CN106476654A - A kind of failure self diagnosis and self-shield device with pedal and control method - Google Patents
A kind of failure self diagnosis and self-shield device with pedal and control method Download PDFInfo
- Publication number
- CN106476654A CN106476654A CN201611172337.6A CN201611172337A CN106476654A CN 106476654 A CN106476654 A CN 106476654A CN 201611172337 A CN201611172337 A CN 201611172337A CN 106476654 A CN106476654 A CN 106476654A
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- Prior art keywords
- pedal
- accelerator pedal
- accelerator
- brake
- jaw opening
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K2026/025—Input devices for controlling electric drive motors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
Abstract
The present invention relates to a kind of failure self diagnosis and self-shield device with pedal and control method, in accelerator pedal（2）On add an accelerator pedal jaw opening sensor（1）With No. two accelerator pedal jaw opening sensors（7）, in brake pedal（8）The upper setting servo-actuated push rod of brake pedal（9）Switch with brake fade（11）, and super capacitor is set up in car load electric power electric-control system.The failure self diagnosis of the present invention and self-shield device with pedal pass through setting two-way on vehicle accelerator pedal and have the pedal jaw opening sensor of independently-powered, independent signal acquisition function, for eliminating interference and error during vehicle accelerator pedal use；Pressure switch is additionally provided with vehicle accelerator pedal, realizes whether identification driver tramples vehicle accelerator pedal and diagnose whether vehicle accelerator pedal fails；And servo-actuated push rod and brake fade switch are set on vehicle brake pedal, realize failure self diagnosis and the self-shield of vehicle brake pedal.
Description
Technical field
The present invention relates to the diagnosis resist technology field of electromobile pedal device, and in particular to a kind of failure self diagnosis and
Self-shield device with pedal and control method.
Background technology
Accelerator pedal controls the key device of car speed for driver.The bracing wire throttle thin steel rope that conventional fuel oil car is adopted
Directly accelerator pedal is connected with air throttle, the depth that accelerator pedal is stepped on is corresponding with the folding size of air throttle, is a kind of
Pure mechanic structure.And new vehicle especially pure electric vehicle generally adopts E-Gas, E-Gas do not have bracing wire, and by pedal
Position sensor and accelerator pedal composition, the depth change in location that now accelerator pedal is stepped on are converted to the signal of output, typically
For magnitude of voltage.By demarcating the corresponding voltage of zero aperture of pedal and maximum opening, the electronic control unit of vehicle
(Electronic Control Unit, ECU) just can determine the depth position of gas pedal by the change of the magnitude of voltage of sampling
Change, and then provide the desired power output of driver.But this configuration is highly dependent upon the precision of sensor, to the correct of pedal
Return also has higher requirements；It is disturbed in its course of work and is also difficult to by traditional mechanical structure correction, once sensor is disconnected
Electricity, accelerator pedal will be entirely ineffective, in suspended state.It can be seen that, there is certain communication error and mistake in electronic accelerator pedal
Effect risk.
Brake pedal controls the key device of vehicle braking deceleration for driver.Brake fluid system is quick on the draw due to which,
Easy care is widely adopted on passenger car.Driver is applied to the brake force on pedal by hydraulic lever principle and amplifies by it
After act on brake and complete vehicle braking deceleration.Diagnosis with regard to electromobile pedal device is protected, Publication No.
The Chinese invention patent of CN104890531A discloses a kind of two-way accelerator pedal signal control method, and the technical scheme is using double
Road voltage analog signal is exported to entire car controller, makes corresponding control plan to accelerator pedal sensor Signal Fail pattern
Slightly, increase control accuracy.But its scheme is only to produce an extra voltage signal using voltage transformation, not by
The sensor of additionally independently-powered work is set recognizing driver intention, once pedal position sensor failure used by which, just
Cannot play a role；Meanwhile, voltage is only accounted in its scheme to the judgement of failure mode whether in normal range (NR), i.e. its electricity
Pressure signal value is not stepped on pedal and is intended to correspond with driver, does not therefore have process such as accelerator pedal deformation, gets stuck
Ability Deng failure of removal.At present, brake energy recovering system is generally employed on pure electric vehicle.Braking when braking initial
Power mainly drags offer by motor is counter, completes to slow down vehicle further by brake fluid system again thereafter.Hydraulic braking needs system
Dynamic loop seals are intact, once brake fluid is revealed, brake force will be substantially reduced or even entirely ineffective, are commonly called as braking and " step on
Quick-fried ".Brake fluid system does not have " braking of dying " device of gas circuit brakes, once therefore brake fluid pressure is not enough, and existing
In system, vehicle cannot provide effective braking action in time.
Content of the invention
In view of there is communication error and failure risk in electronic accelerator pedal of the prior art, it is impossible to which vehicle is provided effectively
Braking action, the present invention design a kind of with failure self diagnosis and self-protection function device with pedal, in vehicle accelerator pedal
Upper setting two-way has the pedal jaw opening sensor of independently-powered, independent signal acquisition function, for eliminating vehicle accelerator pedal
Interference and error during use；Pressure switch is additionally provided with vehicle accelerator pedal, for recognizing whether driver steps on
Step on vehicle accelerator pedal and diagnose whether vehicle accelerator pedal fails；Additionally, being additionally provided with servo-actuated top on vehicle brake pedal
Bar and brake fade switch, the failure self diagnosis for vehicle brake pedal and self-shield.The failure self diagnosis of the present invention and from
Protection control method is judged to failure mode by parsing the sensor information, and then combines current vehicle condition control
Motor processed and battery system carry out active protection to vehicle.
To achieve these goals, the present invention is adopted the following technical scheme that.
