Acceleration control circuit and method for unmanned vehicle and related equipment

Abstract

The invention provides an acceleration control circuit and method for an unmanned vehicle and related equipment, and the circuit comprises an accelerator pedal module, an unmanned control module, a whole vehicle control module, a first relay group, a second relay group and a mode switching switch, the unmanned control module generates an acceleration sampling voltage. The accelerator pedal module is electrically connected with the unmanned control module through the first relay set, the unmanned control module is electrically connected with the whole vehicle control module through the second relay set, and the first relay set is electrically connected with the second relay set. The whole vehicle control module is used for receiving the accelerator pedal voltage or the acceleration sampling voltage to output vehicle control torque. According to the control circuit disclosed by the invention, the control signal is difficult to be directly tampered through hard wire transmission, so that the response rate and the data security in the signal transmission process are improved.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned driving technology, and in particular relates to an acceleration control circuit, method and related equipment of an unmanned driving vehicle. Background Art

[0002] In recent years, driverless technology has developed rapidly. Many domestic and foreign companies and universities have used driverless cars as a platform to explore cutting-edge technologies in perception, decision-making, planning and control. At present, most driverless cars are based on ordinary cars, adding sensors, controllers and other equipment to achieve driverless functions. Among them, acceleration control is the most common and basic control condition for driverless vehicles. Therefore, how to simulate the driver to control the acceleration of the driverless vehicle is the primary consideration when building an driverless platform.

[0003] In a manually driven vehicle, when the driver steps on the accelerator pedal, the vehicle controller converts the collected accelerator pedal voltage value into the accelerator pedal opening value (0-100%), and then calculates the target torque according to the accelerator pedal opening and other vehicle information, thereby realizing vehicle acceleration control. Therefore, for unmanned vehicles, as long as the accelerator pedal voltage value can be given to the vehicle controller, vehicle acceleration control can also be realized. In the prior art, the acceleration control during unmanned driving is realized by introducing an unmanned driving controller (IDC). The accelerator pedal control module, the unmanned driving controller and the vehicle controller use the CAN bus to establish a communication connection. When in the manual driving mode, the driver steps on the accelerator pedal, and the accelerator pedal control module generates a pedal control signal and transmits it to the vehicle controller, and then the vehicle controller calculates and outputs the control torque; when in the unmanned driving mode, the unmanned driving controller directly generates a simulated pedal control signal according to the acceleration demand, and then transmits it to the vehicle controller and the vehicle controller outputs the control torque.

[0004] However, since the CAN bus is mainly used for signal transmission between the accelerator pedal control module, the unmanned driving controller and the vehicle controller, the response speed and response accuracy are low and there are data security issues in the signal transmission process. The above problems may make it difficult for the unmanned vehicle to adjust the speed in time, or cause the pedal control signal received by the vehicle controller to be maliciously tampered with in the unmanned driving mode, ultimately causing the unmanned vehicle to lose control and cause a traffic accident, resulting in huge economic and property losses. Summary of the invention

[0005] The present invention provides an acceleration control circuit, method and related equipment for an unmanned vehicle to solve the problems that the response speed and response accuracy of control signal transmission between an accelerator pedal control module, an unmanned driving controller and a vehicle controller are low, and there are data security issues in the signal transmission process.

[0006] In a first aspect, the present invention provides an acceleration control circuit for an unmanned vehicle, the circuit comprising an accelerator pedal module, an unmanned driving control module, a vehicle control module, a first relay group, a second relay group and a mode switching switch, the accelerator pedal module generates an accelerator pedal voltage based on a change in the opening of an accelerator pedal provided in the unmanned vehicle, and the unmanned driving control module generates an acceleration sampling voltage based on an acceleration demand of the unmanned vehicle in an unmanned driving mode;

[0007] The accelerator pedal module is electrically connected to the unmanned driving control module through the first relay group, and the unmanned driving control module is electrically connected to the vehicle control module through the second relay group. The first relay group and the second relay group are electrically connected. The unmanned driving control module includes a mode control input terminal, one end of the mode switching switch is connected to the vehicle power supply, and the other end of the mode switching switch is connected to the mode control input terminal. The mode switching switch is used to receive a mode switching instruction and generate a mode switching signal to output to the unmanned driving control module. The unmanned driving control module is used to receive the mode switching signal and control the opening and closing of all relays in the first relay group and the second relay group based on the mode switching signal. The vehicle control module is used to receive the accelerator pedal voltage or the acceleration sampling voltage to output the vehicle control torque.

[0008] Optionally, the accelerator pedal module comprises a first acceleration voltage output terminal and a second acceleration voltage output terminal, and the accelerator pedal module outputs the accelerator pedal voltage through the first acceleration voltage output terminal and the second acceleration voltage output terminal;

[0009] The vehicle control module includes a first control voltage input terminal and a second control voltage input terminal, and the unmanned driving control module also includes a first acceleration voltage input terminal, a second acceleration voltage input terminal, a first sampling voltage output terminal and a second sampling voltage output terminal. The first acceleration voltage output terminal is electrically connected to the first acceleration voltage input terminal through the first relay group, and the second acceleration voltage output terminal is electrically connected to the second acceleration voltage input terminal through the first relay group. The first sampling voltage output terminal is electrically connected to the first control voltage input terminal through the second relay group, and the second sampling voltage output terminal is electrically connected to the second control voltage input terminal through the second relay group.

