CN202789143U

CN202789143U - Throttle intelligence control system for automatic drive vehicle

Info

Publication number: CN202789143U
Application number: CN 201220078348
Authority: CN
Inventors: 于宏啸; 段建民; 李玮; 胡建锋
Original assignee: Beijing University of Technology
Current assignee: Beijing University of Technology
Priority date: 2012-03-05
Filing date: 2012-03-05
Publication date: 2013-03-13
Anticipated expiration: 2022-03-05

Abstract

The utility model relates to a throttle intelligence control system for an automatic drive vehicle, and the throttle intelligence control system is practical application of automatic drive and auxiliary drive technologies for intelligent transportation. Through a photoelectric coding disc velometer, vehicle speed information is collected in a real-time manner and mileage is recorded and transmitted to a host computer. After calculation is done through the host computer, a closed loop for speed control is formed through. The opening degree of an electronic throttle is controlled through an obscure increment PID method and is then sent to a throttle MCU microcontroller, a brush direct current motor is controlled by a PWM wave module of the MCU microcontroller, therefore the throttle stroke can be controlled and consequently the vehicle speed can be controlled, and a vehicle bottom layer CAN bus network is set up for transmission of vehicle state information. Throttle control precision of an automatic drive vehicle can be effectively improved.

Description

A kind of throttle intelligent control system of automatic driving vehicle

One, technical field

It is a kind of throttle intelligent control system of automatic driving vehicle that the utility model relates to, and belongs to automotive field.

Two, background technique

Automatic Pilot and DAS (Driver Assistant System) occupy an important position at intelligent transportation field, are important constituent elements of intelligent vehicle speed control, and the quality of its performance has directly had influence on speed control performance and the precision of intelligent vehicle.The application of intelligent vehicle to vehicle automatically and semi-automatic driving, the speed auxiliary driving technology of automatic parking of cruising has important practical significance.The control system of its E-Gas is with the combination of computer, single-chip microcomputer, machinery, electric, control technique; Simultaneously also be the important component part of auxiliary driving and active safety technology, along with the raising of people to the safety consciousness of traffic and vehicle, it more and more is subject to people's attention.Sometimes because driver's experience is abundant not, many to the access times of gas pedal and brake petal, some losses and the aperture of throttle alter a great deal, and cause the situation of a large amount of excessive fuel consumptions.The driver keeps an ability of posture control gas pedal for a long time simultaneously, and the travelling comfort of driving has no to ensure, and generation is tired easily, is unfavorable for safety traffic.

Automatically with auxiliary Throttle Opening Control technology of driving, be by vehicle speed sensor (photoelectric coded disk), brush direct current motor, the MCU of CAN bus network, control and collecting unit, control upper-position unit unit forms.But general control system only has independent throttle position feedback, rate accuracy is inadequate, large system's closed loop does not realize, calculating to accelerator open degree is also not accurate enough, can not guarantee like this stationarity and the real-time of throttle and speed, also can't guarantee the car speed control accuracy, can't satisfy passenger's travelling comfort.

Three, model utility content

The utility model aims to provide a kind of to automatic Pilot and the auxiliary effectively stable throttle intelligent control controlling method of driving, in order to allow the control of vehicle accelerator speed have enough accuracy to ensure simultaneously passenger's travelling comfort, can allow vehicle in automatic cruising and automatic parking key technology, bring into play the advantage of its safe ready.

In order to achieve the above object, the utility model is achieved in that

A kind of throttle intelligent control system of automatic driving vehicle, be based on the intelligent electric motor car platform BJUT number, the CAN Internet Transmission control information of adopting three MCU to build, each MCU function is respectively: microcontroller one HUB microprocessor built CAN network also gathers and processes the Stroke Control that speed information, microcontroller three control brush direct current motors carry out E-Gas by serial ports and upper-position unit compunlcation, microcontroller two; The upper-position unit computer expert crosses each single-chip microcomputer and sends information and the time stamp of returning and carry out incremental processing, and the fuzzy output quantity of accelerator open degree is sent to the MCU of control throttle, realizes whole speed of a motor vehicle control.