A kind of failure self diagnosis and self-shield device with pedal, including car load electric power electric-control system, entire car controller, instrument,
Electrokinetic cell system, electric machine controller, motor, back axle, off hind wheel, left rear wheel, accelerator pedal and brake pedal, the car load control
Device connection accelerator pedal processed, brake pedal, instrument and electric machine controller, electric machine controller connection electrokinetic cell system and motor,
Motor connection back axle, back axle connection off hind wheel and left rear wheel, car load electric power electric-control system collaboration entire car controller, electrokinetic cell system
Power drive and the control of car load realized by system and electric machine controller；It is provided with an accelerator pedal aperture to pass on the accelerator pedal
Sensor and No. two accelerator pedal jaw opening sensors, are provided with the servo-actuated push rod of brake pedal on the brake pedal and brake fade is opened
Close, the car load electric power electric-control system sets up super capacitor；The accelerator pedal aperture added on the accelerator pedal is passed
Sensor and No. two accelerator pedal jaw opening sensors have extra independent electric power system and individually gather signal system, described No. one
Accelerator pedal jaw opening sensor is identical with the operation principle of No. two accelerator pedal jaw opening sensors, structure, operating voltage, institute
State the acceleration that an accelerator pedal jaw opening sensor and No. two accelerator pedal jaw opening sensors are respectively arranged in accelerator pedal
The servo-actuated rotating shaft both sides of pedal, an accelerator pedal jaw opening sensor are normal mode installment work, and No. two acceleration are stepped on
Plate jaw opening sensor is according to the mode installment work reverse with an accelerator pedal jaw opening sensor；Arrange on the brake pedal
The servo-actuated push rod of brake pedal, the front end of the servo-actuated push rod of the brake pedal arrange brake fade switch；The car load electric power is automatically controlled
The super capacitor that system is set up is parallel to electrokinetic cell system side.
Preferably, the stress area of the accelerator pedal arranges accelerator pressure switch, and driver is to accelerator pedal
During force accelerator pressure switch closure, driver not to accelerator pedal exert a force when then accelerator pressure switch off.
In any of the above-described technical scheme preferably, the connection member of the accelerator pedal also includes accelerator pedal return
Spring, accelerator pedal bearing and the servo-actuated rotating shaft of accelerator pedal.
In any of the above-described technical scheme preferably, the accelerator pressure switch is arranged on accelerator pedal top
Stress area, the bottom of the accelerator pedal are connected with the servo-actuated rotating shaft of accelerator pedal and accelerator pedal bearing, the accelerator pedal
Servo-actuated rotating shaft position device accelerator return spring and rotating shaft both sides difference number accelerator pedal jaw opening sensor of device and two
Number accelerator pedal jaw opening sensor.
In any of the above-described technical scheme preferably, the connection member of the brake pedal also includes brake pedal bearing
With brake pedal rotating shaft, the brake pedal bearing both sides are provided with chute.
In any of the above-described technical scheme preferably, the brake pedal is propped up by brake pedal rotating shaft and brake pedal
Brake pedal bottom is fixed in seat connection, the top of the servo-actuated push rod of the brake pedal, the bottom of the servo-actuated push rod of the brake pedal
End is installed on the chute of brake pedal bearing.
The invention also discloses the control method of a kind of failure self diagnosis and self-shield device with pedal, including as above any one
Described failure self diagnosis and self-shield device with pedal, the method include：By adding an accelerator pedal on accelerator pedal
Jaw opening sensor and No. two accelerator pedal jaw opening sensors are accelerating to step on realizing failure self diagnosis and the self-shield of accelerator pedal
The two jaw opening sensors added on plate there is extra independent electric power system and individually collection signal system and operation principle,
Structure, operating voltage are identical, wherein, accelerator pedal jaw opening sensor be installed on the side of the servo-actuated rotating shaft of accelerator pedal and
Using normal mode installment work, pedal aperture increases then output signal and increases, and No. two accelerator pedal jaw opening sensors are installed
In the servo-actuated rotating shaft of accelerator pedal opposite side and according to the mode installment work reverse with an accelerator pedal jaw opening sensor, step on
Plate aperture increases then output signal and reduces；By arrange on brake pedal the servo-actuated push rod of brake pedal and brake fade switch with
And set up super capacitor in car load electric power electric-control system to realize failure self diagnosis and the self-shield of brake pedal, brake pedal with
Brake pedal bottom is fixed on the top of dynamic push rod, and the bottom of the servo-actuated push rod of brake pedal is installed on the chute of brake pedal bearing
On, the front end of the servo-actuated push rod of brake pedal arranges brake fade switch, and the super capacitor that car load electric power electric-control system is set up is in parallel
In electrokinetic cell system side.
