessarily have to be strictly executed in the order of the step numbers. The method steps can change the order of execution. Moreover, some steps can be omitted, a plurality of steps can be combined into one step for execution, and / or one step can be divided into a plurality of steps for execution.

[0049] The first embodiment of the present application is a throttle control method for automatic driving, as shown in Figure 1 The specific steps include:

[0050] Step S1, obtaining a current vehicle condition, wherein the current vehicle condition comprises a current vehicle speed;

[0051] Step S2, determining a target acceleration of the current vehicle by using the current vehicle speed and a target vehicle speed;

[0052] Step S3, determining a target throttle bus signal by using a pre-labeled acceleration corresponding graph based on the target acceleration;

[0053] Step S4, converting the target throttle bus signal into a target throttle voltage signal;

[0054] Step S5, determining a fuel injection amount corresponding to the throttle by using the target throttle voltage signal, wherein the fuel injection amount represents a throttle opening degree of the throttle.

[0055] The method provided by the embodiment will be described in detail in the following steps.

[0056] Step S1, obtaining a current vehicle condition, wherein the current vehicle condition comprises a current vehicle speed;

[0057] In the embodiment, the execution device of the method can comprise an automatic driving controller 1, an engine controller 2, and a throttle converter 3. Figure 2

[0058] The automatic driving controller 1 is a unit for controlling the driving behavior of the vehicle according to the vehicle state information and the control instruction.

[0059] Further, the automatic driving controller 1 can receive the vehicle speed, the engine speed and other information through the CAN bus, and set the target vehicle speed according to the preset model or the remote control instruction, that is, the current vehicle speed can be obtained through the automatic driving controller 1.

[0060] In some embodiments, the engine speed of the current vehicle can also be obtained through the automatic driving controller 1.

[0061] Step S2, determining a target acceleration of the current vehicle by using the current vehicle speed and a target vehicle speed;

[0062] In the embodiment, the target vehicle speed and the required time of the current vehicle can be configured through the automatic driving controller 1, and the target acceleration of the current vehicle is determined based on the target vehicle speed, the required time and the current vehicle speed.

[0063] Step S3, determining a target throttle bus signal by using a pre-labeled acceleration corresponding graph based on the target acceleration;

[0064] For reference Figure 3 , Figure 3 ​The acceleration corresponding graph (also referred to as a vehicle speed to target throttle MAP diagram) of the embodiment of the present application. In the embodiment, the target throttle bus signal required by the automatic driving vehicle can be obtained based on the current target acceleration by using the corresponding graph.

[0065] It can be understood that the specific corresponding relationship in the acceleration corresponding graph is not unique, that is, the related corresponding information in the corresponding graph can be reasonably configured according to the actual situation, Figure 3 The corresponding relationship in the above embodiment is only an exemplary reference and does not limit the scope of the present application.

[0066] It should be noted that the target throttle bus signal is a CAN (Controller Area Network) bus signal.

[0067] Step S4, converting the target throttle bus signal into a target throttle voltage signal.

[0068] In the embodiment, since the target throttle bus signal is a CAN bus signal and cannot be directly used by the engine controller 2, the target throttle bus signal can be converted into a target throttle voltage signal by the throttle converter 3.

[0069] Step S5, determining the fuel injection amount corresponding to the throttle by using the target throttle voltage signal, wherein the fuel injection amount represents the throttle opening degree of the throttle.

[0070] In the embodiment, the fuel injection amount corresponding to the throttle is determined by referring to the demand torque corresponding graph (also referred to as an engine speed and torque MAP diagram) of the embodiment. Figure 4 , Figure 4 The demand torque corresponding graph (also referred to as an engine speed and torque MAP diagram) of the embodiment, the engine controller 2 can determine the demand torque of the current vehicle by using the demand torque corresponding graph calibrated in advance according to the engine speed and the target throttle voltage signal obtained in the previous steps; and then determine the fuel injection amount corresponding to the throttle based on the demand torque of the current vehicle and the engine speed.

[0071] It can be understood that the fuel injection amount corresponding to the throttle can represent the throttle opening degree of the throttle, that is, the throttle control of the automatic driving vehicle can be equivalently completed by the method provided in the above embodiment.

[0072] In the embodiment, the engine controller 2 controls the power output based on the torque control mode.

[0073] It should be noted that the specific corresponding relationship in the demand torque corresponding graph is not unique, that is, the related corresponding information in the corresponding graph can be reasonably configured according to the actual situation, Figure 4The correspondence in the table is only an exemplary reference and does not limit the scope of the application.

[0074] Compared with the prior art, the accelerator control method for automatic driving provided by the embodiment can effectively reflect the driving accelerator demand of automatic driving and meet the oil demand of the vehicle in low-speed climbing and low-speed driving conditions.

