CN110481441A - The anti-blocking control circuit of motorcar electric pedal anti-pinch and method - Google Patents
The anti-blocking control circuit of motorcar electric pedal anti-pinch and method Download PDFInfo
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- CN110481441A CN110481441A CN201910915451.0A CN201910915451A CN110481441A CN 110481441 A CN110481441 A CN 110481441A CN 201910915451 A CN201910915451 A CN 201910915451A CN 110481441 A CN110481441 A CN 110481441A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q3/00—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors
- B60Q3/20—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors for lighting specific fittings of passenger or driving compartments; mounted on specific fittings of passenger or driving compartments
- B60Q3/217—Doors, e.g. door sills; Steps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R3/00—Arrangements of steps or ladders facilitating access to or on the vehicle, e.g. running-boards
- B60R3/02—Retractable steps or ladders, e.g. movable under shock
Abstract
The present invention discloses a kind of anti-blocking control circuit of motorcar electric pedal anti-pinch and method, controller in circuit receives the gate-control signal of automobile by CAN interface, it is also connected with left pedal drive module on the controller, right-side pedal drive module, first current detection module and the second current detection module, first current detection module is used to detect the operating current of left pedal extension and contraction control motor, second current detection module is used to detect the operating current of right-side pedal extension and contraction control motor, controller judges that motorcar electric pedal presss from both sides stifled situation according to the first current detection module and the second current detection module current status detected, it is stifled in case of folder, motor stopping or inverted running are then controlled according to the rotation time of motor.Its effect is: can read the switching signal of arrangements for automotive doors in real time, the automatic control of pedal can be realized without increasing additional operation, more convenient to use, anti-pinch choke preventing function may be implemented in the detection based on time management and electric current.
Description
Technical field
The present invention relates to vehicle electric fields, and in particular to a kind of anti-blocking control circuit of motorcar electric pedal anti-pinch and side
Method.
Background technique
For the higher automobile in chassis, pedal usually is installed in the left and right sides, existing pedal mostly uses greatly fixed
Installation, in normal vehicle operation or when parking, the pedal that left and right is stretched out frequently results in beautiful influence, occupied space or increases wind
The defects of resistance.
In the prior art also it is proposed that the technical solution of motorcar electric pedal, such as Chinese patent 201410652967.8
A kind of disclosed automobile electric retractable pedal with double-station support function, is designed by reasonable structure, to improve
The service life of pedal motor and the stability of treadle supporting.But it lacks necessary testing agency, in this way since, vehicle keeps to the side
When parking, the pedal of stretching is usually easy to collide with other barriers in curb or roadside, and pedal is caused to damage.
In order to realize anticollision, Chinese patent 201810480461.1 discloses a kind of electric treadle dress with collision prevention function
It sets and system, by the way that range sensor is arranged on pedal body, to detect, whether there are obstacles in its solid space, thus
Realize collision prevention function.Although radar sensor, ultrasonic sensor, infrared sensor, microwave can be used by being mentioned in text
Sensor or photoelectric sensor, but its installation site is arranged on pedal body, other than often trampling and being prone to wear, due to
It is easy in ground, driving conditions by mud pollution, various sensors are difficult to normal table operation.
Summary of the invention
To solve the above-mentioned problems, present invention firstly provides a kind of anti-blocking control circuit of motorcar electric pedal anti-pinch and sides
Method, the control circuit can control the stretching and recycling of corresponding side pedal, Yong Huwu according to the switch state of arrangements for automotive doors
Remaining control signal need to be individually entered, it is very easy to use, while the detection of the operating current based on pedal motor, it can be realized
The anti-blocking control of anti-pinch, it is ensured that pedal security even running.