In any of the above-described technical scheme preferably, by adding an accelerator pedal aperture sensing on accelerator pedal
Device and No. two accelerator pedal jaw opening sensors are demarcated with 0～100 come table realizing failure self diagnosis and the self-shield of accelerator pedal
Show pedal aperture excursion, in zero aperture, an accelerator pedal jaw opening sensor is demarcated as 0, No. two accelerator pedals are opened
Degree transducer calibration is 100, then an accelerator pedal jaw opening sensor is demarcated as 100 when full gate is spent, No. two accelerator pedals
Jaw opening sensor is demarcated as 0, when the two pedal jaw opening sensor final output signal are：Pedal in a certain aperture, No. one
Accelerator pedal jaw opening sensor signal value is X, and No. two accelerator pedal jaw opening sensor signal values are Y, then output pedal aperture is：
α=(X+ (100-Y)) ÷ 2
Anti-error mistake is arranged to the two pedal jaw opening sensor signals and imitates rotection thresholds M1And M2, an accelerator pedal opens
Degree sensor describes opening value for X, and No. two accelerator pedal jaw opening sensors describe opening value for (100-Y), if the two values
Difference N is not more than M1, then normal mode is entered, two signal values are added divided by 2 as current pedal opening value, i.e.,：
α=(X+ (100-Y))/2
If difference N of the two values is in M1～M2Between then enter modes of warning, to driver send pedal maintenance report to the police,
While compared with the half of difference N on the basis of decimal, is added as current pedal opening value, i.e.,：
α=min (X, (100-Y))+N/2
If difference N of the two values is more than M2Then assert accelerator pedal fault, accelerator pedal opening value fails, and sends fault
Report to the police, enter fail-safe mode；Judge current vehicle speed whether in low speed U range.If speed is less than U, electricity is directly cut off
Machine is exported；If speed is more than U, automatic ladder type turndown mode is entered, speed is gradually decrease to less than after U, cut-out motor is defeated
Go out；
Above-mentioned rotection thresholds M1And M2, low speed U need determined according to vehicle concrete condition, such as M1=3, M2=5, U=
15km/h；
One accelerator pressure switch is set on accelerator pedal stress area, when driver is clearly to pedal applying power
When, accelerator pressure switch can be closed；When driver is not to pedal applying power, accelerator pressure is switched off；
When vehicle is twisted key and started, driver needs brake pedal to carry out operation of putting into gear, and this process is not actively
Step on gas pedal, when being arranged on vehicle launch, zero testing carried out to accelerator pedal aperture, accelerator pressure is switched into
Row zero-signal detects that such as pedal opening value is 0, and accelerator pressure switch output signal is 0, then assert that accelerator pedal is normal,
Otherwise alarm failure；
In normal vehicle operation, driver's bend the throttle, first can make accelerator pressure switch closure, spread out of plus
Speed pedal aperture useful signal, after only vehicle ECU receives the signal, can just execute opening amount signal；
Occur when driving accelerator pedal cannot return to zero-bit, pedal shaft get stuck fault when, can always export non-zero
Opening amount signal；Not to accelerator pedal applying power, but if accelerator pressure switch will disconnect driver, although now there is oil
Door aperture, but vehicle ECU is still not carried out, and enters fail-safe mode, is simultaneously emitted by accelerator pedal fault alarm.
In any of the above-described technical scheme preferably, by arranging the servo-actuated push rod of brake pedal and system on brake pedal
Dynamic failure switchs and sets up super capacitor in car load electric power electric-control system to realize failure self diagnosis and the self-insurance of brake pedal
Shield：
In brake pedal, braking useful signal can be sent, braking priority can be higher than to accelerate priority in vehicle,
I.e. once detecting braking will effectively cut off motor output；Meanwhile, need just enter under the premise of braking effectively when putting into gear
OK；Brake pedal aperture leading portion is then to apply to make to hydraulic system using the signal triggering electric braking, brake pedal aperture back segment
Firmly；
In brake pedal aperture leading portion, due to simply triggering electric braking, if the therefore return of advocating overcome by driver
The moment of torsion that spring applies；In brake pedal aperture back segment, as hydraulic system can apply reaction force on pedal power transmission rocking arm,
Then need to overcome hydraulic system reaction force when driver steps on pedal；Driver is difficult to step on brake pedal completely, this mistake
Journey typically can also arrange vacuum booster auxiliary and complete, so that wheel upper brake output maximum braking force, and now brake
The servo-actuated push rod of pedal cannot still touch brake fade switch；
When driving, when there are brake circuit oil leak, braking power transmission rocking arm crack conditions, no anti-in hydraulic system
Active force is transferred on brake pedal；When driver needs braking, brake pedal is stepped on big aperture and the actual braking of nothing
Power is exported, and the servo-actuated push rod of brake pedal will touch rapidly brake fade switch, send electric signal, and vehicle ECU is being received
Can be that vehicle enters emergency brake modes after the signal, on the one hand failure warning is sent to driver, and activate double sudden strain of a muscle indicator lamps
Early warning is sent to outside car, meanwhile, electrokinetic cell system always just, is always born contactor and is disconnected by vehicle ECU, defeated so as to cutoff high
Go out, to prevent the risk of collision that may be arrived；Another aspect vehicle ECU sends peak torque braking, super capacitor institute to motor
Connect in branch road, produced instantaneous large-current feedback enters in super capacitor, realize brake pedal fail safe to greatest extent.
Compared with prior art, the technique scheme of the present invention has the advantages that：
The present invention is stepped on to widely used electronic accelerator pedal, hydraulic braking on existing vehicle, especially pure electric vehicle
Plate has carried out Curve guide impeller, it is proposed that a kind of brand-new pedal structure and control plan with failure self diagnosis and self-protection function
Slightly.
1st, the present invention has taken into full account electronic accelerator pedal issuable mechanical disturbance, electronic interferences in use
Deng various forms error, it is provided with that two-way is independently-powered, independent signal acquisition same specification jaw opening sensor.When accelerator pedal exists
During a certain aperture, an accelerator pedal aperture sensor signal value is X, and No. two accelerator pedal aperture sensor signal values are Y, then export
Pedal aperture is：
α=(X+ (100-Y)) ÷ 2
Such it is advantageous in that, it is considered to which in signals collecting, an accelerator pedal aperture sensing and No. two accelerator pedal apertures are passed
The error that sense is each produced is respectively Δ X and Δ Y, as two sensors are same specifications, the therefore collection to same signal
Its error answers approximately equal：Δ X ≈ Δ Y, then exporting pedal aperture is：
α=(X+ Δ X+ (100- (Y+ Δ Y)))/2
=(X+ (100-Y))/2+ (Δ X- Δ Y)/2
Can be seen by above formula, the accelerator pedal aperture of technical solution of the present invention collection can eliminate relevant interference and mistake automatically
Difference.
2nd, the present invention has taken into full account the event being likely to occur in electronic accelerator pedal jaw opening sensor and communication process in itself
Barrier.Judged according to the difference between two each independent sensors, and normal mode is provided with, modes of warning and failure
Protected mode, when accelerator pedal sensor breaks down or fails and alarm can carry out fail safe.
3rd, the present invention take into full account the failure of electronic accelerator pedal return spring, rotating shaft get stuck etc. cannot normal work feelings
Condition.Accelerator pressure switch is provided with accelerator pedal, driver can be recognized exactly currently to the true of accelerator pedal
Practical operation is made.Once identify driver's not bend the throttle, and pedal output aperture, can self diagnosis go out pedal mistake
Effect, and carry out failure self-shield.