[0075] The second embodiment of the application corresponds to the first embodiment, and the embodiment introduces an accelerator control device for automatic driving, as shown in Figure 2 The device comprises the following components:

[0076] The automatic driving controller 1 is configured to:

[0077] Obtain the current vehicle condition, wherein the current vehicle condition comprises the current vehicle speed;

[0078] Determine the target acceleration of the current vehicle by using the current vehicle speed and the target vehicle speed;

[0079] Determine the target accelerator bus signal by using the pre-calibrated acceleration corresponding graph based on the target acceleration;

[0080] The accelerator converter 3 is configured to convert the target accelerator bus signal into a target accelerator voltage signal;

[0081] The engine controller 2 is configured to determine the fuel injection amount corresponding to the accelerator by using the target accelerator voltage signal, wherein the fuel injection amount is used to represent the accelerator opening degree of the accelerator.

[0082] In the embodiment, the automatic driving controller 1 is further configured to obtain the engine speed of the current vehicle.

[0083] In the embodiment, the automatic driving controller 1 is further configured to:

[0084] Configure the target vehicle speed and the required time of the current vehicle;

[0085] Determine the target acceleration of the current vehicle according to the current vehicle speed based on the target vehicle speed and the required time.

[0086] In the embodiment, the engine controller 2 is further configured to:

[0087] Determine the required torque of the current vehicle by using the pre-calibrated required torque corresponding graph based on the engine speed and the target accelerator voltage signal;

[0088] Determine the fuel injection amount corresponding to the accelerator based on the required torque of the current vehicle and the engine speed.

[0089] The third embodiment of the present application is a vehicle comprising the throttle control device for automatic driving as described in the second embodiment, which can be used to perform the steps of the following method:

[0090] Step S1, obtaining the current vehicle condition, wherein the current vehicle condition comprises the current vehicle speed;

[0091] Step S2, determining the target acceleration of the current vehicle by using the current vehicle speed and the target vehicle speed;

[0092] Step S3, determining the target throttle CAN bus signal by using the pre-calibrated acceleration corresponding map based on the target acceleration;

[0093] Step S4, converting the target throttle CAN bus signal into a target throttle voltage signal;

[0094] Step S5, determining the fuel injection amount corresponding to the throttle by using the target throttle voltage signal, wherein the fuel injection amount is used to represent the throttle opening degree of the throttle.

[0095] The fourth embodiment of the present application is based on the above-mentioned embodiments, combined with the attached Figures 1 to 4 An application example of the present application is introduced.

[0096] Figure 2 An automatic driving throttle processing method of an automatic driving off-road vehicle is shown, which comprises an automatic driving controller 1, an engine controller 2, and a throttle converter 3.

[0097] The automatic driving controller 1 calculates the target acceleration a of the vehicle according to the vehicle speed of the current vehicle, queries the calibrated vehicle acceleration MAP to determine the target throttle CAN bus signal of the vehicle.

[0098] The target throttle CAN bus signal is transmitted to the throttle converter 3, and the throttle converter 3 converts the target throttle CAN bus signal into a target throttle voltage signal.

[0099] The engine controller 2 queries the calibrated demand torque Map according to the engine speed and the throttle signal to determine the demand torque required under the current engine speed and the target throttle;

[0100] According to the demand torque and the engine speed, the fuel injection amount is queried to control the power output

[0101] Figure 3The vehicle target acceleration a is equal to b, and the vehicle target throttle is equal to 30% according to the current vehicle speed (for example, 10 m / s) and the vehicle acceleration b. The vehicle target acceleration a is equal to c, and the vehicle target throttle is equal to 40% according to the current vehicle speed (for example, 10 m / s) and the vehicle acceleration c. When the vehicle target acceleration a is between b and c, the vehicle target throttle is equal to M% according to the current vehicle speed (for example, 10 m / s) and the vehicle acceleration a, and the vehicle acceleration b and c are linearly interpolated.

[0102] Figure 4 The engine speed and torque MAP is shown. The resistance of the vehicle in the low-speed climbing working condition is greater than the demand torque in the low-speed non-climbing working condition, that is, the demand torque in the low-speed climbing working condition is greater than the demand torque in the low-speed non-climbing working condition. The engine controller 2 adopts a mature torque control based method, and can calibrate different demand torques according to the current engine speed n under the same target throttle demand. When the vehicle is in the low-speed climbing working condition, the engine controller 2 automatically queries a greater torque demand according to the engine speed and the target throttle signal, and then determines a greater fuel injection amount.

[0103] By using the throttle processing method, the driving throttle demand of automatic driving is truly reflected, and the phenomenon that the vehicle cannot pass through a specific steep slope in the low-speed climbing working condition is avoided. For example, in the low-speed climbing working condition of a 60% steep slope, the target vehicle speed is 18 km / h, and 100% throttle opening is required to climb the slope. By using the throttle processing method in the present application, the driving throttle demand of automatic driving is truly reflected, and the 60% steep slope can be successfully passed. However, by using the method of adjusting the fuel injection amount according to the target vehicle speed, the fuel injection amount corresponding to the target vehicle speed of 18 km / h is much smaller than the actual required fuel injection amount (equivalent to the throttle opening being 100% throttle opening), so the vehicle cannot pass through the specific steep slope. However, if the fuel injection amount at the target vehicle speed of 18 km / h is modified, a very large safety risk will be caused in the non-climbing working condition.

