Physics-Based Acceleration Control Node for Pedal Signal Emulation
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Solution Overview
Problem
Autonomous vehicles require complex tuning processes to adjust engine torque and gear settings for different vehicle configurations, which is cumbersome and inefficient, especially when transitioning between manual and autonomous driving modes.
Innovation Solution
An acceleration control node within the autonomous vehicle system generates control signals to mimic human input, using a physics-based model to convert acceleration values into engine torque or brake pressure values, allowing the vehicle's computer to control engine and braking systems without the need for physical pedal inputs, thereby simplifying the tuning process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If traditional control methods are used where the autonomous vehicle computer directly sends torque instructions to the engine control unit, then the control process is simple, but complex tuning is required for different vehicle configurations and gear settings
Solution Approach 1:
The patent introduces an acceleration control node as an intermediary component between the autonomous vehicle computer and the engine control unit. This node receives acceleration commands, converts them into pedal position signals, and transmits these signals to the engine control unit. This intermediary approach eliminates the need for complex tuning by using a standardized signal interface that the engine control unit already understands, while maintaining the simplicity of centralized control from the autonomous vehicle computer.
Solution Approach 2:
The acceleration control node creates a virtual copy of the accelerator pedal signal that the engine control unit expects from a physical pedal. By generating this virtual pedal position signal, the system replicates the normal manual driving interface without requiring physical pedal actuation, thereby eliminating the need for re-tuning when transitioning between manual and autonomous modes.
2Adaptability or versatility
If the vehicle uses physical accelerator pedal input during manual driving, then the control signal is naturally compatible with the engine control unit, but the autonomous vehicle cannot physically depress the pedal
Solution Approach 1:
The patent replaces the mechanical pedal depression action with an electronic signal generation process. The acceleration control node receives electronic acceleration commands from the autonomous vehicle computer and converts them into electronic pedal position signals, eliminating the need for mechanical pedal actuation while maintaining compatibility with the engine control unit's expected input format.
3Measurement precision
If the engine control unit receives direct torque commands from the autonomous vehicle computer, then the control is precise, but the transmission control unit cannot properly adjust gear settings
Solution Approach 1:
The acceleration control node serves as a mediator that receives precise acceleration commands from the autonomous vehicle computer and converts them into pedal position signals that both the engine control unit and transmission control unit can process. This allows the transmission control unit to properly interpret the signals and adjust gear settings appropriately while maintaining the precision of the original acceleration command.
Data Source
AI summary
Provided is a system and method for imitating control signals from physical input mechanisms of a vehicle. Examples of such physical input mechanisms include a gas pedal, a brake pedal, and the like. In one example, the method may include receiving an acceleration value from a planning system associated with a vehicle and a state of the vehicle from a state estimation system, converting, via a software control node, the acceleration value and the state of the vehicle into at least one of an engine torque value and a brake pressure value, generating a control signal for controlling a speed of the vehicle based on the at least one of the engine torque value and the brake pressure value, and transmitting the control signal to a control system of the vehicle.