CN110481441B - Anti-clamping and anti-blocking control circuit and method for automobile electric pedal - Google Patents
Anti-clamping and anti-blocking control circuit and method for automobile electric pedal Download PDFInfo
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- CN110481441B CN110481441B CN201910915451.0A CN201910915451A CN110481441B CN 110481441 B CN110481441 B CN 110481441B CN 201910915451 A CN201910915451 A CN 201910915451A CN 110481441 B CN110481441 B CN 110481441B
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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
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- 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 invention discloses an anti-clamping and anti-blocking control circuit and method for an electric pedal of an automobile, wherein a controller in the circuit receives a door control signal of the automobile through a CAN bus interface, a left pedal driving module, a right pedal driving module, a first current detection module and a second current detection module are further connected to the controller, the first current detection module is used for detecting the working current of a left pedal telescopic control motor, the second current detection module is used for detecting the working current of a right pedal telescopic control motor, the controller judges the clamping and blocking condition of the electric pedal of the automobile according to the current states detected by the first current detection module and the second current detection module, and if the clamping and blocking occur, the motor is controlled to stop or run reversely according to the rotation time of the motor. The effect is as follows: can read the switch signal of car door in real time, need not to increase the automatic control that extra operation can realize the footboard, it is more convenient to use, can realize preventing pressing from both sides anti-blocking function based on time management and the detection of electric current.
Description
Technical Field
The invention relates to the field of automotive electronics, in particular to an anti-clamping and anti-blocking control circuit and method for an automotive electric pedal.
Background
To the higher car in chassis, often install the footboard in the left and right sides, current footboard adopts fixed installation mostly, when the vehicle normally travels or parks, the footboard that stretches out about often leads to influencing defects such as pleasing to the eye, occupation space or increase windage.
The prior art also proposes a technical scheme of an electric pedal of an automobile, for example, an electric telescopic pedal with a double-station supporting function of an automobile disclosed in chinese patent 201410652967.8, and through reasonable structural design, the service life of a pedal motor and the stability of pedal support are improved. However, they lack the necessary sensing mechanism so that when the vehicle is parked alongside, the extended step is often susceptible to collision with other obstacles along the road or along the curb, resulting in damage to the step.
In order to achieve collision avoidance, chinese patent 201810480461.1 discloses an electric pedal device and system with collision avoidance function, which detects whether there is an obstacle in the three-dimensional space by arranging a distance sensor on the pedal body, thereby achieving the collision avoidance function. Although a radar sensor, an ultrasonic sensor, an infrared sensor, a microwave sensor or a photoelectric sensor can be adopted, the installation position of the sensor is arranged on the pedal body, the sensor is easy to wear due to frequent treading, and besides, due to the fact that the sensor is close to the ground, muddy water is easy to pollute in the driving process, and various sensors are difficult to normally and stably operate.
Disclosure of Invention
In order to solve the problems, the invention firstly provides an anti-clamping and anti-blocking control circuit and an anti-clamping and anti-blocking control method for an electric pedal of an automobile, the control circuit can control the pedal on one corresponding side to extend out and retract according to the opening and closing state of an automobile door, a user does not need to input other control signals independently, the use is very convenient, meanwhile, based on the working current detection of a pedal motor, the anti-clamping and anti-blocking control can be realized, and the safe and stable running of the pedal is ensured.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
the utility model provides an anti-pinch prevents stifled control circuit of auto electric pedal, its key lies in: the controller is provided with a controller, the controller receives a door control signal of an automobile through a CAN bus interface, a left pedal driving module and a right pedal driving module are also connected to the controller, the left pedal driving module is electrically connected with a telescopic control motor of a left pedal of the automobile, the right pedal driving module is electrically connected with a telescopic control motor of a right pedal of the automobile, a first current detection module and a second current detection module are also connected to the controller, the first current detection module is used for detecting the working current of the telescopic control motor of the left pedal, the second current detection module is used for detecting the working current of the telescopic control motor of the right pedal, the controller judges the clamping and blocking condition of the electric pedal of the automobile according to the current states detected by the first current detection module and the second current detection module, if clamping and blocking occur, the motor is controlled to stop or run in reverse according to the rotation time of the motor.