[0010] Optionally, the first relay group includes a first relay and a second relay, the second relay group includes a third relay and a fourth relay, the first relay and the second relay each include a control input terminal, a control output terminal, a voltage input terminal, a first voltage output terminal and a second voltage output terminal, and the third relay and the fourth relay each include a control input terminal, a control output terminal, a first voltage input terminal, a second voltage input terminal and a voltage output terminal;

[0011] The first acceleration voltage output end is electrically connected to the voltage input end of the first relay, the second acceleration voltage output end is electrically connected to the voltage input end of the second relay, the first voltage output end of the first relay is electrically connected to the first voltage input end of the third relay, the second voltage output end of the first relay is electrically connected to the first acceleration voltage input end, the first sampling voltage output end is electrically connected to the second voltage input end of the third relay, the second sampling voltage output end is electrically connected to the second voltage input end of the fourth relay, the voltage output end of the third relay is electrically connected to the first control voltage input end, and the voltage output end of the fourth relay is electrically connected to the second control voltage input end;

[0012] The mode switching instruction includes a manual mode switching instruction and an unmanned driving mode switching instruction, the unmanned driving control module also includes a first mode control output terminal and a second mode control output terminal, the control input terminals of the first relay and the second relay are both electrically connected to the first mode control output terminal, and the control input terminals of the third relay and the fourth relay are both electrically connected to the second mode control output terminal;

[0013] When the mode switching switch receives the manual mode switching instruction, a manual mode switching signal is generated; when the unmanned driving control module receives the manual mode switching signal through the mode control input terminal, the first mode control output terminal and the second mode control output terminal both output a low level; when the control input terminals of the first relay and the second relay receive a low level, the first relay and the second relay both control the voltage input terminal to be connected to the first voltage output terminal, and disconnect the voltage input terminal from the second voltage output terminal; when the control input terminals of the third relay and the fourth relay receive a low level, the third relay and the fourth relay both control the first voltage input terminal to be connected to the voltage output terminal, and disconnect the second voltage input terminal from the voltage output terminal;

[0014] When the mode switching switch receives the instruction to switch the unmanned driving mode, an unmanned driving mode switching signal is generated. When the unmanned driving control module receives the unmanned driving mode switching signal through the mode control input terminal, the first mode control output terminal and the second mode control output terminal both output a high level. When the control input terminals of the first relay and the second relay receive a high level, the first relay and the second relay both control the voltage input terminal to be connected to the second voltage output terminal, and disconnect the voltage input terminal from the first voltage output terminal. When the control input terminals of the third relay and the fourth relay receive a high level, the third relay and the fourth relay both control the second voltage input terminal to be connected to the voltage output terminal, and disconnect the first voltage input terminal from the voltage output terminal.

[0015] In a second aspect, the present invention further provides an acceleration control method for an unmanned vehicle, which is applied to the acceleration control circuit of the unmanned vehicle described in the first aspect, and the method comprises the following steps:

[0016] Determine whether the opening degree of the accelerator pedal set in the driverless vehicle has changed;

[0017] If the opening degree of the accelerator pedal changes, an accelerator pedal voltage is generated by an accelerator pedal module;

[0018] If the opening degree of the accelerator pedal does not change, determining whether the control mode of the unmanned driving control module is the unmanned driving mode;

[0019] If the control mode of the unmanned driving control module is the unmanned driving mode, generating an acceleration sampling voltage through the unmanned driving control module based on the acceleration requirement of the unmanned driving mode;

[0020] Receiving a mode switching instruction, and switching the control mode of the unmanned driving control module according to the mode switching instruction;

[0021] The accelerator pedal voltage or the acceleration sampling voltage is output to a vehicle control module based on the control mode, so that the vehicle control module outputs a vehicle control torque based on the accelerator pedal voltage or the acceleration sampling voltage.

[0022] Optionally, the accelerator pedal voltage and the acceleration sampling voltage are both two-way control voltages.

[0023] Optionally, the mode switching instruction includes a manual mode switching instruction and an unmanned driving mode switching instruction, and the control mode also includes a manual mode;

[0024] The receiving of the mode switching instruction and switching the control mode of the unmanned driving control module according to the mode switching instruction comprises the following steps:

[0025] Determining whether the received mode switching instruction is the manual mode switching instruction or the unmanned driving mode switching instruction;

[0026] If the received mode switching instruction is the manual mode switching instruction, switching the control mode of the unmanned driving control module to the manual mode according to the manual mode switching instruction;

[0027] If the received mode switching instruction is the switching unmanned driving mode instruction, switching the control mode of the unmanned driving control module to the unmanned driving mode according to the switching unmanned driving mode instruction;

[0028] The step of outputting the accelerator pedal voltage or the acceleration sampling voltage to a vehicle control module based on the control mode so that the vehicle control module outputs a vehicle control torque based on the accelerator pedal voltage or the acceleration sampling voltage comprises the following steps:

[0029] If the control mode is the manual mode, outputting the accelerator pedal voltage to a vehicle control module, so that the vehicle control module outputs a vehicle control torque based on the accelerator pedal voltage;

[0030] If the control mode is the unmanned driving mode, the acceleration sampling voltage is output to a vehicle control module, so that the vehicle control module outputs a vehicle control torque based on the acceleration sampling voltage.