Comprise three Micro-processor MCVs, brush direct current motor, motor-drive circuit, photoelectric encoder, throttle stroke sensor, serial ports, brake pedal sensor.System has three MCU, one is the feedback speed signal of being responsible for gathering, one is the MCU of control throttle motor, one is the HUB microcontroller of building the CAN network, a photoelectric coded disk velocimeter, a throttle stroke sensor, its CAN module that Throttle Opening Control MCU uses are received the data of its control accelerator open degree, then are connected brush direct current motor by the pulse width modulation (PWM) module with motor drive module H bridge circuit.Speed acquisition MCU carries out pulse number and the computational speed value that Interruption gathers photoelectric coded disk by Enhanced Timer ETC, and velocity amplitude sent to the upper-position unit computer by the HUB microcontroller, the upper-position unit computer expert crosses calculating Fuzzy increment PID and calculates the expectation accelerator open degree, and serial ports and HUB microcontroller connect and send to bottom CAN network the inside.

Microcontroller is the MC9S12DG128B single-chip microcomputer in its said system, and the throttle motor of its application is the Maxon brush direct current motor.

Four, beneficial effect

Owing to adopted effective Fuzzy increment PID and time stamp algorithm, the utlity model has following characteristics, control accuracy is high, and can consider to remedy how much change control strategy retard time in calculating, computational efficiency and stability are high simultaneously, catastrophic error can not occur.Separation of software and hardware, function modoularization degree height.The MCU and the CAN bus HUB microcontroller that wherein add and speed is detected can be well in conjunction with the data of upper-position unit and lower-position unit, and bottom CAN bus network antijamming capability can increase a plurality of nodes by force, makes vehicle control more flexible.Form speed Control loop system at upper-position unit simultaneously, the fast computing efficient of upper-position unit computer speed is high, can carry out complicated algorithm in the very short time.Based on above some, native system can well improve automatic Pilot and auxiliary Throttle Opening Control precision and ability of driving.The steady safety of Vehicle Driving Cycle.

Five, description of drawings:

Accompanying drawing 1 is the algorithm flow chart of the throttle intelligent control of the utility model automatic driving vehicle

Accompanying drawing 2 is skeleton diagrams of the utility model automatic Pilot and auxiliary Ride Control System

Accompanying drawing 3 is schematic diagrams of the Throttle Opening Control MCU of the utility model automatic driving vehicle

Accompanying drawing 4 is electrical schematic diagrams of motor drive module in the Throttle Opening Control of the utility model automatic driving vehicle

Accompanying drawing 5 is power module schematic diagrams in the Throttle Opening Control of the utility model automatic driving vehicle

Accompanying drawing 6 is Throttle Opening Control medium velocity acquisition module electrical schematic diagrams of the utility model automatic driving vehicle

Specifically number among the figure:

1. be MCU controller MC9S12DG128B

2. be the reset circuit of minimum system

3. eliminator

4. clock circuit

5. direct current generator

6. driven MOS pipe

7. protection diode

8. power regulator module

9. the inner principle of photoelectric code disk

10. shaping circuit

Six, concrete mode of execution:

Shown in Figure 1 is in the flow chart of algorithm, ECT module timing acquisition gets pulse value from photoelectric coded disk MCU from beginning, increase time stamp and computational speed value and send to upper-position unit, calculate current controlled quentity controlled variable by Fuzzy increment PID, whether the current controlled quentity controlled variable of detection computations has surpassed the limit of maximum controlled quentity controlled variable, whether detect current controlled quentity controlled variable less than minimum control quantitative limitation, act on its arrival specified position of throttle Electric Machine Control if the controlled quentity controlled variable of calculating in its scope, is exported controlled quentity controlled variable.When MCU gathers the pulse of photoelectric coded disk, adopt regularly 50ms to gather and calculate a velocity amplitude, use simultaneously radius of wheel information and calculate the mileage that travels.Send in the upper computer software by serial ports, wherein baud rate is 19200, check bit position NONE, and data bit 8, position of rest is 1.Process the data that serial ports receives and will send by multi-thread programming.After calculating its increment size to motor output by Fuzzy increment PID, send to Electric Machine Control MCU, by the controlled quentity controlled variable of the 2kHZ of PWM block configuration among the MCU.Use motor control signal of the every 50ms timed sending of ECT module.