Optionally, the power supply of the automobile battery in the circuit is supplied with power to the controller after power conversion is performed by the power management module, the power management module is provided with an enable pin, the enable pin is connected with the CAN bus interface, and when the CAN bus interface needs to upload the automobile door control signal to the controller, the power management module starts to work as the controller is powered on.
Optionally, the left pedal driving module and the right pedal driving module respectively adopt two relay switches, one relay switch is used for controlling the on-off of a forward rotation power line of the motor, and the other relay switch is used for controlling the on-off of a reverse rotation power line of the motor.
Optionally, the controller is further connected with an LED indication unit, and when the controller controls the left pedal driving module or the right pedal driving module to work, the LED lamp on the pedal on the corresponding side sends out indication information.
Based on the control circuit, the invention also provides an anti-clamping and anti-blocking control method for the automobile electric pedal, which is carried out according to the following steps:
s1: initializing a system, enabling a left pedal and a right pedal of the automobile to be in a recovery state, and setting a current threshold value to be ithThe unidirectional rotation time threshold is tth；
S2: receiving an automobile door control signal through a CAN bus interface, and judging the opening and closing state of an automobile door;
s3: in the unlocking state of the vehicle door, the pedal driving module on the corresponding side is controlled to enable the corresponding telescopic control motor to rotate along the first direction; in the closed state of the vehicle door, the pedal driving module on the corresponding side is controlled to enable the corresponding telescopic control motor to rotate along the second direction;
s4: collecting the working current i and the one-way running time t of the telescopic control motor at the corresponding side through a first current detection module and a second current detection module;
if t is<tthAnd i is<ithWhen the motor is started, the rotation direction of the motor is maintained to continue rotating;
if t is<tthAnd i is more than or equal to ithThen the rotation direction is changed and the rotation is reversed for a preset time t0；
If t ≧ tthIf so, the rotation is stopped, and the process returns to step S2.
Optionally, when i ≧ ithAnd when the alarm is sent out, the controller controls the alarm prompt module to send out an alarm prompt.
Optionally, a circle of LED lamps is embedded along the outline of the pedal, and when the pedal is extended or retracted, the LED lamps send out indication information.
Optionally, in order to use independent control of the left pedal and the right pedal and make adaptive adjustment by combining the mechanical working state of the left pedal and the right pedal, a first counter module and a second counter module are arranged in the controller, and the current threshold comprises a current threshold i of the left telescopic control motorth-LAnd a current threshold i of the right telescopic control motorth-RThe unidirectional rotation time threshold comprises a unidirectional rotation time threshold t of the left telescopic control motorth-LAnd the unidirectional rotation time threshold t of the right telescopic control motorth-RThe first counter module is used for recording the stretching times of the left-side stretching control motor, and the second counter module is used for recording the stretching times of the right-side stretching control motor;
when the stretching times reach a first preset threshold value, the system enters a time calibration state;
in the time alignment state, the following steps are carried out:
controlling the corresponding telescopic control motor to extend outwards from the initial state and recording the working current i ═ ith-LOr i ═ ith-RTime t required for hour1(ii) a Switching the rotation direction of the motor, recovering the telescopic control motor from the maximum extension state, and recording the working current i to i againth-LOr i ═ ith-RTime t required for hour2(ii) a Taking the average value of the two as the unidirectional rotation time threshold t of the telescopic control motor at the corresponding sideth-LOr tth-R；
When the stretching times reach a second preset threshold value, the system enters a current calibration state;
in the current calibration state, the following procedure is followed:
controlling the telescopic control motor at the corresponding side from the beginningThe state is extended outwards, and the working time t is recorded as tth-LOr t ═ tth-RTime corresponding working current i1(ii) a Switching the rotation direction of the motor, recovering the telescopic control motor from the maximum extension state, and recording the working time t as t againth-LOr t ═ tth-RTime corresponding working current i2(ii) a Taking the average value of the current threshold value and the current threshold value i as the current threshold value i of the telescopic control motor at the corresponding sideth-LOr ith-R；
And after the calibration is finished, the first counter module or the second counter module is cleared and counts again.
The invention has the following remarkable effects:
utilize this circuit to control car electric pedal, can read the switching signal of car door in real time, the operating condition of the electric pedal who corresponds one side based on the on off state control of door, the user need not to increase the automatic control that extra operation can realize the footboard, and it is more convenient to use, simultaneously based on the live time of motor and the cooperation control of rotating current, can effectively realize preventing pressing from both sides and prevent stifled function.