[0031] Optionally, the method further comprises the following steps:

[0032] If the opening degree of the accelerator pedal changes, the manual mode switching instruction is generated, and the control mode of the unmanned driving control module is switched to the manual mode according to the manual mode switching instruction.

[0033] In a third aspect, the present invention further provides a computer-readable storage medium having instructions stored thereon, the instructions being used to enable a computer to execute the acceleration control method for an unmanned vehicle as described in the second aspect.

[0034] In a fourth aspect, the present invention also provides an acceleration control system for an unmanned vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the acceleration control method for the unmanned vehicle as described in the second aspect is implemented.

[0035] In a fifth aspect, the present invention further provides an acceleration control device for an unmanned vehicle, the device comprising the acceleration control circuit for the unmanned vehicle as described in the first aspect and the acceleration control system for the unmanned vehicle as described in the fourth aspect.

[0036] The beneficial effects of the present invention are:

[0037] The accelerator pedal module generates an accelerator pedal voltage based on the opening change of the accelerator pedal set in the unmanned vehicle, and the unmanned driving control module generates an acceleration sampling voltage based on the acceleration demand of the unmanned driving vehicle in the unmanned driving mode. The accelerator pedal module is electrically connected to the unmanned driving control module through the first relay group, and the unmanned driving control module is electrically connected to the vehicle control module through the second relay group, and the first relay group and the second relay group are electrically connected. A mode switching signal can be generated through the mode switching switch and output to the unmanned driving control module, and the unmanned driving control module is used to receive the mode switching signal and control the opening and closing of all relays in the first relay group and the second relay group based on the mode switching signal.

[0038] Through the above circuit connection, when all relays are disconnected, the accelerator pedal voltage generated by the accelerator pedal module can be directly output to the vehicle control module through the first relay group and the second relay group in sequence, which is the manual control mode; when all relays are turned on, the accelerator pedal module will be connected to the unmanned driving control module through the first relay group, and the unmanned driving control module will generate an acceleration sampling voltage according to the acceleration demand. The unmanned driving control module will output the acceleration sampling voltage to the vehicle control module through the second relay group, and finally the vehicle control module will receive the accelerator pedal voltage or the acceleration sampling voltage to output the vehicle control torque. Compared with the CAN bus connection between the accelerator pedal module, the unmanned driving control module, and the vehicle control module, the accelerator pedal module, the unmanned driving control module, and the vehicle control module are electrically connected in a hard-wired manner, and the control signal is transmitted through the hard-wired, which not only improves the response speed and response accuracy of the control signal transmission process, but also because the control signal is difficult to be directly tampered with due to the hard-wired transmission, thereby improving the data security during the signal transmission process. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The circuit diagram of the acceleration control circuit of the unmanned vehicle in the present invention is Figure 1 .

[0040] Figure 2 The circuit diagram of the acceleration control circuit of the unmanned vehicle in the present invention is Figure 2 .

[0041] Figure 3 It is a flow chart of the acceleration control method of the unmanned vehicle in the present invention.

[0042] Figure 4 This is a schematic diagram of equivalent control in the manual mode of the present invention.

[0043] Figure 5 This is a schematic diagram of equivalent control in the unmanned driving mode of the present invention.

[0044] Figure 6 Schematic diagram of mode switching between unmanned driving mode and manual mode in the present invention.

[0045] Description of reference numerals:

[0046] 1. Accelerator pedal module; 2. Unmanned driving control module; 3. Vehicle control module; 4. First relay group; 5. Second relay group; 6. Mode switching switch; 41. First relay; 42. Second relay; 51. Third relay; 52. Fourth relay. DETAILED DESCRIPTION

[0047] The invention discloses an acceleration control circuit for an unmanned vehicle.

[0048] The unmanned vehicle in the present invention does not refer to an unmanned vehicle, but a vehicle that can be unmanned, that is, the vehicle can be driven manually or automatically, even if the driver is always sitting in the main driving seat. Figure 1 The acceleration control circuit of the unmanned vehicle includes an accelerator pedal module, an unmanned driving control module, a vehicle control module, a first relay group, a second relay group and a mode switching switch. The accelerator pedal module generates an accelerator pedal voltage based on the opening change of the accelerator pedal set in the unmanned vehicle. When an operator steps on the accelerator pedal in the unmanned vehicle, the accelerator pedal will have an opening change. The unmanned driving control module generates an acceleration sampling voltage based on the acceleration demand of the unmanned vehicle in the unmanned driving mode. The control system of the unmanned vehicle will generate an acceleration demand in real time according to the operation of the unmanned driving program in the unmanned driving mode. The control system sends the acceleration demand to the unmanned driving control module, and the unmanned driving control module generates a simulated acceleration sampling voltage according to the acceleration demand.