4th, the failure self diagnosis of the present invention and self-shield device with pedal all can enter to accelerator pedal before vehicle is started every time
Self detection of row, it is ensured that Chinese herbaceous peony of being expert at pedal jaw opening sensor, pedal pressing force switch are normal.In single driving conditions,
Unless accelerator pedal aperture sensing, No. two accelerator pedal aperture sensings, accelerator pressure switch, return springs etc. are all
Failure, otherwise the failure self diagnosis and self-shield device with pedal structure all can be diagnosed to pedal failure case and be protected.And
In engineering, probability of happening is extremely low to above-mentioned whole failure conditions in practice.
5th, the impact of speed when the present invention has taken into full account accelerator pedal fail safe, and it is provided with low velocity threshold.Because
Under high-speed working condition, directly the output of cut-out motor power is breakneck.Walked unhurriedly reduction of speed by ladder, to driver abundant when
Between reaction and by vehicle drive to appropriate area stop.
6th, the present invention fully blocks and considers the brake force failure case such as the damage of brake pedal transmission rod, brake circuit leakage,
Pedal itself to the accurate self diagnosis of said circumstances and can carry out self-shield.Cut-out electrokinetic cell High voltage output, can be to greatest extent
Reduce possible collision for occurring etc. unexpected；Sending alarm signal points out car other vehicles outer to driver, the double sudden strain of a muscle of activation；Allow motor
Peak torque anti-dragged brake is directly carried out, and this portion of energy is recovered in super capacitor, both providing to greatest extent may
Brake force, high-power other parts will not be caused damage because of the feedback for producing again.
7th, present configuration is simple, it is easy to transformation and upgrade on the basis of existing parts, control strategy precise and high efficiency, response
Rapidly.Consider accelerator pedal, various failure modes that brake pedal is likely to occur, and enable pedal self diagnosis and self-insurance
Shield, reminds driver's on-call maintenance, can actively protect driver safety to greatest extent when occurring dangerous so that vehicle safety
Can greatly promote.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for technology description is had to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is a preferred embodiment of fail self diagnosis and self-shield device with pedal and the control method according to the present invention
Failure self diagnosis and self-shield device with pedal structural representation；
Fig. 2 is a preferred embodiment of fail self diagnosis and self-shield device with pedal and the control method according to the present invention
Accelerator pedal structural representation；
Fig. 3 is a preferred embodiment of fail self diagnosis and self-shield device with pedal and the control method according to the present invention
Brake pedal structure schematic diagram；
Fig. 4 is a preferred embodiment of fail self diagnosis and self-shield device with pedal and the control method according to the present invention
Accelerator pedal fail safe control flow chart；
Fig. 5 is a preferred embodiment of fail self diagnosis and self-shield device with pedal and the control method according to the present invention
Brake pedal fail safe control flow chart；
Reference：
1st, an accelerator pedal jaw opening sensor；2nd, accelerator pedal；3rd, accelerator pressure switch；4th, accelerator pedal return
Spring；5th, accelerator pedal bearing；6th, the servo-actuated rotating shaft of accelerator pedal；7th, No. two accelerator pedal jaw opening sensors；8th, brake pedal；9、
The servo-actuated push rod of brake pedal；10th, chute；11st, brake fade switch；12nd, brake pedal bearing；13rd, brake pedal rotating shaft.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In order to overcome electromobile pedal device diagnosis protection the problems of in the prior art, the embodiment of the present invention
Propose a kind of failure self diagnosis and self-shield device with pedal and control method：Arrange two-way on vehicle accelerator pedal to have independently
Power supply, the pedal jaw opening sensor of independent signal acquisition function, for eliminate interference during vehicle accelerator pedal use and
Error；Pressure switch is additionally provided with vehicle accelerator pedal, for recognizing whether driver tramples vehicle accelerator pedal and examine
Whether disconnected vehicle accelerator pedal fails；Additionally, being additionally provided with servo-actuated push rod and brake fade switch on vehicle brake pedal, use
Failure self diagnosis and self-shield in vehicle brake pedal.The embodiment of the present invention with failure self diagnosis and self-protection function
Device with pedal and its control method, there is provided a kind of succinct efficient, strong applicability, operating error are little, and can tackle various failures
The device with pedal and its control strategy with self diagnosis and self-shield of pattern, solves electronic accelerator pedal in prior art and deposits
Communication error and failure risk and the problem of effective braking action cannot be provided to vehicle.
Failure self diagnosis and self-shield device with pedal described in the embodiment of the present invention includes car load electric power electric-control system, car load
Controller, instrument, electrokinetic cell system, electric machine controller, motor, back axle, off hind wheel, left rear wheel, accelerator pedal 2 and braking are stepped on
Plate 8, as shown in figure 1, entire car controller connection accelerator pedal 2, brake pedal 8, instrument and electric machine controller, electric machine controller company
Electrokinetic cell system and motor, motor connection back axle, back axle connection off hind wheel and left rear wheel is connect, is provided with accelerator pedal 2
A number accelerator pedal jaw opening sensor 1 and No. two accelerator pedal jaw opening sensors 7, on brake pedal 8 arrange brake pedal with
Dynamic push rod 9 and brake fade switch 11, and, super capacitor is set up in car load electric power electric-control system；The super capacitor of increase is only
Powerful energy in short time when being to store brake hard, energy transmission are motor, electric machine controller, super capacitor
(being battery during normal brake application).Add the accelerator pedal jaw opening sensor 1 on the accelerator pedal 2 and No. two accelerator pedals are opened
Degree sensor 7 gathers signal system, an accelerator pedal jaw opening sensor 1 and two with extra independent electric power system and individually
The operation principle, structure of number accelerator pedal jaw opening sensor 7, operating voltage are identical, an accelerator pedal jaw opening sensor 1 and two
Number accelerator pedal jaw opening sensor 7 is respectively arranged in servo-actuated 6 both sides of rotating shaft of accelerator pedal of accelerator pedal 2, an accelerator pedal
Jaw opening sensor 1 is normal mode installment work, and No. two accelerator pedal jaw opening sensors 7 are according to passing with accelerator pedal aperture
The reverse mode installment work of sensor 1；Brake pedal servo-actuated push rod 9 is set on brake pedal 8, the servo-actuated push rod 9 of brake pedal
Front end arranges brake fade switch 11；The super capacitor that car load electric power electric-control system is set up is parallel to electrokinetic cell system side.