Drawings
FIG. 1 is a schematic block diagram of the circuit of the present invention;
FIG. 2 is a schematic circuit diagram of the power management module of FIG. 1;
FIG. 3 is a schematic circuit diagram of the left side pedal drive circuit and the right side pedal drive circuit of FIG. 1;
fig. 4 is a control flow chart of the present invention.
Detailed Description
To make the technical problems, technical solutions and advantages solved by the present invention clearer, the following detailed description will be made with reference to the accompanying drawings and specific embodiments, and the description herein does not mean that all the subject matter corresponding to the specific examples set forth in the embodiments is cited in the claims.
As shown in figure 1, the anti-clamping and anti-blocking control circuit for the electric pedal of the automobile is provided with a controller, the controller receives a door control signal of the automobile through a CAN bus interface, a left pedal driving module and a right pedal driving module are further connected to the controller, the left pedal driving module is electrically connected with a telescopic control motor of the left pedal of the automobile, the right pedal driving module is electrically connected with a telescopic control motor of the right pedal of the automobile, a first current detection module and a second current detection module are further connected to the controller, the first current detection module is used for detecting the working current of the left pedal telescopic control motor, the second current detection module is used for detecting the working current of the right pedal telescopic control motor, and the controller judges the clamping and blocking condition of the electric pedal of the automobile according to the current states detected by the first current detection module and the second current detection module, and if the clamping is blocked, controlling the motor to stop or reversely run according to the rotation time of the motor.
As CAN be seen from fig. 1 and fig. 2, in this embodiment, the power supply of the automobile battery supplies power to the controller after power conversion is performed by the power management module, the power management module is provided with an enable pin, and the enable pin is connected with the CAN bus interface, and when the CAN bus interface needs to upload an automobile door control signal to the controller, the power management module starts to operate as the controller to be powered on.
It CAN be seen from fig. 2 that the power management module adopts an LDO low dropout regulator, and converts the car BAT 12V power into a 5V system power supply VCC by adopting the power chip NCV4276, and meanwhile, the CAN transceiver adopts the high-speed CAN transceiver TJA1041, which CAN output an enable signal, and the on and off of the power output is realized by driving the INH pin, when the system is in a sleep state, the INH pin is pulled down, so that the system power CAN be turned off, and when the system does not have a gate on/off signal, the system CAN maintain the sleep state, so as to realize low power consumption operation.
In order to facilitate the driving control of the motor, as can be seen from fig. 3, the left pedal driving module and the right pedal driving module respectively adopt two relay switches, one relay switch is used for controlling the on-off of a forward rotation power line of the motor, the other relay switch is used for controlling the on-off of a reverse rotation power line of the motor, and the two paths of control signals output by the controller control the wiring state of the two paths of relays to realize the stretching and recovery control of the pedals.
In order to give corresponding prompts when the pedals move, the controller is also connected with an LED indicating unit, and when the controller controls the left pedal driving module or the right pedal driving module to work, the LED lamp on the pedal on the corresponding side sends indicating information.
Based on the description of above-mentioned circuit, in order to realize better preventing pressing from both sides stifled control, this embodiment still provides a car electric pedal prevents pressing from both sides stifled control method, goes on according to following step:
s1: initializing a system, enabling a left pedal and a right pedal of the automobile to be in a recovery state, and setting a current threshold value to be ithThe unidirectional rotation time threshold is tth；
S2: receiving an automobile door control signal through a CAN bus interface, and judging the opening and closing state of an automobile door;
s3: in the unlocking state of the vehicle door, the pedal driving module on the corresponding side is controlled to enable the corresponding telescopic control motor to rotate along the first direction; in the closed state of the vehicle door, the pedal driving module on the corresponding side is controlled to enable the corresponding telescopic control motor to rotate along the second direction;
s4: collecting the working current i and the one-way running time t of the telescopic control motor at the corresponding side through a first current detection module and a second current detection module;
if t is<tthAnd i is<ithWhen the motor is started, the rotation direction of the motor is maintained to continue rotating;
if t is<tthAnd i is more than or equal to ithThen the rotation direction is changed and the rotation is reversed for a preset time t0；
If t ≧ tthIf so, the rotation is stopped, and the process returns to step S2.
