Control assistant system to align driving and riding experience between gasoline and electric vehicles
A method, apparatus, and system for modifying acceleration characteristics of an electric vehicle is disclosed. A persistent input throttle command signal that starts at a first time instant is received at a vehicle control system of a first vehicle that is a first type vehicle. A transformed throttle command signal is generated based on the persistent input throttle signal and a present time at the vehicle control system. An engine operation of the first vehicle is controlled based on the transformed throttle command signal at the vehicle control system. Controlling the engine operation of the first vehicle based on the transformed throttle command signal causes the engine power output of the first vehicle to be associated with a second acceleration performance curve that is associated with a second type vehicle.
1. A computer-implemented method for operating an autonomous driving vehicle (ADV), the method comprising:
receiving a persistent input throttle command signal that starts at a first time instant T 0 at a vehicle control system of the ADV that is a first type vehicle;
generating a transformed throttle command signal for the first type vehicle from the persistent input throttle command signal based on a first acceleration performance curve representing a power transient response of the first type vehicle to a first throttle command and a second acceleration performance curve representing a power transient response of a second type vehicle to a second throttle command, wherein the first acceleration performance curve includes a start time equal to T 0 when the first throttle command is given, a first response time T 1 when the first type vehicle starts to respond to the first throttle command, and a first max acceleration time T 2 when the first type vehicle reaches a first maximum acceleration power corresponding to the first throttle command, wherein the second acceleration performance curve includes the start time when the second throttle command is given, a second response time T 1 ′ when the second type vehicle starts to respond to the second throttle command, and a second max acceleration time T 2 ′ when the second type vehicle reaches a second maximum acceleration power corresponding to the second throttle command, wherein the transformed throttle command signal comprises a zero throttle command within a first time period equal to T 1 −T 1 ′ after the first time instant T 0 and causes an increase rate of an engine power output of the first type vehicle to mimic an increase rate of an engine power output associated with the second acceleration performance curve within a second time period after the first time period, wherein the second time period is equal to a time period lasting from T 0 +T 1 −T 1 ′ to T 0 +T 2 −T 2 ′; and
controlling an engine operation of the ADV based on the transformed throttle command signal at the vehicle control system, such that the ADV accelerates in a manner similar to the second type vehicle.
2. The method of claim 1 , wherein the first type vehicle is an electric vehicle, and the second type vehicle is a fossil fuel vehicle.
3. The method of claim 1 , wherein the transformed throttle command signal comprises a corresponding portion of the persistent input throttle command signal within a third time period after the second time period.
4. The method of claim 1 , wherein an engine power output on the second acceleration performance curve starts to appear at a later time and increases at a slower rate than on the first acceleration performance curve.
5. The method of claim 1 , wherein controlling the engine operation of the ADV on the transformed throttle command signal causes an engine power output of the ADV according to timing of the second acceleration performance curve associated with the second type vehicle.
6. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor of an autonomous driving vehicle (ADV), cause the processor to perform operations of operating the ADV, the operations comprising:
receiving a persistent input throttle command signal that starts at a first time instant T 0 at a vehicle control system of the ADV that is a first type vehicle;
generating a transformed throttle command signal for the first type vehicle from the persistent input throttle command signal based on a first acceleration performance curve representing a power transient response of the first type vehicle to a first throttle command and a second acceleration performance curve representing a power transient response of a second type vehicle to a second throttle command, wherein the first acceleration performance curve includes a start time equal to T 0 when the first throttle command is given, a first response time T 1 when the first type vehicle starts to respond to the first throttle command, and a first max acceleration time T 2 when the first type vehicle reaches a first maximum acceleration power corresponding to the first throttle command, wherein the second acceleration performance curve includes the start time when the second throttle command is given, a second response time T 1 ′ when the second type vehicle starts to respond to the second throttle command, and a second max acceleration time T 2 ′ when the second type vehicle reaches a second maximum acceleration power corresponding to the second throttle command, wherein the transformed throttle command signal comprises a zero throttle command within a first time period equal to T 1 −T 1 ′ after the first time T 0 and causes an increase rate of an engine power output of the first type vehicle to mimic an increase rate of an engine power output associated with the second acceleration performance curve within a second time period after the first time period, wherein the second time period is equal to a time period lasting from T 0 +T 1 −T 1 ′ to T 0 +T 2 −T 2 ′; and
controlling an engine operation of the ADV based on the transformed throttle command signal at the vehicle control system, such that the ADV accelerates in a manner similar to the second type vehicle.