As shown in Fig. 2 the failure self diagnosis described in the embodiment of the present invention and self-shield device with pedal, its accelerator pedal 2
Stress area arranges accelerator pressure switch 3.Driver to accelerator pedal 2 exert a force when accelerator pressure switch 3 close, drive
The person of sailing not to accelerator pedal 2 exert a force when then accelerator pressure switch 3 disconnect.
As shown in Fig. 2 the failure self diagnosis described in the embodiment of the present invention and self-shield device with pedal, its accelerator pedal 2
Connection member also includes the servo-actuated rotating shaft 6 of accelerator return spring 4, accelerator pedal bearing 5 and accelerator pedal.Accelerator pressure
Switch 3 is arranged on the stress area on 2 top of accelerator pedal, and the bottom of accelerator pedal 2 is stepped on the servo-actuated rotating shaft 6 of accelerator pedal and acceleration
Board support 5 connects, 6 position device accelerator return spring 4 of the servo-actuated rotating shaft of accelerator pedal and rotating shaft both sides difference device one
Accelerator pedal jaw opening sensor 1 and No. two accelerator pedal jaw opening sensors 7.
As shown in figure 3, the failure self diagnosis described in the embodiment of the present invention and self-shield device with pedal, its brake pedal 8
Connection member also includes brake pedal bearing 12 and brake pedal rotating shaft 13, and 12 both sides of brake pedal bearing are provided with chute 10.
Brake pedal 8 is connected with brake pedal bearing 12 by brake pedal rotating shaft 13, and the top of the servo-actuated push rod 9 of brake pedal is fixed on
8 bottom of brake pedal, the bottom of the servo-actuated push rod 9 of brake pedal are installed on the chute 10 of brake pedal bearing 12.
Failure self diagnosis and self-shield device with pedal described in the embodiment of the present invention, its control method include：
By adding an accelerator pedal jaw opening sensor 1 and No. two accelerator pedal jaw opening sensors 7 on accelerator pedal 2
To realize failure self diagnosis and the self-shield of accelerator pedal 2, the two jaw opening sensors added on accelerator pedal 2 have volume
Outer independent electric power system is with individually collection signal system and operation principle, structure, operating voltage are identical, wherein, an acceleration
Pedal jaw opening sensor 1 is installed on the side of the servo-actuated rotating shaft 6 of accelerator pedal and using normal mode installment work, pedal aperture
Increase then output signal to increase, and No. two accelerator pedal jaw opening sensors 7 are installed on the opposite side of the servo-actuated rotating shaft 6 of accelerator pedal simultaneously
According to the mode installment work reverse with an accelerator pedal jaw opening sensor 1, pedal aperture increases then output signal and reduces；
By the servo-actuated push rod 9 of brake pedal and brake fade is arranged on brake pedal 8 switch 11 and in car load electric power
Electric-control system is set up super capacitor to realize failure self diagnosis and the self-shield of brake pedal 8, the top of the servo-actuated push rod 9 of brake pedal
8 bottom of brake pedal is fixed at end, and the bottom of the servo-actuated push rod 9 of brake pedal is installed on the chute 10 of brake pedal bearing 12,
The front end of the servo-actuated push rod 9 of brake pedal arranges brake fade switch 11, and the super capacitor that car load electric power electric-control system is set up is in parallel
In electrokinetic cell system side.
The control method of failure self diagnosis and self-shield device with pedal described in the embodiment of the present invention, by accelerator pedal
Add an accelerator pedal jaw opening sensor 1 and No. two accelerator pedal jaw opening sensors 7 to realize the failure of accelerator pedal 2 on 2
Self diagnosis and self-shield, are specifically described with reference to Fig. 4：
Extra independent power supply is added on accelerator pedal 2, individually gathers the pedal jaw opening sensor of signal, that is, accelerating
There are two separate signal sources in the servo-actuated rotating shaft 6 of pedal, rather than a signal source is exported with different voltage form.
The Characteristic of Type Selection of the two pedal jaw opening sensors is that its operation principle, structure, operating voltage are identical, that is, think two sensorses
Constant error be identical, random error trend during work is consistent.The installation of the two pedal jaw opening sensors is special
Point is that wherein No. one accelerator pedal jaw opening sensor 1 still presses normal mode installment work, and pedal aperture increases, its output signal
And increase；No. two accelerator pedal jaw opening sensors 7 erector in the way of reverse with an accelerator pedal jaw opening sensor 1
Make, i.e., as pedal aperture increases, its output signal is to reduce.The demarcation feature of the two pedal jaw opening sensors is, false
If representing pedal aperture excursion with 0～100, in zero aperture, an accelerator pedal jaw opening sensor 1 is demarcated as 0,
No. two accelerator pedal jaw opening sensors 7 are demarcated as 100, are then demarcated as an accelerator pedal jaw opening sensor 1 when full gate is spent
100, No. two accelerator pedal jaw opening sensors 7 are demarcated as 0, when the two pedal jaw opening sensor final output signal are：Pedal
In a certain aperture, 1 signal value of accelerator pedal jaw opening sensor is X, and No. two 7 signal values of accelerator pedal jaw opening sensor are
Y, then exporting pedal aperture is：
α=(X+ (100-Y)) ÷ 2
Anti-error mistake is arranged to the two pedal jaw opening sensor signals and imitates rotection thresholds M1And M2, an accelerator pedal opens
Degree sensor 1 describes opening value for X, and No. two accelerator pedal jaw opening sensors 7 describe opening value for (100-Y), if the two values
Difference N be not more than M1, then normal mode is entered, two signal values are added divided by 2 as current pedal opening value, i.e.,：
α=(X+ (100-Y))/2
If difference N of the two values is in M1～M2Between then enter modes of warning, to driver send pedal maintenance report to the police,
While compared with the half of difference N on the basis of decimal, is added as current pedal opening value, i.e.,：
α=min (X, (100-Y))+N/2
If difference N of the two values is more than M2Then assert accelerator pedal (2) fault, accelerator pedal (2) opening value fails, and sends out
It is out of order warning, enters fail-safe mode；Judge current vehicle speed whether in low speed U range.If speed is less than U, directly
Cut-out motor output；If speed is more than U, automatic ladder type turndown mode is entered, speed is gradually decrease to, less than after U, cut off
Motor is exported.