To achieve the goals above, specific technical solution of the present invention is as follows:
A kind of anti-blocking control circuit of motorcar electric pedal anti-pinch, key are: being provided with a controller, the controller is logical
The gate-control signal that CAN interface receives automobile is crossed, left pedal drive module and right side are also connected on the controller
Pedal-driven module, the extension and contraction control electrical connection of motor of the left pedal drive module and automobile left side pedal, the right side
The extension and contraction control electrical connection of motor of side pedal-driven module and car right side pedal, is also connected with first on the controller
Current detection module and the second current detection module, first current detection module is for detecting left pedal extension and contraction control electricity
The operating current of machine, second current detection module is used to detect the operating current of right-side pedal extension and contraction control motor, described
Controller judges motorcar electric according to first current detection module and the second current detection module current status detected
Pedal, which presss from both sides, blocks up situation, stifled in case of pressing from both sides, then controls motor stopping or inverted running according to the rotation time of motor.
Optionally, the automobile batteries power supply in circuit carries out after power supply is converted by power management module as the controller
Power supply, the power management module is provided with enabled pin, and the enabled pin is connect with the CAN interface, when described
When CAN interface needs to upload car door controller signal to the controller, the power management module start-up operation is described
Controller powers on.
Optionally, the left pedal drive module and the right-side pedal drive module are respectively adopted two relays and open
It closes, a relay switch is used to control the on-off that motor rotates forward power supply line, and another relay switch is for controlling motor reversal
The on-off of power supply line.
Optionally, be also connected with LED indication unit on the controller, when controller control left pedal drive module or
When right-side pedal drive module works, the LED light on corresponding side pedal issues instruction information.
Based on above-mentioned control circuit, the present invention also provides a kind of motorcar electric pedal anti-pinch anti-blocking control method, according to
Lower step carries out:
S1: system initialization, automobile left side pedal and right-side pedal are in recycling state, and setting current threshold is ith, single
It is t to rotation time threshold valueth；
S2: car door controller signal is received by CAN interface, and judges the open and-shut mode of car door；
S3: in car door unlocked state, the pedal-driven module for controlling corresponding side makes its corresponding extension and contraction control motor edge
First direction rotation；In closing of the door state, the pedal-driven module for controlling corresponding side makes its corresponding extension and contraction control motor
It is rotated in a second direction,；
S4: the work of corresponding side extension and contraction control motor is acquired by the first current detection module and the second current detection module
Make electric current i and unidirectional operation time t；
If t < tthAnd i < ithWhen, then maintain the rotation direction of motor to continue to rotate；
If t < tthAnd i >=ithWhen, then change rotation direction, inverts preset time t0；
If t >=tthWhen, then it stops operating, and return step S2.
Optionally, as i >=ithWhen, controller controls warning note module and issues warning note.
Optionally, along the embedded one circle LED light of setting of the contour line of pedal, when pedal stretches or recycles, the LED light
Issue instruction information.
Optionally, for the independent control of pedal at left and right sides of use, and adaptability is done in conjunction with its machine work state
Adjustment, is provided with the first counter module and the second counter module in the controller, and the current threshold is flexible including left side
Control current of electric threshold value ith-LWith right side extension and contraction control current of electric threshold value ith-R, the one-directional rotation time threshold includes a left side
Side extension and contraction control motor one-directionally rotates time threshold tth-LTime threshold t is one-directionally rotated with right side extension and contraction control motorth-R, described
First counter module is used to record the stretching, extension number of left side extension and contraction control motor, and second counter module is for recording the right side
The stretching, extension number of side extension and contraction control motor；
When stretching, extension number reaches the first preset threshold, system entry time align mode；
Under time calibration state, carry out in the following way:
The extension and contraction control motor for controlling corresponding side is flexed outward from original state, records operating current i=ith-LOr i=
ith-RThe time t of Shi Suoxu1；Switch motor rotation direction, extension and contraction control motor are recycled from maximum extension state, record work again
Make electric current i=ith-LOr i=ith-RThe time t of Shi Suoxu2；Take the mean value of the two as the list of corresponding side extension and contraction control motor
To rotation time threshold value tth-LOr tth-R；
When stretching, extension number reaches the second preset threshold, system enters correcting current state；
Under correcting current state, carry out in the following way:
The extension and contraction control motor for controlling corresponding side is flexed outward from original state, records working time t=tth-LOr t=
tth-RWhen corresponding operating current i1；Switch motor rotation direction, extension and contraction control motor recycle from maximum extension state, remember again
Record working time t=tth-LOr t=tth-RWhen corresponding operating current i2；Take the mean value of the two as corresponding side extension and contraction control
The current threshold i of motorth-LOr ith-R；
After calibration, the first counter module or the clearing of the second counter module count again.