7. The machine-readable medium of claim 6 , wherein the first type vehicle is an electric vehicle, and the second type vehicle is a fossil fuel vehicle.
8. The machine-readable medium of claim 6 , wherein the transformed throttle command signal comprises a corresponding portion of the persistent input throttle command signal within a third time period after the second time period.
9. The machine-readable medium of claim 6 , wherein an engine power output on the second acceleration performance curve starts to appear at a later time and increases at a slower rate than on the first acceleration performance curve.
10. The machine-readable medium of claim 6 , wherein controlling the engine operation of the ADV based on the transformed throttle command signal causes an engine power output of the ADV according to timing of the second acceleration performance curve associated with the second type vehicle.
11. A data processing system, comprising:
a processor; and
a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations of operating an autonomous driving vehicle (ADV), the operations including:
receiving a persistent input throttle command signal that starts at a first time instant T 0 at a vehicle control system of the ADV that is a first type vehicle,
generating a transformed throttle command signal for the first type vehicle from the persistent input throttle command signal based on a first acceleration performance curve representing a power transient response of the first type vehicle to a first throttle command and a second acceleration performance curve representing a power transient response of a second type vehicle to a second throttle command, wherein the first acceleration performance curve includes a start time equal to T 0 when the first throttle command is given, a first response time T 1 when the first type vehicle starts to respond to the first throttle command, and a first max acceleration time T 2 when the first type vehicle reaches a first maximum acceleration power corresponding to the first throttle command, wherein the second acceleration performance curve includes the start time when the second throttle command is given, a second response time T 1 ′ when the second type starts to respond to the second throttle command, and a second max acceleration time T 2 ′ when the second type vehicle reaches a second maximum acceleration power corresponding to the second throttle command, wherein the transformed throttle command signal comprises a zero throttle command within a first time period equal to T 1 −T 1 ′ after the first time instant T 0 , and causes an increase rate of an engine power output of the first type vehicle to mimic an increase rate of an engine power output associated with the second acceleration performance curve within a second time period after the first time period, wherein the second time period is equal to a time period lasting from T 0 +T 1 −T 1 ′ to T 0 +T 2 −T 2 ′, and
controlling an engine operation of the ADV based on the transformed throttle command signal at the vehicle control system, such that the ADV accelerates in a manner similar to the second type vehicle.
12. The system of claim 11 , wherein the first type vehicle is an electric vehicle, and the second type vehicle is a fossil fuel vehicle.
13. The system of claim 11 , wherein the transformed throttle command signal comprises a corresponding portion of the persistent input throttle command signal within a third time period after the second time period.
14. The system of claim 11 , wherein an engine power output on the second acceleration performance curve starts to appear at a later time and increases at a slower rate than on the first acceleration performance curve.
15. The system of claim 11 , wherein controlling the engine operation of the ADV based on the transformed throttle command signal causes an engine power output of the ADV according to timing of the second acceleration performance curve associated with the second type vehicle.
16. The method of claim 1 , wherein a period between T 1 ′ and T 2 ′ is shorter than a period between time instants T 1 and T 2 .
17. The method of claim 1 , wherein each of the first acceleration performance curve and the second acceleration performance curve is generated based on prior driving statistics data of a plurality of vehicles.
18. The machine-readable medium of claim 6 , wherein a period between T 1 ′ and T 2 ′ is shorter than a period between time instants T 1 and T 2 .
19. The machine-readable medium of claim 6 , wherein each of the first acceleration performance curve and the second acceleration performance curve is generated based on prior driving statistics data of a plurality of vehicles.
20. The system of claim 11 , wherein a period between T 1 ′ and T 2 ′ is shorter than a period between time instants T 1 and T 2 .