Above-mentioned rotection thresholds M1And M2, low speed U need determined according to vehicle concrete condition, such as M1=3, M2=5, U=
15km/h.
One accelerator pressure switch 3 is set on 2 stress area of accelerator pedal, the accelerator pressure switch 3
Feature is：When driver is clearly to pedal applying power, accelerator pressure switch 3 can be closed；When driver is not applied to pedal
During reinforcing, accelerator pressure switch 3 disconnects.
When vehicle is twisted key and started, driver generally requires brake pedal 2 and carries out putting into gear waiting and operates, this process
Clearly actively gas pedal will not be stepped on, when vehicle launch is arranged on, zero testing be carried out to 2 aperture of accelerator pedal, right
Accelerator pressure switch 3 carries out zero-signal detection, and such as pedal opening value is 0, and it is 0 that accelerator pressure switchs 3 output signals,
Then assert that accelerator pedal 2 is normal, otherwise alarm failure.
In normal vehicle operation, driver's bend the throttle 2, close first accelerator pressure switch 3, spread out of
2 aperture useful signal of accelerator pedal, after only vehicle ECU receives the signal, can just execute opening amount signal.
Occur when driving accelerator pedal 2 cannot return to zero-bit, pedal shaft get stuck etc. fault when, it is clear that can be defeated always
Go out non-zero opening amount signal；But if driver is not to 2 applying power of accelerator pedal, accelerator pressure switch 3 will disconnect, now
Although there is accelerator open degree, vehicle ECU is still not carried out, and enters fail-safe mode, is simultaneously emitted by 2 fault report of accelerator pedal
Alert.
The control method of failure self diagnosis and self-shield device with pedal described in the embodiment of the present invention, by brake pedal
The servo-actuated push rod 9 of brake pedal and brake fade switch 11 are set on 8 and super capacitor are set up in car load electric power electric-control system
Failure self diagnosis and the self-shield of brake pedal 8 is realized, is specifically described with reference to Fig. 5：
In brake pedal 8, braking useful signal can be sent.In general vehicle, braking priority all can be higher than acceleration
Priority, i.e., once detect braking will effectively cut off motor output；Meanwhile, generally require when putting into gear before braking effectively
Putting can just be carried out；8 aperture leading portion of brake pedal mainly uses the signal triggering electric braking, and 8 back segment of brake pedal aperture is then
Be to hydraulic system to apply active force.
In 8 aperture leading portion of brake pedal, due to simply triggering electric braking, if the therefore return of advocating overcome by driver
The moment of torsion that spring applies；In 8 aperture back segment of brake pedal, as hydraulic system can apply reaction on pedal power transmission rocking arm
Power, then needs to overcome hydraulic system reaction force when driver steps on pedal；Driver is difficult to step on brake pedal 8 completely, this
One process typically can also arrange vacuum booster auxiliary and complete, so that wheel upper brake output maximum braking force, and now
The servo-actuated push rod 9 of brake pedal cannot still touch brake fade switch.
When driving, there is brake circuit oil leak, when braking power transmission rocking arm fracture, in hydraulic system no
Reaction force is transferred on brake pedal 8；When driver needs braking, brake pedal 8 is stepped on big aperture, and Wu any
Actual braking force is exported, and this phenomenon is referred to as " braking overtravel ", and now, the servo-actuated push rod 9 of above-mentioned brake pedal will be touched rapidly
Brake fade switch 11 is contacted, electric signal is sent, vehicle ECU can be that vehicle enters brake hard mould upon receipt of the signal
Formula, sends failure warning to driver, and activates double indicator lamps that dodge and send early warning to outside car, meanwhile, vehicle ECU is by electrokinetic cell
Total just, the total contactor of bearing of system disconnects, and exports so as to cutoff high, to prevent the risk of collision that may be arrived；Meanwhile, vehicle
ECU sends peak torque braking to motor, and super capacitor place branch road is connected, and produced instantaneous large-current feedback enters super electricity
Rong Zhong.Using above-mentioned measure, 8 fail safe of pedal is braked to greatest extent.
Above-described specific embodiment, has been carried out to the purpose of the present invention, technical scheme and beneficial effect further
Describe in detail, the specific embodiment that the foregoing is only the present invention is should be understood that, is not intended to limit the present invention
Protection domain, all any modification, equivalent substitution and improvement that within the spirit and principles in the present invention, is done etc., all should include
Within protection scope of the present invention.