[0104] In the fifth embodiment of the present application, the flow of the throttle control method for automatic driving is the same as that of the first, second or third embodiment, and the difference lies in that, in engineering implementation, the present embodiment can be realized by means of software and a necessary general hardware platform, and of course, it can also be realized by hardware, but in many cases, the former is a better implementation. Based on this understanding, the method of the present application can be embodied in the form of a computer software product stored in a storage medium (such as ROM / RAM, a magnetic disc, an optical disc), and including a plurality of instructions for causing a device (which can be a vehicle or the like) to execute the method described in the embodiments of the present application.

[0105] Compared with the prior art, the application can be used for reaction automatic driving of a driving throttle demand, and avoids the phenomenon that a vehicle cannot pass a specific steep slope in a low-speed steep slope climbing working condition.

[0106] Through the description of the specific embodiments, the technical means and effects taken by the application to achieve the predetermined purposes can be more deeply and specifically understood. However, the accompanying drawings are only provided for reference and illustration, and are not used to limit the application.

Claims

1. A throttle control method for autonomous driving, characterized in that, include: Obtain the current vehicle status, which includes the current vehicle speed; Using the current vehicle speed and the target vehicle speed, determine the target acceleration of the current vehicle; Based on the target acceleration, the target throttle bus signal is determined using a pre-calibrated acceleration correspondence diagram; The target throttle bus signal is converted into a target throttle voltage signal; Using the target throttle voltage signal, the fuel injection quantity corresponding to the throttle is determined, wherein the fuel injection quantity represents the throttle opening degree; Determining the target acceleration of the current vehicle using the current vehicle speed and the target vehicle speed includes: Configure the target vehicle speed and the required time for the current vehicle; Based on the target vehicle speed and the required time, determine the target acceleration of the current vehicle according to the current vehicle speed; Determining the fuel injection quantity corresponding to the throttle position using the target throttle voltage signal includes: Based on the engine speed and the target throttle voltage signal, the current vehicle's required torque is determined using a pre-calibrated required torque correspondence map; Based on the current vehicle torque requirements and the engine speed, determine the fuel injection quantity corresponding to the throttle position; The engine controller controls power output based on torque control mode so that the required torque is greater than the required torque under low-speed non-climbing conditions. Under the same target throttle requirement, the engine controller calibrates different required torques according to the current engine speed n. When the vehicle is climbing at low speed, the engine controller automatically queries the corresponding torque requirement based on the engine speed and target throttle signal, and then determines the fuel injection quantity.

2. The throttle control method for autonomous driving according to claim 1, characterized in that, The process of obtaining the current vehicle status includes obtaining the current engine speed of the vehicle.

3. A throttle control device for autonomous driving, characterized in that, include: Automatic driving controller, engine controller, throttle converter; The autonomous driving controller is configured as follows: Obtain the current vehicle status, which includes the current vehicle speed; Using the current vehicle speed and the target vehicle speed, determine the target acceleration of the current vehicle; Based on the target acceleration, the target throttle bus signal is determined using a pre-calibrated acceleration correspondence diagram; A throttle converter is configured to convert the target throttle bus signal into a target throttle voltage signal; An engine controller is configured to: determine the fuel injection quantity corresponding to the throttle using the target throttle voltage signal, wherein the fuel injection quantity is used to characterize the throttle opening of the throttle; The engine controller controls the power output based on the torque control mode so that the required torque is greater than the required torque in low-speed non-climbing conditions. Under the same target throttle requirement, the engine controller calibrates different required torques according to the current engine speed n. When the vehicle is climbing at low speed, the engine controller automatically queries the corresponding torque requirement based on the engine speed and target throttle signal, and then determines the fuel injection quantity. The autonomous driving controller is further configured as follows: Configure the target vehicle speed and the required time for the current vehicle; Based on the target vehicle speed and the required time, determine the target acceleration of the current vehicle according to the current vehicle speed; The engine controller is further configured to: Based on the engine speed and the target throttle voltage signal, the current vehicle's required torque is determined using a pre-calibrated required torque correspondence map; Based on the current torque demand of the vehicle and the engine speed, the fuel injection quantity corresponding to the throttle is determined.

4. The throttle control device for autonomous driving according to claim 3, characterized in that, The autonomous driving controller is further configured to acquire the current engine speed of the vehicle.

5. A vehicle, characterized in that, Includes a throttle control device for autonomous driving as described in any one of claims 3 to 4.

6. A computer storage medium storing a computer program that, when executed by a processor, implements the steps of the throttle control method for autonomous driving as described in any one of claims 1 to 2.

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