[0049] The accelerator pedal module is electrically connected to the unmanned driving control module through the first relay group, and the unmanned driving control module is electrically connected to the vehicle control module through the second relay group. The first relay group and the second relay group are electrically connected. Through the configuration of the first relay group and the second relay group, the accelerator pedal module can directly transmit signals to the vehicle control module, and the signal transmission line of "accelerator pedal module→unmanned driving control module→vehicle control module" can also be realized. The unmanned driving control module includes a mode control input terminal, that is, Figure 1Pin 3 of the unmanned driving control module is a digital input pin. One end of the mode switch is connected to the vehicle power supply, and the other end of the mode switch is connected to the mode control input end. The mode switch is used to receive the mode switching instruction issued by the control system and generate a mode switching signal. The mode switch outputs the mode switching signal to the unmanned driving control module through pin 3 of the unmanned driving control module. The unmanned driving control module is used to receive the mode switching signal and control the opening and closing of all relays in the first relay group and the second relay group based on the mode switching signal. The vehicle control module is used to receive the accelerator pedal voltage or the acceleration sampling voltage to output the vehicle control torque.

[0050] The implementation principle of this embodiment is:

[0051] The accelerator pedal module generates an accelerator pedal voltage based on the opening change of the accelerator pedal set in the unmanned vehicle, and the unmanned driving control module generates an acceleration sampling voltage based on the acceleration demand of the unmanned driving vehicle in the unmanned driving mode. The accelerator pedal module is electrically connected to the unmanned driving control module through the first relay group, and the unmanned driving control module is electrically connected to the vehicle control module through the second relay group, and the first relay group and the second relay group are electrically connected. A mode switching signal can be generated through the mode switching switch and output to the unmanned driving control module, and the unmanned driving control module is used to receive the mode switching signal and control the opening and closing of all relays in the first relay group and the second relay group based on the mode switching signal.

[0052] Through the above circuit connection, when all relays are disconnected, the accelerator pedal voltage generated by the accelerator pedal module can be directly output to the vehicle control module through the first relay group and the second relay group in sequence, which is the manual control mode; when all relays are turned on, the accelerator pedal module will be connected to the unmanned driving control module through the first relay group, and the unmanned driving control module will generate an acceleration sampling voltage according to the acceleration demand. The unmanned driving control module will output the acceleration sampling voltage to the vehicle control module through the second relay group, and finally the vehicle control module will receive the accelerator pedal voltage or the acceleration sampling voltage to output the vehicle control torque. Compared with the CAN bus connection between the accelerator pedal module, the unmanned driving control module, and the vehicle control module, the accelerator pedal module, the unmanned driving control module, and the vehicle control module are electrically connected in a hard-wired manner, and the control signal is transmitted through the hard-wired, which not only improves the response speed and response accuracy of the control signal transmission process, but also because the control signal is difficult to be directly tampered with due to the hard-wired transmission, thereby improving the data security during the signal transmission process.

[0053] In one embodiment, referring to Figure 2 The accelerator pedal module includes a first acceleration voltage output terminal and a second acceleration voltage output terminal. Figure 2In the embodiment, the first acceleration voltage output terminal is pin 1 of the accelerator pedal module, and the second acceleration voltage output terminal is pin 2 of the accelerator pedal module. The accelerator pedal module outputs the accelerator pedal voltage through the first acceleration voltage output terminal and the second acceleration voltage output terminal. The vehicle control module includes a first control voltage input terminal and a second control voltage input terminal. Figure 2 In the figure, the first control voltage input terminal is pin 1 of the vehicle control module, and the second control voltage input terminal is pin 2 of the vehicle control module.

[0054] The unmanned driving control module also includes a first acceleration voltage input terminal, a second acceleration voltage input terminal, a first sampling voltage output terminal and a second sampling voltage output terminal. Figure 2 In the embodiment, the first acceleration voltage input terminal is pin 4 of the unmanned driving control module, the second acceleration voltage input terminal is pin 5 of the unmanned driving control module, and pins 4 and 5 of the unmanned driving control module are both analog voltage input pins of 0 to 5V. The first sampling voltage output terminal is pin 1 of the unmanned driving control module, the second sampling voltage output terminal is pin 2 of the unmanned driving control module, and pins 1 and 2 of the unmanned driving control module are analog voltage output pins of 0 to 5V. The first acceleration voltage output terminal is electrically connected to the first acceleration voltage input terminal through the first relay group, the second acceleration voltage output terminal is electrically connected to the second acceleration voltage input terminal through the first relay group, the first sampling voltage output terminal is electrically connected to the first control voltage input terminal through the second relay group, and the second sampling voltage output terminal is electrically connected to the second control voltage input terminal through the second relay group.