Claims (9)
1. a kind of failure self diagnosis and self-shield device with pedal, including car load electric power electric-control system, entire car controller, instrument, move
Power battery system, electric machine controller, motor, back axle, off hind wheel, left rear wheel, accelerator pedal (2) and brake pedal (8), described whole
Vehicle controller connection accelerator pedal (2), brake pedal (8), instrument and electric machine controller, the electric machine controller connect power electric
Cell system and motor, the motor connection back axle, the back axle connection off hind wheel and left rear wheel, the car load electric power electric-control system
Power drive and the control of car load realized by collaboration entire car controller, electrokinetic cell system and electric machine controller, it is characterised in that：
An accelerator pedal jaw opening sensor (1) and No. two accelerator pedal jaw opening sensors are provided with accelerator pedal (2)
(7) the servo-actuated push rod of brake pedal (9) and brake fade switch (11), the car load electric power are provided with, described brake pedal (8)
Electric-control system sets up super capacitor；
The accelerator pedal jaw opening sensor (1) added on the accelerator pedal (2) and No. two accelerator pedal apertures sensings
Device (7) collection signal system with extra independent electric power system and individually, an accelerator pedal jaw opening sensor (1) and
The operation principle, structure of No. two accelerator pedal jaw opening sensors (7), operating voltage are identical, and an accelerator pedal is opened
The accelerator pedal that degree sensor (1) and No. two accelerator pedal jaw opening sensors (7) are respectively arranged in accelerator pedal (2) is servo-actuated
Rotating shaft (6) both sides, an accelerator pedal jaw opening sensor (1) are normal mode installment work, No. two accelerator pedals
Jaw opening sensor (7) is according to the mode installment work reverse with an accelerator pedal jaw opening sensor (1)；
Described brake pedal (8) upper setting brake pedal is servo-actuated push rod (9), and the front end of brake pedal servo-actuated push rod (9) sets
Put brake fade switch (11)；
The super capacitor that the car load electric power electric-control system is set up is parallel to electrokinetic cell system side.
2. failure self diagnosis and self-shield device with pedal as claimed in claim 1, it is characterised in that：Accelerator pedal (2)
Stress area arrange accelerator pressure switch (3), driver to accelerator pedal (2) exert a force when accelerator pressure switch
(3) close, driver not to accelerator pedal (2) exert a force when then accelerator pressure switch (3) disconnection.
3. failure self diagnosis and self-shield device with pedal as claimed in claim 1, it is characterised in that：Accelerator pedal (2)
Connection member also include accelerator return spring (4), accelerator pedal bearing (5) and the servo-actuated rotating shaft of accelerator pedal (6).
4. failure self diagnosis and self-shield device with pedal as claimed in claim 2 or claim 3, it is characterised in that：The accelerator pedal
Pressure switch (3) is arranged on the stress area on accelerator pedal (2) top, the bottom of accelerator pedal (2) and accelerator pedal with
Dynamic rotating shaft (6) and accelerator pedal bearing (5) connect, accelerator pedal servo-actuated rotating shaft (6) position device accelerator pedal return bullet
Spring (4) and rotating shaft both sides difference number accelerator pedal jaw opening sensor (1) of device and No. two accelerator pedal jaw opening sensors (7).
5. failure self diagnosis and self-shield device with pedal as claimed in claim 1, it is characterised in that：Brake pedal (8)
Connection member also include brake pedal bearing (12) and brake pedal rotating shaft (13), brake pedal bearing (12) both sides set
It is equipped with chute (10).
6. the failure self diagnosis as described in claim 1 or 5 and self-shield device with pedal, it is characterised in that：The brake pedal
(8) it is connected with brake pedal bearing (12) by brake pedal rotating shaft (13), the top of brake pedal servo-actuated push rod (9) is solid
Due to brake pedal (8) bottom, the bottom of brake pedal servo-actuated push rod (9) is installed on the chute of brake pedal bearing (12)
(10) on.
7. a kind of failure self diagnosis and self-shield device with pedal control method, including as any one of claim 1 to 6
Failure self diagnosis and self-shield device with pedal, it is characterised in that：
By adding an accelerator pedal jaw opening sensor (1) and No. two accelerator pedal jaw opening sensors on accelerator pedal (2)
(7) realizing failure self diagnosis and the self-shield of accelerator pedal (2), the two apertures sensings for adding on accelerator pedal (2)
Utensil has extra independent electric power system with individually collection signal system and operation principle, structure, operating voltage are identical, wherein,
A number accelerator pedal jaw opening sensor (1) is installed on the side of the servo-actuated rotating shaft of accelerator pedal (6) and is installed using normal mode
Work, pedal aperture increase then output signal and increase, and No. two accelerator pedal jaw opening sensors (7) to be installed on accelerator pedal servo-actuated
The opposite side of rotating shaft (6) according to the mode installment work reverse with an accelerator pedal jaw opening sensor (1), pedal aperture increases
Big then output signal reduces；
By in the upper setting brake pedal servo-actuated push rod (9) of brake pedal (8) and brake fade switch (11) and in car load electricity
Power electric-control system is set up super capacitor to realize failure self diagnosis and the self-shield of brake pedal (8), the servo-actuated push rod of brake pedal
(9) brake pedal (8) bottom is fixed on top, and the bottom of the servo-actuated push rod of brake pedal (9) is installed on brake pedal bearing
(12), on chute (10), the front end of the servo-actuated push rod of brake pedal (9) arranges brake fade switch (11), the automatically controlled system of car load electric power
The super capacitor that system is set up is parallel to electrokinetic cell system side.