When i is more than or equal to i in specific controlthWhen the pedal is extended or retracted, the LED lamp sends out indication information.
The operating parameters of the apparatus are susceptible to wear or aging of the apparatus as its operating time increasesIn order to adapt to the change condition of the parameters, a first counter module and a second counter module are arranged in the controller, and the current threshold comprises a current threshold i of the left telescopic control motorth-LAnd a current threshold i of the right telescopic control motorth-RThe unidirectional rotation time threshold comprises a unidirectional rotation time threshold t of the left telescopic control motorth-LAnd the unidirectional rotation time threshold t of the right telescopic control motorth-RThe first counter module is used for recording the stretching times of the left-side stretching control motor, and the second counter module is used for recording the stretching times of the right-side stretching control motor;
when the stretching times reach a first preset threshold value, the system enters a time calibration state;
in the time alignment state, the following steps are carried out:
controlling the corresponding telescopic control motor to extend outwards from the initial state and recording the working current i ═ ith-LOr i ═ ith-RTime t required for hour1(ii) a Switching the rotation direction of the motor, recovering the telescopic control motor from the maximum extension state, and recording the working current i to i againth-LOr i ═ ith-RTime t required for hour2(ii) a Taking the average value of the two as the unidirectional rotation time threshold t of the telescopic control motor at the corresponding sideth-LOr tth-R；
When the stretching times reach a second preset threshold value, the system enters a current calibration state;
in the current calibration state, the following procedure is followed:
controlling the corresponding telescopic control motor to extend outwards from the initial state, and recording the working time t as tth-LOr t ═ tth-RTime corresponding working current i1(ii) a Switching the rotation direction of the motor, recovering the telescopic control motor from the maximum extension state, and recording the working time t as t againth-LOr t ═ tth-RTime corresponding working current i2(ii) a Taking the average value of the current threshold value and the current threshold value i as the current threshold value i of the telescopic control motor at the corresponding sideth-LOr ith-R；
And after the calibration is finished, the first counter module or the second counter module is cleared and counts again.
The system respectively sets and independently controls parameters of motors on the left side and the right side, for example, a control process of a certain side is taken as an example, as shown in fig. 4, after a door control signal is received, the corresponding motor is controlled to stretch out and draw back or recover according to the condition that a door lock on the certain side is unlocked (opened) or locked (closed), the motor can run at a constant speed, the maximum path of unidirectional rotation is limited by the motion time under the condition that clamping and blocking do not exist, the motor can continue to rotate as long as the current does not exceed a preset threshold value within a specified time range, and if the current exceeds the preset threshold value, the clamping and blocking condition is considered to exist, so that the protection effect is achieved by reversely rotating for a certain time, and.
The system can adjust the time threshold and the current threshold regularly by calculating the effective movement times of the pedal and setting the corresponding threshold, so that the control is more accurate, for example, the first preset threshold of the counter is set as 50, the second preset threshold is set as 100, the time threshold is adjusted after the counter is moved for 50 times, the current threshold is adjusted after the counter is moved for 100 times, the time threshold is adjusted after the counter is cleared and moved for 50 times, so that the time threshold and the current threshold are adjusted at the same interval, and when one parameter is adjusted each time, the other parameter can be used as a reference target, so that the automatic correction of the system is realized, and the safe and stable operation of the system is ensured.