The throttle intelligent control system is comprised of four parts as shown in Figure 2, comprises that three MCU and a upper-position unit consist of.By vehicle speed sensor (photoelectric coded disk), brush direct current motor, the MCU of CAN bus network, control and collecting unit, control upper-position unit, gas pedal stroke sensor consist of, by three sensor signals of three MCU inputs, can provide velocity information to single-chip microcomputer respectively, gas pedal stroke, the position information of motor.Electric Machine Control MCU sends pulse-width signal by the signal that upper-position unit sends to the PWM module of controlling microcontroller, controls the work of throttle motor pulling throttle.Carry out the real-time communication of each vehicle by the CAN network, and information of vehicles is carried out Code And Decode.

It is that MC9S12DG128B Single-chip Controlling throttle motor is illustrated in figure 3 as its minimum system electrical schematic diagram that the utility model practices MCU.

Application PP4 PP5 forms the output of twin-channel PWM ripple, at first carries out the initialization of PWM module, enables the PWM module, and cycle and duty cycle parameters that PWM is set are carried out, and being undertaken regularly by the ECT module among the MCU, 50ms carries out the control of motor.The analogue signal of output control motor, the PB mouth picks out work indicator light, monitors the working state of MCU by the state that lamp corresponding to different operating state is set.

PT1 is the input port of the collection photoelectric coded disk pulse of MCU, the velocity amplitude that has read and calculated by the timed sending of ECT module.

Be illustrated in figure 4 as motor driving H bridge module.Power supply stabilization circuit Figure 6 shows that the speed acquisition circuit as shown in Figure 5

Key of the present utility model is by the Information Monitoring of whole system and time stamp, can there be very high precision to control throttle with the Fuzzy increment pid algorithm, whether whole 3 MCU work is harmonious, whether the communication of CAN bus is unimpeded all is the key of whole system operation, is further detailed below in conjunction with communication and the flow process of example to modules:

1. 3 MCU modules of initialization arrange the bus frequency of MCU, and the initialization clock module arranges the phase-locked loop pll parameter, and the PT0 that gathers MCU is set to the input capture mode, and PT1 arranges Interruption, each port position output of PB I/O pattern is set allows to interrupt.

2. arrange regularly that 50ms the information with the input capture collection of once interrupting converts velocity information to and mileage information sends to upper-position unit by serial ports.The state of PB interface LED lamp is from successively flicker to the right.

3. upper-position unit is used the VC6.0 environment by the class of SerialPort and is write upper-position unit serial ports reception software, receives and dispatches the information that serial ports obtains by the respectively processing of multithreading.At first calculate its departure, determine its time stamp, then calculate its controlled quentity controlled variable by Fuzzy increment PID, judge its calculate controlled quentity controlled variable whether greater than the upper bound and the controlled quentity controlled variable calculated whether less than lower bound.The definite controlled quentity controlled variable that will export is issued to by serial ports among the MCU of Hub at last.

4.HubMCU through decoding and the processing that converts, respectively the MCU of the different I D in the whole control network is sent relevant information by the CAN bus network.

5. when the ID value among its CAN of control motor M CU received the parameter of control motor for 0x100, it was decoded into corresponding PWM dutycycle and controls motor pulling throttle stroke by motor drive module.Control in real time the speed of intelligent vehicle.

6. continuous picking rate information comes transmitting order to lower levels to control throttle motor and the speed of a motor vehicle in the control cycle scope.

Claims

1. the throttle intelligent control system of an automatic driving vehicle, be based on the intelligent electric motor car platform BJUT number, it is characterized in that: the CAN Internet Transmission control information of adopting three MCU to build, each MCU function is respectively: microcontroller one HUB microprocessor built CAN network also gathers and processes the Stroke Control that speed information, microcontroller three control brush direct current motors carry out E-Gas by serial ports and upper-position unit compunlcation, microcontroller two; The upper-position unit computer expert crosses each single-chip microcomputer and sends information and the time stamp of returning and carry out incremental processing, and the fuzzy output quantity of accelerator open degree is sent to the MCU of control throttle, realizes whole speed of a motor vehicle control.