8. as claimed in claim 7 failure self diagnosis and self-shield device with pedal control method, it is characterised in that：By
An accelerator pedal jaw opening sensor (1) and No. two accelerator pedal jaw opening sensors (7) are added on accelerator pedal (2) realizing plus
The failure self diagnosis of speed pedal (2) and self-shield, demarcate and represent pedal aperture excursion with 0～100, in zero aperture,
A number accelerator pedal jaw opening sensor (1) is demarcated as 0, No. two accelerator pedal jaw opening sensors (7) are demarcated as 100, in full gate
Then an accelerator pedal jaw opening sensor (1) is demarcated as 100 when spending, No. two accelerator pedal jaw opening sensors (7) are demarcated as 0,
When the two pedal jaw opening sensor final output signal are：Pedal in a certain aperture, an accelerator pedal jaw opening sensor
(1) signal value is X, and No. two accelerator pedal jaw opening sensor (7) signal values are Y, then output pedal aperture is：
α=(X+ (100-Y)) ÷ 2
Anti-error mistake is arranged to the two pedal jaw opening sensor signals and imitates rotection thresholds M1And M2, an accelerator pedal aperture biography
Sensor (1) description opening value is X, and No. two accelerator pedal jaw opening sensor (7) description opening values are (100-Y), if the two values
Difference N be not more than M1, then normal mode is entered, two signal values are added divided by 2 as current pedal opening value, i.e.,：
α=(X+ (100-Y))/2
If difference N of the two values is in M1～M2Between then enter modes of warning, to driver send pedal maintenance report to the police, while
Compared with the half of difference N on the basis of decimal, is added as current pedal opening value, i.e.,：
α=min (X, (100-Y))+N/2
If difference N of the two values is more than M2Then assert accelerator pedal (2) fault, accelerator pedal (2) opening value fails, and sends event
Barrier is reported to the police, and enters fail-safe mode；Judge current vehicle speed whether in low speed U range.If speed is less than U, directly cut off
Motor is exported；If speed is more than U, automatic ladder type turndown mode is entered, speed is gradually decrease to, less than after U, cut off motor
Output；
Above-mentioned rotection thresholds M1And M2, low speed U need determined according to vehicle concrete condition, such as M1=3, M2=5, U=15km/h；
One accelerator pressure is set on accelerator pedal (2) stress area (3) are switched, when driver clearly applies to pedal
During power, accelerator pressure switch (3) can be closed；When driver is not to pedal applying power, accelerator pressure switch (3) breaks
Open；
When vehicle is twisted key and started, driver needs brake pedal (2) to carry out operation of putting into gear, and this process is not actively stepped on
Gas pedal, when vehicle launch is arranged on, zero testing is carried out to accelerator pedal (2) aperture, accelerator pressure is switched
(3) zero-signal detection is carried out, such as pedal opening value is 0, accelerator pressure switch (3) output signal is 0, then assert that acceleration is stepped on
Plate (2) is normal, otherwise alarm failure；
In normal vehicle operation, driver's bend the throttle (2), accelerator pressure switch (3) closure can be first made, is spread out of
Accelerator pedal (2) aperture useful signal, after only vehicle ECU receives the signal, can just execute opening amount signal；
Occur when driving accelerator pedal (2) cannot return to zero-bit, pedal shaft get stuck fault when, can always export non-zero hold
Degree signal；But if driver is not to accelerator pedal (2) applying power, accelerator pressure switch (3) will disconnect, although now
There is accelerator open degree, but vehicle ECU is still not carried out, fail-safe mode is entered, is simultaneously emitted by accelerator pedal (2) fault alarm.
9. as claimed in claim 7 failure self diagnosis and self-shield device with pedal control method, it is characterised in that：By
Brake pedal (8) is upper to arrange brake pedal servo-actuated push rod (9) and brake fade switch (11) and in car load electric power electric-control system
Set up super capacitor to realize failure self diagnosis and the self-shield of brake pedal (8)：
At brake pedal (8), braking useful signal can be sent, braking priority can be higher than to accelerate priority in vehicle,
I.e. once detecting braking will effectively cut off motor output；Meanwhile, need just enter under the premise of braking effectively when putting into gear
OK；Brake pedal (8) aperture leading portion using signal triggering electric braking, brake pedal aperture (8) back segment be then to hydraulic system
To apply active force；
In brake pedal (8) aperture leading portion, due to simply triggering electric braking, if the therefore return bullet of advocating overcome by driver
The moment of torsion that spring applies；In brake pedal (8) aperture back segment, as hydraulic system can apply reaction on pedal power transmission rocking arm
Power, then needs to overcome hydraulic system reaction force when driver steps on pedal；Driver is difficult to step on brake pedal (8) completely,
This process typically can also arrange vacuum booster auxiliary and complete, so that wheel upper brake output maximum braking force, and this
When the servo-actuated push rod of brake pedal (9) cannot still touch brake fade switch；
When driving, when there are brake circuit oil leak, braking power transmission rocking arm crack conditions, low-disturbance in hydraulic system
Power is transferred on brake pedal (8)；When driver needs braking, brake pedal (8) is stepped on big aperture and the actual system of nothing
Power output, the servo-actuated push rod of brake pedal (9) will touch rapidly brake fade switch (11), send electric signal, vehicle ECU
Can be that vehicle enters emergency brake modes upon receipt of the signal, on the one hand failure warning is sent to driver, and activate double
Dodge indicator lamp early warning is sent to outside car, meanwhile, vehicle ECU just, always bears contactor disconnection by total for electrokinetic cell system, so as to cut off
High voltage output, to prevent the risk of collision that may be arrived；Another aspect vehicle ECU sends peak torque braking to motor, super
Electric capacity place branch road is connected, and produced instantaneous large-current feedback enters in super capacitor, realizes brake pedal (8) to greatest extent
Fail safe.
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| CN107351688A (en) * | 2017-07-19 | 2017-11-17 | 福州大学 | A kind of the driving strategy and its electric-control system of the electronic equation motorcycle race of university student |
| CN109017815A (en) * | 2017-06-12 | 2018-12-18 | 通用汽车环球科技运作有限责任公司 | System and method for determining pedal actuator state |
| CN110667535A (en) * | 2019-09-25 | 2020-01-10 | 东南大学 | Universal drive-by-wire brake control device and brake method for automatic driving vehicle suitable for man-machine driving |
| CN110774993A (en) * | 2019-02-27 | 2020-02-11 | 长城汽车股份有限公司 | Vehicle fault detection method and device and vehicle |
| CN111216698A (en) * | 2020-01-09 | 2020-06-02 | 广东工业大学 | Foldable pedal suitable for intelligent vehicle manned-unmanned dual mode and control method |
| CN111846094A (en) * | 2019-05-15 | 2020-10-30 | 北京嘀嘀无限科技发展有限公司 | Vehicle control method and device |
| CN112158149A (en) * | 2020-08-26 | 2021-01-01 | 东风汽车集团有限公司 | Method and system for identifying clamping stagnation of accelerator pedal |
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