[0055] In this embodiment, refer to Figure 2 The first relay group includes a first relay and a second relay, the second relay group includes a third relay and a fourth relay, and the first relay and the second relay each include a control input terminal, a control output terminal, a voltage input terminal, a first voltage output terminal, and a second voltage output terminal. Figure 2 In the embodiment, pin 1 of the first relay and the second relay is a control input terminal, pin 2 of the first relay and the second relay is a control output terminal, pin 3 of the first relay and the second relay is a voltage input terminal, pin 4 of the first relay and the second relay is a first voltage output terminal, and pin 5 of the first relay and the second relay is a second voltage output terminal. The third relay and the fourth relay each include a control input terminal, a control output terminal, a first voltage input terminal, a second voltage input terminal, and a voltage output terminal. Figure 2 In the embodiment, pin 1 of the third relay and the fourth relay is a control input terminal, pin 2 of the third relay and the fourth relay is a control output terminal, pin 3 of the third relay and the fourth relay is a first voltage input terminal, pin 4 of the third relay and the fourth relay is a second voltage input terminal, and pin 5 of the third relay and the fourth relay is a voltage output terminal.

[0056] The first acceleration voltage output terminal is electrically connected to the voltage input terminal of the first relay, the second acceleration voltage output terminal is electrically connected to the voltage input terminal of the second relay, the first voltage output terminal of the first relay is electrically connected to the first voltage input terminal of the third relay, the second voltage output terminal of the first relay is electrically connected to the first acceleration voltage input terminal, the first sampling voltage output terminal is electrically connected to the second voltage input terminal of the third relay, the second sampling voltage output terminal is electrically connected to the second voltage input terminal of the fourth relay, the voltage output terminal of the third relay is electrically connected to the first control voltage input terminal, and the voltage output terminal of the fourth relay is electrically connected to the second control voltage input terminal.

[0057] The mode switching instruction includes a manual mode switching instruction and an unmanned driving mode switching instruction. The unmanned driving control module also includes a first mode control output terminal and a second mode control output terminal. Figure 2 In the embodiment, the first mode control output terminal is pin 7 of the unmanned driving control module, and the second mode control output terminal is pin 6 of the unmanned driving control module. Pins 6 and 7 of the unmanned driving control module are digital output pins. The control input terminals of the first relay and the second relay are both electrically connected to the first mode control output terminal, and the control input terminals of the third relay and the fourth relay are both electrically connected to the second mode control output terminal.

[0058] When the mode switching switch receives an instruction to switch to a manual mode, a manual mode switching signal is generated. When the unmanned driving control module receives the manual mode switching signal through the mode control input terminal, the unmanned driving control module outputs a low level through the first mode control output terminal and the second mode control output terminal. When the control input terminals of the first relay and the second relay receive a low level, the first relay and the second relay both control the voltage input terminal to be connected to the first voltage output terminal, and disconnect the voltage input terminal from the second voltage output terminal. When the control input terminals of the third relay and the fourth relay receive a low level, the third relay and the fourth relay both control the first voltage input terminal to be connected to the voltage output terminal, and disconnect the second voltage input terminal from the voltage output terminal.

[0059] When the mode switching switch receives an instruction to switch to the unmanned driving mode, an unmanned driving mode switching signal is generated. When the unmanned driving control module receives the unmanned driving mode switching signal through the mode control input, the first mode control output and the second mode control output both output a high level. When the control input of the first relay and the second relay receives a high level, the first relay and the second relay both control the voltage input to be connected to the second voltage output, and disconnect the voltage input from the first voltage output. When the control input of the third relay and the fourth relay receives a high level, the third relay and the fourth relay both control the second voltage input to be connected to the voltage output, and disconnect the first voltage input from the voltage output.

[0060] In this embodiment, the accelerator pedal voltage and the acceleration sampling voltage are both two 0-5V control voltages. Control through two control voltages is to increase the reliability and safety of the system. First, by using two control voltages, redundant design can be achieved. Even if one of the control voltages fails or fails, the other can still work normally to ensure the reliability and stability of the system. Secondly, using two control voltages can improve the safety of the system. During the vehicle control process, the control signal of the accelerator pedal module directly affects the acceleration and braking operations of the vehicle, so it is necessary to ensure the accuracy and stability of the control signal. By using two control voltages, they can monitor and verify each other, avoiding the adverse effects of errors or interference of a single control signal on the vehicle control, thereby improving the safety of the system.

[0061] When in manual mode ( Figure 2 The state is manual mode), one of the accelerator pedal voltages generated by the accelerator pedal module passes through the accelerator pedal module pin 1, the first relay pin 3, the first relay pin 4, the third relay pin 3, the third relay pin 5, and finally inputs into the vehicle control module through the vehicle control module pin 1. The other accelerator pedal voltage generated by the accelerator pedal module therefore passes through the accelerator pedal module pin 2, the second relay pin 3, the second relay pin 4, the fourth relay pin 3, the fourth relay pin 5, and finally inputs into the vehicle control module through the vehicle control module pin 2.