Remarkable result of the invention is:
Motorcar electric pedal is controlled using the circuit, the switching signal of arrangements for automotive doors can be read in real time, be based on
The switch state of car door controls the working condition of the electric treadle of corresponding side, and user can be realized without increasing additional operation
The automatic control of pedal, it is more convenient to use, and meanwhile the cooperation control of the rotation time based on motor and rotation electric current, Neng Gouyou
Effect realizes anti-pinch choke preventing function.
Detailed description of the invention
Fig. 1 is schematic block circuit diagram of the invention；
Fig. 2 is the circuit diagram of power management module in Fig. 1；
Fig. 3 is the circuit diagram of left pedal driving circuit and right-side pedal driving circuit in Fig. 1；
Fig. 4 is control flow chart of the invention.
Specific embodiment
To keep technical problem solved by the invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail, and description here does not mean that all themes corresponding to the specific example stated in embodiment
All refer in the claims.
As shown in Figure 1, a kind of anti-blocking control circuit of motorcar electric pedal anti-pinch, is provided with a controller, the controller is logical
The gate-control signal that CAN interface receives automobile is crossed, left pedal drive module and right side are also connected on the controller
Pedal-driven module, the extension and contraction control electrical connection of motor of the left pedal drive module and automobile left side pedal, the right side
The extension and contraction control electrical connection of motor of side pedal-driven module and car right side pedal, is also connected with first on the controller
Current detection module and the second current detection module, first current detection module is for detecting left pedal extension and contraction control electricity
The operating current of machine, second current detection module is used to detect the operating current of right-side pedal extension and contraction control motor, described
Controller judges motorcar electric according to first current detection module and the second current detection module current status detected
Pedal, which presss from both sides, blocks up situation, stifled in case of pressing from both sides, then controls motor stopping or inverted running according to the rotation time of motor.
It can be seen that in the present embodiment by Fig. 1 and Fig. 2, automobile batteries power supply carries out power supply by power management module
Into controller power supply after converting, the power management module is provided with enabled pin, and the enabled pin and the CAN are total
Line interface connection, when the CAN interface needs to upload car door controller signal to the controller, the power management mould
BOB(beginning of block) work is that the controller powers on.
As can be seen that power management module uses LDO low pressure difference linear voltage regulator, by using power supply chip in Fig. 2
BAT 12V power supply on vehicle is converted into the system power supply power supply VCC of 5V by NCV4276, while CAN transceiver is received using high-speed CAN
Device TJA1041 is sent out, an enable signal can be exported, the on and off of power supply output is realized by driving INH pin, is being
Unite dormant state when, drag down INH pin, system power supply can be closed, in the case where not having switch gate signal, system can be with
Dormant state is maintained, realizes low power operation.
For the ease of the drive control of motor, as seen in Figure 3, the left pedal drive module and the right side
Two relay switches are respectively adopted in pedal-driven module, and a relay switch is used to control motor and rotates forward the logical of power supply line
Disconnected, another relay switch is used to control the on-off of motor reversal power supply line, the two-way control letter exported by the controller
The wiring state of number control two-way relay realizes the stretching and recycling control of pedal.
In order to provide corresponding prompt in pedal travel, it is also connected with LED indication unit on the controller, works as control
When device controls left pedal drive module or the work of right-side pedal drive module, the LED light on corresponding side pedal issues instruction
Information.
