Systems and Methods for Adaptive Throttle Filtering

• US 20170030270A1
• Filed: 07/28/2015
• Published: 02/02/2017
• Est. Priority Date: 07/28/2015
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Tipton, Scott, Moon, Joshua, Anderson, Ryan, Landes, James
• Granted Patent: US 9,964,048 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: F02D 11/02 characterised by hand, foot, or like operator controlled initiation means
• CPC Class Codes: F02D 11/105 characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
• CPC Class Codes: F02D 11/107 Safety-related aspects
• CPC Class Codes: F02D 2011/101 characterised by the means for actuating the throttles
• CPC Class Codes: F02D 2041/1432 the system including a filter, e.g. a low pass or high pass filter
• CPC Class Codes: F02D 2200/501 Vehicle speed
• CPC Class Codes: F02D 2200/602 Pedal position

Abstract

Systems and methods for adaptive throttle filtering are disclosed. One method includes receiving vertical acceleration data indicative of a plurality of vertical accelerations of a machine, receiving first throttle pedal data indicative of a plurality of throttle pedal movements, determining a filter factor based at least on the vertical acceleration data, filtering the first throttle pedal data, based at least on the filter factor, to determine second throttle pedal data, and causing the second throttle pedal data to be transmitted to a controller to effectuate control of an operation of an engine.

Claims

1. A method comprising:

receiving vertical acceleration data indicative of a plurality of vertical accelerations of a machine;

receiving first throttle pedal data indicative of a plurality of throttle pedal movements;

determining a filter factor based at least on the vertical acceleration data;

filtering the first throttle pedal data, based at least on the filter factor, to determine second throttle pedal data; and

causing the second throttle pedal data to be transmitted to a controller to effectuate control of an operation of an engine.

2. The method of claim 1, wherein the second throttle pedal data comprises data indicative of a first set of throttle pedal movements from the plurality of throttle pedal movements and the filtering the first throttle pedal data comprises:

determining, based at least on the filter factor, the second throttle pedal data and third throttle pedal data indicative of a second set of throttle pedal movements from the plurality of throttle pedal movements, wherein the third throttle pedal data is not caused to be transmitted to the controller to effectuate control of the operation of the engine.

3. The method of claim 1, wherein the first throttle pedal data comprises a plurality of data points, the filtering the first throttle pedal data to determine the second throttle pedal data comprises:

modifying a data point of the plurality of data points, according to an average of a value of each of at least two or more data points of the plurality of data points, to determine the second throttle pedal data.

4. The method of claim 3, wherein the at least two or more data points of the plurality of data points comprises a number of data points temporally preceding the modified data point, the number of data points being based at least on the filter factor.

5. The method of claim 1, further comprising:

receiving speed data indicative of a speed of the machine, wherein the determining the filter factor is further based on the speed data.

6. The method of claim 1, wherein the filter factor is proportional to a frequency of vertical accelerations of the plurality of vertical accelerations of the vertical acceleration data.

7. The method of claim 5, wherein the filter factor is proportional to the speed of the machine of the speed data.

8. A method comprising:

receiving first throttle pedal data indicative of a first plurality of throttle pedal movements;

filtering the first throttle pedal data to determine second throttle pedal data indicative of a second plurality of throttle pedal movements;

determining a throttle error based at least on a comparison of the first throttle pedal data to the second throttle pedal data;

determining a filter factor based at least on the throttle error;

filtering the first throttle pedal data, based at least on the filter factor, to determine third throttle pedal data; and

causing the third throttle pedal data to be transmitted to a controller to effectuate control of an operation of an engine.

9. The method of claim 8, wherein the third throttle pedal data comprises data indicative of a first set of throttle pedal movements from the first plurality of throttle pedal movements and the filtering the first throttle pedal data comprises:

determining, based at least on the filter factor, the third throttle pedal data and fourth throttle pedal data indicative of a second set of throttle pedal movements from the first plurality of throttle pedal movements, wherein the fourth throttle pedal data is not caused to be transmitted to the controller to effectuate control of the operation of the engine.

10. The method of claim 8, wherein the first throttle pedal data comprises a plurality of data points, the filtering the first throttle pedal data to determine the third throttle pedal data comprises:

modifying a data point of the plurality of data points, according to an average of a value of each of at least two or more data points of the plurality of data points, to determine the third throttle pedal data.

11. The method of claim 10, wherein the at least two or more data points of the plurality of data points comprises a number of data points temporally preceding the modified data point, the number of data points being based at least on the filter factor.

12. The method of claim 8, wherein the throttle error comprises a mean throttle error.

13. The method of claim 8, further comprising:

receiving speed data indicative of a speed of a machine, wherein the determining the filter factor is further based on the speed data.

14. The method of claim 12, wherein the filter factor is proportional to the mean throttle error.

15. A method comprising:

receiving first throttle pedal data indicative of a first plurality of throttle pedal movements;

receiving vertical acceleration data indicative of a plurality of vertical accelerations of a machine;

determining a vertical acceleration filter factor based at least on the vertical acceleration data;

filtering the first throttle pedal data to determine second throttle pedal data indicative of a second plurality of throttle pedal movements;

determining a throttle error based at least on a comparison of the first throttle pedal data and the second throttle pedal data;

determining a throttle error filter factor based at least on the throttle error;

determining a filter factor based at least on the throttle error filter factor and the vertical acceleration filter factor;

filtering the first throttle pedal data, based at least on the filter factor, to determine third throttle pedal data; and

causing the third throttle pedal data to be transmitted to a controller to effectuate control of an operation of an engine.

16. The method of claim 15, wherein the third throttle pedal data comprises data indicative of a first set of throttle pedal movements from the first plurality of throttle pedal movements and the filtering the first throttle pedal data comprises:

determining, based at least on the filter factor, the third throttle pedal data and fourth throttle pedal data indicative of a second set of throttle pedal movements from the first plurality of throttle pedal movements, wherein the fourth throttle pedal data is not caused to be transmitted to the controller to effectuate control of the operation of the engine.

17. The method of claim 15, wherein the first throttle pedal data comprises a plurality of data points, the filtering the first throttle pedal data to determine the third throttle pedal data comprises:

modifying a data point of the plurality of data points, according to an average of a value of each of at least two or more data points of the plurality of data points, to determine the third throttle pedal data.

18. The method of claim 17, wherein the at least two or more data points of the plurality of data points comprises a number of data points temporally preceding the modified data point, the number of data points being based at least on the filter factor.

19. The method of claim 15, further comprising:

receiving speed data indicative of a speed of the machine, wherein the determining the vertical acceleration filter factor is further based on the speed data and the determining the throttle error filter factor is further based on the speed data.

20. The method of claim 15, wherein the throttle error comprises a mean throttle error.