[0062] When in the unmanned driving mode, if the accelerator pedal module generates an accelerator pedal voltage, one accelerator pedal voltage passes through the accelerator pedal module pin 1, the first relay pin 3, the first relay pin 5, and finally is input into the unmanned driving control module through the unmanned driving control module pin 4. Another accelerator pedal voltage passes through the accelerator pedal module pin 2, the second relay pin 3, the second relay pin 5, and finally is input into the unmanned driving control module through the unmanned driving control module pin 5. The unmanned driving control module generates an acceleration sampling voltage based on the acceleration demand output by the control system, one of which passes through the unmanned driving control module pin 1, the third relay pin 4, the third relay pin 5, and finally is input into the vehicle control module through the vehicle control module pin 1. Another acceleration sampling voltage passes through the unmanned driving control module pin 2, the fourth relay pin 4, the fourth relay pin 5, and finally is input into the vehicle control module through the vehicle control module pin 2.

[0063] The invention also discloses an acceleration control method for an unmanned vehicle.

[0064] Reference Figure 3 , the acceleration control method of the unmanned vehicle comprises the following steps:

[0065] S101. Determine whether the opening of the accelerator pedal set in the unmanned vehicle has changed. If the opening of the accelerator pedal has changed, execute step S102; if the opening of the accelerator pedal has not changed, execute step S103.

[0066] S102. Generate an accelerator pedal voltage through an accelerator pedal module.

[0067] S103. Determine whether the control mode of the unmanned driving control module is the unmanned driving mode. If the control mode of the unmanned driving control module is the unmanned driving mode, execute step S104.

[0068] S104. Generate an acceleration sampling voltage through an unmanned driving control module based on the acceleration demand of the unmanned driving mode.

[0069] S105. Receive a mode switching instruction, and switch the control mode of the unmanned driving control module according to the mode switching instruction.

[0070] S106. Output the accelerator pedal voltage or the acceleration sampling voltage to the vehicle control module based on the control mode, so that the vehicle control module outputs the vehicle control torque based on the accelerator pedal voltage or the acceleration sampling voltage.

[0071] The implementation principle of this embodiment is:

[0072] First, it is determined whether the opening of the accelerator pedal set in the unmanned vehicle has changed. If the opening of the accelerator pedal has changed, the accelerator pedal voltage is generated through the accelerator pedal module; if the opening of the accelerator pedal has not changed, it is further determined whether the control mode of the unmanned driving control module is the unmanned driving mode. According to the above judgment logic, the opening change of the accelerator pedal (i.e., the operation of manually stepping on the accelerator pedal) has the highest priority. Once the opening of the accelerator pedal changes, the accelerator pedal voltage will be directly generated. If the opening of the accelerator pedal has not changed, and the control mode of the unmanned driving control module is the unmanned driving mode, the control system of the unmanned vehicle will generate the corresponding acceleration demand according to the unmanned driving program. At this time, the acceleration sampling voltage is generated through the unmanned driving control module based on the acceleration demand of the unmanned driving mode. The control system of the unmanned vehicle will also output a mode switching instruction according to the driver's operation. At this time, it is necessary to receive the mode switching instruction, and switch the control mode of the unmanned driving control module according to the mode switching instruction. Based on the control mode, the accelerator pedal voltage or the acceleration sampling voltage is output to the vehicle control module, so that the vehicle control module outputs the vehicle control torque based on the accelerator pedal voltage or the acceleration sampling voltage.

[0073] In one embodiment, the accelerator pedal voltage and the acceleration sampling voltage are both two control voltages. By using two control voltages, a redundant design can be achieved. Even if one of the control voltages fails or fails, the other can still work normally, ensuring the reliability and stability of the system. Secondly, the use of two control voltages can improve the safety of the system. During the vehicle control process, the control signal of the accelerator pedal module directly affects the acceleration and braking operations of the vehicle, so it is necessary to ensure the accuracy and stability of the control signal. By using two control voltages, they can monitor and verify each other, avoiding the adverse effects of errors or interference of a single control signal on the vehicle control, thereby improving the safety of the system.

[0074] In one embodiment, the mode switching instruction includes a manual mode switching instruction and an unmanned driving mode switching instruction, and the control mode also includes a manual mode. In this embodiment, step S105 specifically includes the following steps:

[0075] Receiving a mode switching instruction and switching the control mode of the unmanned driving control module according to the mode switching instruction includes the following steps:

[0076] Determining whether the received mode switching instruction is a manual mode switching instruction or an unmanned driving mode switching instruction;

[0077] If the received mode switching instruction is a manual mode switching instruction, the control mode of the unmanned driving control module is switched to the manual mode according to the manual mode switching instruction;

[0078] If the received mode switching instruction is an instruction to switch to an unmanned driving mode, the control mode of the unmanned driving control module is switched to the unmanned driving mode according to the instruction to switch to the unmanned driving mode.

[0079] In this embodiment, step S106 specifically includes the following steps:

[0080] If the control mode is the manual mode, the accelerator pedal voltage is output to the vehicle control module, so that the vehicle control module outputs the vehicle control torque based on the accelerator pedal voltage;

[0081] If the control mode is the unmanned driving mode, the acceleration sampling voltage is output to the vehicle control module, so that the vehicle control module outputs the vehicle control torque based on the acceleration sampling voltage.