Description based on foregoing circuit, in order to realize the anti-blocking control of better anti-pinch, the present embodiment also provides a kind of
Motorcar electric pedal anti-pinch anti-blocking control method, follows the steps below:
S1: system initialization, automobile left side pedal and right-side pedal are in recycling state, and setting current threshold is ith, single
It is t to rotation time threshold valueth；
S2: car door controller signal is received by CAN interface, and judges the open and-shut mode of car door；
S3: in car door unlocked state, the pedal-driven module for controlling corresponding side makes its corresponding extension and contraction control motor edge
First direction rotation；In closing of the door state, the pedal-driven module for controlling corresponding side makes its corresponding extension and contraction control motor
It is rotated in a second direction,；
S4: the work of corresponding side extension and contraction control motor is acquired by the first current detection module and the second current detection module
Make electric current i and unidirectional operation time t；
If t < tthAnd i < ithWhen, then maintain the rotation direction of motor to continue to rotate；
If t < tthAnd i >=ithWhen, then change rotation direction, inverts preset time t0；
If t >=tthWhen, then it stops operating, and return step S2.
When specific control, as i >=ithWhen, controller controls warning note module and issues warning note, for lifting system
Intelligence, along the embedded one circle LED light of setting of the contour line of pedal, when pedal stretches or recycles, the LED light issues instruction
Information.
With the growth of operation hours, being influenced by device abrasion or aging, operating parameter is easy to happen variation,
For the situation of change of adaptation parameter, the first counter module and the second counter module, the electric current are provided in controller
Threshold value includes left side extension and contraction control current of electric threshold value ith-LWith right side extension and contraction control current of electric threshold value ith-R, described unidirectional turn
Dynamic time threshold includes left side extension and contraction control motor one-directional rotation time threshold tth-LIt is one-directionally rotated with right side extension and contraction control motor
Time threshold tth-R, first counter module is for recording the stretching, extension number of left side extension and contraction control motor, second meter
Number device module is used to record the stretching, extension number of right side extension and contraction control motor；
When stretching, extension number reaches the first preset threshold, system entry time align mode；
Under time calibration state, carry out in the following way:
The extension and contraction control motor for controlling corresponding side is flexed outward from original state, records operating current i=ith-LOr i=
ith-RThe time t of Shi Suoxu1；Switch motor rotation direction, extension and contraction control motor are recycled from maximum extension state, record work again
Make electric current i=ith-LOr i=ith-RThe time t of Shi Suoxu2；Take the mean value of the two as the list of corresponding side extension and contraction control motor
To rotation time threshold value tth-LOr tth-R；
When stretching, extension number reaches the second preset threshold, system enters correcting current state；
Under correcting current state, carry out in the following way:
The extension and contraction control motor for controlling corresponding side is flexed outward from original state, records working time t=tth-LOr t=
tth-RWhen corresponding operating current i1；Switch motor rotation direction, extension and contraction control motor recycle from maximum extension state, remember again
Record working time t=tth-LOr t=tth-RWhen corresponding operating current i2；Take the mean value of the two as corresponding side extension and contraction control
The current threshold i of motorth-LOr ith-R；
After calibration, the first counter module or the clearing of the second counter module count again.
The parameter of the motor of the left and right sides is respectively set system and independent control, by taking certain side control process as an example, such as
Shown in Fig. 4, after receiving gate-control signal, the case where unlocking (enabling) according to a certain side door lock or be latched (shutdown), control is corresponded to
Motor flexible or recycling, motor can at the uniform velocity operate, there is no folder it is stifled in the case where, the maximum path of one-directional rotation passes through fortune
The dynamic time limits, and within the stipulated time, as long as electric current is not above preset threshold value, can continue to rotate, if super
Cross preset threshold, then it is assumed that there is the stifled situation of folder, therefore play a protective role by rotating backward the regular hour, give simultaneously
It alarms out.