Finally, while the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (4)
1. The utility model provides an anti-pinch and anti-blocking control circuit of an automobile electric pedal, which is characterized in that: the controller is provided with a controller, the controller receives a door control signal of an automobile through a CAN bus interface, a left pedal driving module and a right pedal driving module are also connected to the controller, the left pedal driving module is electrically connected with a telescopic control motor of a left pedal of the automobile, the right pedal driving module is electrically connected with a telescopic control motor of a right pedal of the automobile, a first current detection module and a second current detection module are also connected to the controller, the first current detection module is used for detecting the working current of the telescopic control motor of the left pedal, the second current detection module is used for detecting the working current of the telescopic control motor of the right pedal, the controller judges the clamping and blocking condition of the electric pedal of the automobile according to the current states detected by the first current detection module and the second current detection module, if clamping and blocking occur, controlling the motor to stop or reversely run according to the rotation time of the motor;
the controller is internally provided with a first counter module and a second counter module, and the internal current threshold comprises a current threshold i of the left telescopic control motorth-LAnd a current threshold i of the right telescopic control motorth-RThe internal unidirectional rotation time threshold comprises a unidirectional rotation time threshold t of a left telescopic control motorth-LAnd the unidirectional rotation time threshold t of the right telescopic control motorth-RThe first counter module is used for recording the stretching times of the left-side stretching control motor, and the second counter module is used for recording the stretching times of the right-side stretching control motor;
when the stretching times reach a first preset threshold value, the system enters a time calibration state;
in the time alignment state, the following steps are carried out:
controlling the corresponding telescopic control motor to extend outwards from the initial state and recording the working current i ═ ith-LOr i ═ ith-RTime t required for hour1(ii) a Switching the rotation direction of the motor, recovering the telescopic control motor from the maximum extension state, and recording the working current i to i againth-LOr i ═ ith-RTime t required for hour2(ii) a Taking the average value of the two as the unidirectional rotation time threshold t of the telescopic control motor at the corresponding sideth-LOr tth-R；
When the stretching times reach a second preset threshold value, the system enters a current calibration state;
in the current calibration state, the following procedure is followed:
controlling the corresponding telescopic control motor to extend outwards from the initial state, and recording the working time t as tth-LOr t ═ tth-RTime corresponding working current i1(ii) a Switching the rotation direction of the motor, recovering the telescopic control motor from the maximum extension state, and recording the working time t as t againth-LOr t ═ tth-RTime corresponding working current i2(ii) a Taking the average value of the current threshold value and the current threshold value i as the current threshold value i of the telescopic control motor at the corresponding sideth-LOr ith-R；
And after the calibration is finished, the first counter module or the second counter module is cleared and counts again.
2. The anti-pinch and anti-blocking control circuit of the electric pedal of the automobile as claimed in claim 1, wherein: the automobile battery power supply supplies power to the controller after power conversion is carried out on the automobile battery power supply through the power management module, the power management module is provided with an enabling pin, the enabling pin is connected with the CAN bus interface, and when the CAN bus interface needs to upload automobile door control signals to the controller, the power management module starts to work as the controller is powered on.
3. The anti-pinch and anti-blocking control circuit of the electric pedal of the automobile as claimed in claim 1, wherein: the left pedal driving module and the right pedal driving module respectively adopt two relay switches, one relay switch is used for controlling the on-off of a forward rotation power line of the motor, and the other relay switch is used for controlling the on-off of a reverse rotation power line of the motor.
4. The anti-pinch and anti-blocking control circuit of the electric pedal of the automobile as claimed in claim 1, wherein: the controller is also connected with an LED indicating unit, and when the controller controls the left pedal driving module or the right pedal driving module to work, an LED lamp in the LED indicating unit on the corresponding pedal on one side sends indicating information.
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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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| 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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| 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 |
| DE102022206627A1 (en) * | 2022-06-29 | 2024-01-04 | Bode - Die Tür Gmbh | Drive system with tread plate element and operating method |
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| JP3324851B2 (en) * | 1993-12-22 | 2002-09-17 | 自動車電機工業株式会社 | Power window control device |
| CN102678008B (en) * | 2012-05-31 | 2014-08-20 | 北京航空航天大学 | Self-adapting car window anti-clamping control circuit and control method |
| KR101428301B1 (en) * | 2012-12-21 | 2014-08-07 | 현대자동차주식회사 | Method for controlling operation of side step |
| CN104175962B (en) * | 2014-07-31 | 2016-04-13 | 长城汽车股份有限公司 | The control method of the auto pedal of vehicle, system and there is the vehicle of this system |
| US10766424B2 (en) * | 2017-04-13 | 2020-09-08 | Bestop, Inc. | Radio frequency control system for power running boards |
| CN109204153B (en) * | 2017-06-30 | 2022-05-27 | 长城汽车股份有限公司 | Automobile electric side stepping abnormity diagnosis method and system and automobile with system |
| CN107489333A (en) * | 2017-08-01 | 2017-12-19 | 宁波普龙汽车电子科技有限公司 | A kind of electric car window anti-pinch parameter learning method and anti-pinching car window control method |
| CN207059910U (en) * | 2017-08-16 | 2018-03-02 | 上海艾铭思汽车控制系统有限公司 | The controller and meeting pedal device of a kind of meeting pedal |
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