[0082] In this embodiment, refer to Figure 4 In manual mode, the two accelerator pedal voltages received by the vehicle control module are the real voltages generated by the driver operating the accelerator pedal. The vehicle control module converts the accelerator pedal voltage into the accelerator pedal opening value, and then calculates the torque to achieve vehicle acceleration control. Figure 5 In the unmanned driving mode, the two acceleration voltages received by the vehicle control module are the acceleration sampling voltages simulated by the unmanned driving control module. As long as the unmanned driving control module simulates the appropriate voltage according to the acceleration requirements of the unmanned vehicle control system, the vehicle control module can realize vehicle acceleration control after pedal analysis and torque calculation.

[0083] In one embodiment, when the judgment result of step S101 is that the opening of the accelerator pedal has not changed, the acceleration control method of the unmanned vehicle further includes the following steps:

[0084] If the opening degree of the accelerator pedal changes, a manual mode switching instruction is generated, and the control mode of the unmanned driving control module is switched to the manual mode according to the manual mode switching instruction.

[0085] In this embodiment, refer to Figure 6 In the unmanned driving mode, if the driver actively presses the accelerator pedal, the system will determine that the driver has taken over. At this time, the two accelerator pedal voltages received by the vehicle control module are the real voltages generated by the driver operating the accelerator pedal, and the vehicle acceleration control will be handed over to the driver.

[0086] The present invention also discloses a computer-readable storage medium, on which instructions are stored, and the instructions are used to enable a computer to execute the acceleration control method of an unmanned vehicle described in any of the above embodiments.

[0087] The present invention also discloses an acceleration control system for an unmanned vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the acceleration control method for the unmanned vehicle described in any one of the above-mentioned embodiments is implemented.

[0088] The present invention also discloses an acceleration control device for an unmanned vehicle, the device comprising the acceleration control circuit for the unmanned vehicle described in any one of the above embodiments and the acceleration control system for the unmanned vehicle disclosed above.

[0089] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as above, which are not provided in detail for the sake of simplicity.

[0090] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. An acceleration control circuit for an unmanned vehicle, characterized in that: The circuit includes an accelerator pedal module, an unmanned driving control module, a vehicle control module, a first relay group, a second relay group and a mode switching switch. The accelerator pedal module generates an accelerator pedal voltage based on a change in the opening of an accelerator pedal set in the unmanned driving vehicle. The unmanned driving control module generates an acceleration sampling voltage based on an acceleration demand of the unmanned driving vehicle in an unmanned driving mode. The accelerator pedal module is electrically connected to the unmanned driving control module through the first relay group, and the unmanned driving control module is electrically connected to the vehicle control module through the second relay group. The first relay group and the second relay group are electrically connected. The unmanned driving control module includes a mode control input terminal, one end of the mode switching switch is connected to the vehicle power supply, and the other end of the mode switching switch is connected to the mode control input terminal. The mode switching switch is used to receive a mode switching instruction and generate a mode switching signal to output to the unmanned driving control module. The unmanned driving control module is used to receive the mode switching signal and control the opening and closing of all relays in the first relay group and the second relay group based on the mode switching signal. The vehicle control module is used to receive the accelerator pedal voltage or the acceleration sampling voltage to output the vehicle control torque.

2. The acceleration control circuit of the unmanned vehicle according to claim 1, characterized in that: The accelerator pedal module comprises a first acceleration voltage output terminal and a second acceleration voltage output terminal, and the accelerator pedal module outputs the accelerator pedal voltage through the first acceleration voltage output terminal and the second acceleration voltage output terminal; The vehicle control module includes a first control voltage input terminal and a second control voltage input terminal, and the unmanned driving control module also includes a first acceleration voltage input terminal, a second acceleration voltage input terminal, a first sampling voltage output terminal and a second sampling voltage output terminal. The first acceleration voltage output terminal is electrically connected to the first acceleration voltage input terminal through the first relay group, and the second acceleration voltage output terminal is electrically connected to the second acceleration voltage input terminal through the first relay group. The first sampling voltage output terminal is electrically connected to the first control voltage input terminal through the second relay group, and the second sampling voltage output terminal is electrically connected to the second control voltage input terminal through the second relay group.