System is calculated by the effective exercise number to pedal, can regularly be adjusted by the way that corresponding threshold value is arranged
Time threshold and current threshold keep its control more accurate, for example the first preset threshold of setting counter is 50, and second is default
Threshold value is 100, after first moving 50 times, is adjusted to time threshold, after movement 100 times, is adjusted, counts to current threshold
After device is reset, then after moving 50 times, then time threshold is adjusted, thus since, the adjustment of time threshold and current threshold
It is spaced identical, and when adjusting one of parameter each time, an another outer parameter can be regard as reference target, thus reality
Existing system automatically corrects, it is ensured that system safe and stable operation.
Finally, it should be noted that foregoing description is the preferred embodiment of the present invention, those skilled in the art exist
Under enlightenment of the invention, without prejudice to the purpose of the present invention and the claims, multiple similar expressions can be made, this
The transformation of sample is fallen within the scope of protection of the present invention.
Claims (8)
1. a kind of anti-blocking control circuit of motorcar electric pedal anti-pinch, it is characterised in that: be provided with a controller, which passes through
CAN interface receives the gate-control signal of automobile, and left pedal drive module is also connected on the controller and right side is stepped on
Plate drive module, the extension and contraction control electrical connection of motor of the left pedal drive module and automobile left side pedal, the right side
The extension and contraction control electrical connection of motor of pedal-driven module and car right side pedal is also connected with the first electricity on the controller
Detection module and the second current detection module are flowed, first current detection module is for detecting left pedal extension and contraction control motor
Operating current, second current detection module is used to detect the operating current of right-side pedal extension and contraction control motor, the control
Device processed judges that motorcar electric is stepped on according to first current detection module and the second current detection module current status detected
Plate, which presss from both sides, blocks up situation, stifled in case of pressing from both sides, then controls motor stopping or inverted running according to the rotation time of motor.
2. the anti-blocking control circuit of motorcar electric pedal anti-pinch according to claim 1, it is characterised in that: automobile batteries power supply
It carries out by power management module into controller power supply after power supply is converted, the power management module is provided with enabled draw
Foot, and the enabled pin is connect with the CAN interface, when the CAN interface needs to upload vapour to the controller
When vehicle gate-control signal, it is that the controller powers on that the power management module, which is started to work,.
3. the anti-blocking control circuit of motorcar electric pedal anti-pinch according to claim 1, it is characterised in that: the left pedal
Two relay switches are respectively adopted in drive module and the right-side pedal drive module, and a relay switch is for controlling electricity
Machine rotates forward the on-off of power supply line, and another relay switch is used to control the on-off of motor reversal power supply line.
4. the anti-blocking control circuit of motorcar electric pedal anti-pinch according to claim 1, it is characterised in that: on the controller
It is also connected with LED indication unit, it is corresponding when controller controls left pedal drive module or right-side pedal drive module works
LED light on the pedal of side issues instruction information.
5. a kind of motorcar electric pedal anti-pinch anti-blocking control method, special using any control circuit of claim 1-4
Sign is, follows the steps below:
S1: system initialization, automobile left side pedal and right-side pedal are in recycling state, and setting current threshold is ith, unidirectional to turn
Dynamic time threshold is tth；
S2: car door controller signal is received by CAN interface, and judges the open and-shut mode of car door；
S3: in car door unlocked state, the pedal-driven module for controlling corresponding side makes its corresponding extension and contraction control motor along first
Direction rotation；In closing of the door state, the pedal-driven module for controlling corresponding side makes its corresponding extension and contraction control motor along the
The rotation of two directions；
S4: the work electricity of corresponding side extension and contraction control motor is acquired by the first current detection module and the second current detection module
Flow i and unidirectional operation time t；
If t < tthAnd i < ithWhen, then maintain the rotation direction of motor to continue to rotate；
If t < tthAnd i >=ithWhen, then change rotation direction, inverts preset time t0；
If t >=tthWhen, then it stops operating, and return step S2.