3. The acceleration control circuit of the unmanned vehicle according to claim 2, characterized in that: The first relay group includes a first relay and a second relay, the second relay group includes a third relay and a fourth relay, the first relay and the second relay each include a control input terminal, a control output terminal, a voltage input terminal, a first voltage output terminal and a second voltage output terminal, and the third relay and the fourth relay each include a control input terminal, a control output terminal, a first voltage input terminal, a second voltage input terminal and a voltage output terminal; The first acceleration voltage output end is electrically connected to the voltage input end of the first relay, the second acceleration voltage output end is electrically connected to the voltage input end of the second relay, the first voltage output end of the first relay is electrically connected to the first voltage input end of the third relay, the second voltage output end of the first relay is electrically connected to the first acceleration voltage input end, the first sampling voltage output end is electrically connected to the second voltage input end of the third relay, the second sampling voltage output end is electrically connected to the second voltage input end of the fourth relay, the voltage output end of the third relay is electrically connected to the first control voltage input end, and the voltage output end of the fourth relay is electrically connected to the second control voltage input end; The mode switching instruction includes a manual mode switching instruction and an unmanned driving mode switching instruction, the unmanned driving control module also includes a first mode control output terminal and a second mode control output terminal, the control input terminals of the first relay and the second relay are both electrically connected to the first mode control output terminal, and the control input terminals of the third relay and the fourth relay are both electrically connected to the second mode control output terminal; When the mode switching switch receives the manual mode switching instruction, a manual mode switching signal is generated; when the unmanned driving control module receives the manual mode switching signal through the mode control input terminal, the first mode control output terminal and the second mode control output terminal both output a low level; when the control input terminals of the first relay and the second relay receive a low level, the first relay and the second relay both control the voltage input terminal to be connected to the first voltage output terminal, and disconnect the voltage input terminal from the second voltage output terminal; when the control input terminals of the third relay and the fourth relay receive a low level, the third relay and the fourth relay both control the first voltage input terminal to be connected to the voltage output terminal, and disconnect the second voltage input terminal from the voltage output terminal; When the mode switching switch receives the instruction to switch the unmanned driving mode, an unmanned driving mode switching signal is generated. When the unmanned driving control module receives the unmanned driving mode switching signal through the mode control input terminal, the first mode control output terminal and the second mode control output terminal both output a high level. When the control input terminals of the first relay and the second relay receive a high level, the first relay and the second relay both control the voltage input terminal to be connected to the second voltage output terminal, and disconnect the voltage input terminal from the first voltage output terminal. When the control input terminals of the third relay and the fourth relay receive a high level, the third relay and the fourth relay both control the second voltage input terminal to be connected to the voltage output terminal, and disconnect the first voltage input terminal from the voltage output terminal.

4. An acceleration control method for an unmanned vehicle, applied to the acceleration control circuit of an unmanned vehicle according to any one of claims 1 to 3, characterized in that: The method comprises the following steps: Determine whether the opening degree of the accelerator pedal set in the driverless vehicle has changed; If the opening degree of the accelerator pedal changes, an accelerator pedal voltage is generated by an accelerator pedal module; If the opening degree of the accelerator pedal does not change, determining whether the control mode of the unmanned driving control module is the unmanned driving mode; If the control mode of the unmanned driving control module is the unmanned driving mode, generating an acceleration sampling voltage through the unmanned driving control module based on the acceleration requirement of the unmanned driving mode; Receiving a mode switching instruction, and switching the control mode of the unmanned driving control module according to the mode switching instruction; The accelerator pedal voltage or the acceleration sampling voltage is output to a vehicle control module based on the control mode, so that the vehicle control module outputs a vehicle control torque based on the accelerator pedal voltage or the acceleration sampling voltage.

5. The acceleration control method of an unmanned vehicle according to claim 4, characterized in that: The accelerator pedal voltage and the acceleration sampling voltage are both two-way control voltages.

6. The acceleration control method of an unmanned vehicle according to claim 4, characterized in that: The mode switching instruction includes a manual mode switching instruction and an unmanned driving mode switching instruction, and the control mode also includes a manual mode; The receiving of the mode switching instruction and switching the control mode of the unmanned driving control module according to the mode switching instruction comprises the following steps: Determining whether the received mode switching instruction is the manual mode switching instruction or the unmanned driving mode switching instruction; If the received mode switching instruction is the manual mode switching instruction, switching the control mode of the unmanned driving control module to the manual mode according to the manual mode switching instruction; If the received mode switching instruction is the switching unmanned driving mode instruction, switching the control mode of the unmanned driving control module to the unmanned driving mode according to the switching unmanned driving mode instruction; The step of outputting the accelerator pedal voltage or the acceleration sampling voltage to a vehicle control module based on the control mode so that the vehicle control module outputs a vehicle control torque based on the accelerator pedal voltage or the acceleration sampling voltage comprises the following steps: If the control mode is the manual mode, outputting the accelerator pedal voltage to a vehicle control module, so that the vehicle control module outputs a vehicle control torque based on the accelerator pedal voltage; If the control mode is the unmanned driving mode, the acceleration sampling voltage is output to a vehicle control module, so that the vehicle control module outputs a vehicle control torque based on the acceleration sampling voltage.

7. The acceleration control method of an unmanned vehicle according to claim 5, characterized in that: The method further comprises the steps of: If the opening degree of the accelerator pedal changes, the manual mode switching instruction is generated, and the control mode of the unmanned driving control module is switched to the manual mode according to the manual mode switching instruction.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions for causing a computer to execute the acceleration control method for an unmanned vehicle as described in any one of claims 4 to 7.

9. An acceleration control system for an unmanned vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the acceleration control method of the unmanned vehicle as described in any one of claims 4 to 7 is implemented.

10. An acceleration control device for an unmanned vehicle, characterized in that: The device includes the acceleration control circuit for an unmanned vehicle as described in any one of claims 1 to 3 and the acceleration control system for an unmanned vehicle as described in claim 9.

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