6. motorcar electric pedal anti-pinch anti-blocking control method according to claim 5, it is characterised in that: as i >=ithWhen, control
Device control warning note module processed issues warning note.
7. motorcar electric pedal anti-pinch anti-blocking control method according to claim 5, it is characterised in that: along the profile of pedal
The embedded one circle LED light of setting of line, when pedal stretches or recycles, the LED light issues instruction information.
8. motorcar electric pedal anti-pinch anti-blocking control method according to claim 5, it is characterised in that: be arranged in controller
There are the first counter module and the second counter module, the current threshold includes left side extension and contraction control current of electric threshold value ith-L
With right side extension and contraction control current of electric threshold value ith-R, the one-directional rotation time threshold includes that left side extension and contraction control motor unidirectionally turns
Dynamic time threshold tth-LTime threshold t is one-directionally rotated with right side extension and contraction control motorth-R, first counter module is for remembering
The stretching, extension number of record left side extension and contraction control motor, second counter module are used to record the stretching, extension of right side extension and contraction control motor
Number；
When stretching, extension number reaches the first preset threshold, system entry time align mode；
Under time calibration state, carry out in the following way:
The extension and contraction control motor for controlling corresponding side is flexed outward from original state, records operating current i=ith-LOr i=ith-R
The time t of Shi Suoxu1；Switch motor rotation direction, extension and contraction control motor are recycled from maximum extension state, record work electricity again
Flow i=ith-LOr i=ith-RThe time t of Shi Suoxu2；The mean value of the two is taken to turn as the unidirectional of corresponding side extension and contraction control motor
Dynamic time threshold tth-LOr tth-R；
When stretching, extension number reaches the second preset threshold, system enters correcting current state；
Under correcting current state, carry out in the following way:
The extension and contraction control motor for controlling corresponding side is flexed outward from original state, records working time t=tth-LOr t=tth-R
When corresponding operating current i1；Switch motor rotation direction, extension and contraction control motor are recycled from maximum extension state, record work again
Make time t=tth-LOr t=tth-RWhen corresponding operating current i2；Take the mean value of the two as corresponding side extension and contraction control motor
Current threshold ith-LOr ith-R；
After calibration, the first counter module or the clearing of the second counter module count again.
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| CN201910915451.0A CN110481441B (en) | 2019-09-26 | 2019-09-26 | Anti-clamping and anti-blocking control circuit and method for automobile electric pedal |
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Cited By (4)
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| CN112099385A (en) * | 2020-09-24 | 2020-12-18 | 珠海格力电器股份有限公司 | Display panel control method and device of household appliance and household appliance |
| CN112977264A (en) * | 2021-03-10 | 2021-06-18 | 中国第一汽车股份有限公司 | Control method and device of electric pedal, electronic equipment and storage medium |
| CN113547988A (en) * | 2021-08-13 | 2021-10-26 | 安徽江淮汽车集团股份有限公司 | Control method for automobile integrated electric step control function and automobile body controller |
| WO2024002573A1 (en) * | 2022-06-29 | 2024-01-04 | Brose Fahrzeugteile Se & Co. Kommanditgesellschaft, Bamberg | Drive system comprising a step-plate element, and operating method |
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| CN112099385A (en) * | 2020-09-24 | 2020-12-18 | 珠海格力电器股份有限公司 | Display panel control method and device of household appliance and household appliance |
| CN112977264A (en) * | 2021-03-10 | 2021-06-18 | 中国第一汽车股份有限公司 | Control method and device of electric pedal, electronic equipment and storage medium |
| CN113547988A (en) * | 2021-08-13 | 2021-10-26 | 安徽江淮汽车集团股份有限公司 | Control method for automobile integrated electric step control function and automobile body controller |
| WO2024002573A1 (en) * | 2022-06-29 | 2024-01-04 | Brose Fahrzeugteile Se & Co. Kommanditgesellschaft, Bamberg | Drive system comprising a step-plate element, and operating method |
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