CN112943887B - A vehicle braking control method and device - Google Patents

Abstract

The invention provides a vehicle brake control method and device, relates to the field of vehicle braking, and aims to solve the technical problem of how to eliminate vehicle towering during vehicle braking. The device structure comprises a control unit, an acquisition module and a gearbox, wherein the working radius of the conical wheel of the gearbox is adjusted to ensure that the rotating speed of a turbine of a hydraulic torque converter is not higher than the rotating speed of an engine all the time, so that the vehicle is not crossed when braked, the change of the driving state of the vehicle is avoided, the absolute value of the deceleration of the vehicle is reduced, the driving force generated by the vehicle is prevented, and the condition of vehicle shrugging when the vehicle is braked is eliminated.

Description

A vehicle braking control method and device

technical field

The present invention relates to the field of vehicle braking, in particular to a vehicle braking control method and device.

Background technique

At present, many vehicles are equipped with a continuously variable transmission (CVT). The connection between the CVT and the engine mainly includes a torque converter and a multi-plate clutch. The multi-plate clutch does not have the natural and smooth flexible transmission effect of the torque converter. The starting requirements are high, so a torque converter is usually used.

The power transmission path of the vehicle includes the engine, the torque converter, the gearbox, the drive shaft and the tires. The gearbox is connected to the tires through the drive shaft, and the torque converter is rigidly connected to the input shaft of the gearbox. The speed of the bevel wheel is the speed of the torque converter. During the driving process, the speed ratio of the gearbox changes continuously, and the rate of change of the speed ratio is the rate of decrease of the vehicle speed. The gearbox increases the working radius of the bevel wheel to increase the torque converter turbine Speed and increase the rate of change of the speed ratio, the gearbox reduces the turbine speed of the torque converter and reduces the rate of change of the speed ratio by reducing the working radius of the bevel wheel.

When entering the braking condition, the vehicle will appear in two driving states. First, when the torque converter turbine speed is lower than the engine speed, the engine drives the vehicle. Second, when the turbine speed is higher than the engine speed, the engine is in reverse. In the towing state, the engine does not provide driving force.

When the vehicle is under braking and the torque converter is not turned on, the engine speed is always the same as the torque converter turbine speed. When the vehicle is under braking and the torque converter is turned on, the torque converter turbine speed is high. Depending on the engine speed, the vehicle is in the above-mentioned second driving state. As the vehicle speed decreases, the torque converter turbine speed, which is proportional to the speed change, will also gradually decrease, while the engine speed is basically unchanged. Therefore, the torque converter The speed of the turbine forms a crossover to the speed of the engine, that is, the speed of the engine exceeds the speed of the turbine. After the crossover, the vehicle is in the first state, the driving state of the vehicle changes, and the vehicle generates a driving force, and the absolute value of the vehicle deceleration decreases, which brings a sense of shrugging. That is, the vehicle shakes, which reduces the driver's driving experience.

SUMMARY OF THE INVENTION

Aiming at the above problems existing in the prior art, the present invention provides a vehicle braking control method and device, which solves the technical problem of how to prevent the vehicle from swaying during braking.

The present invention is achieved through the following technical solutions: a vehicle braking control method, characterized in that the method comprises the following steps:

The control unit obtains the braking force and vehicle speed information in real time;

The control unit judges whether it is in the braking condition, and judges whether it meets the anti-tower function conditions in the braking condition, and checks the preset anti-tower function according to the obtained braking force and vehicle speed information when the anti-tower function conditions are met. The vehicle tachometer obtains the torque converter turbine speed calibration value that is not higher than the engine speed, and the control unit outputs the torque converter turbine speed calibration value information to the gearbox controller after obtaining the above calibration value. After receiving the above-mentioned information on the calibration value of the turbine speed of the torque converter, the working radius of the gearbox bevel wheel is adjusted so that the speed of the torque converter turbine is adjusted to the calibration value of the turbine speed.

The acquisition module collects the vehicle braking force and vehicle speed information in real time and outputs it to the control unit. The control unit judges whether the vehicle is in the braking condition. When it is in the braking condition, the control unit judges whether the anti-squatting function conditions are met. When the function conditions are met, the control unit checks the preset anti-rolling tachometer according to the braking force and vehicle speed information to obtain the input shaft speed calibration value of the execution unit that is not higher than the engine speed, and the control unit outputs the execution unit after obtaining the execution unit input shaft speed calibration value The unit inputs the shaft speed calibration value information to the gearbox controller, and the gearbox controller adjusts the working radius of the gearbox cone wheel so that the torque converter turbine speed is adjusted to the turbine speed calibration value. After the car watch obtains the calibration value of the input shaft speed of the execution unit not higher than the engine speed, adjust the working radius of the bevel wheel of the gearbox so that the torque converter turbine speed is always not higher than the engine speed when braking and the anti-roll function is activated. The vehicle does not cross when braking, avoids the change of the driving state of the vehicle and the reduction of the absolute value of the vehicle deceleration, prevents the vehicle from generating a driving force, eliminates the phenomenon of overturning when the vehicle is braking, and improves the driver's driving experience.

In the above-mentioned vehicle braking control method, the control unit also searches a preset anti-tower vehicle speed ratio filter coefficient table according to the braking force information to obtain the speed ratio filter coefficient calibration value when in the braking condition, and the control unit obtains the speed ratio After the filter coefficient is calibrated, it outputs the speed ratio adjustment signal to the gearbox controller. After receiving the speed ratio adjustment signal, the gearbox controller controls the working radius of the gearbox cone wheel to adjust the speed ratio filter coefficient to the speed ratio filter coefficient calibration value. When the ratio change rate is large, because the vehicle speed drops too fast, the driver will have a clear sense of deceleration, which will affect the driver's driving experience. Increase to control the change rate of the transmission speed ratio to decrease, so that the driver will not feel the deceleration change when the whole vehicle is braking, that is, will not feel the obvious sense of vehicle deceleration, which improves the driver's driving experience.

In the above-mentioned vehicle braking control method, the step of judging whether it is in a braking condition includes judging the size of the brake pedal opening, and judging that the brake pedal is in a braking condition when the brake pedal opening is greater than 0, and when the brake pedal opening is greater than 0 When the value is 0, it indicates that the vehicle is about to brake, and judging whether it is in the braking condition can improve the accuracy of eliminating the swaying vehicle when the vehicle is braking, and improve the driving experience of the driver.

In the above-mentioned vehicle braking control method, the above-mentioned conditions for judging whether the function of activating the rollover elimination function include judging that the braking force is at a medium level or below, the enabling switch is turned on, the brake switch is in an activated state, the accelerator pedal opening is 0, and the vehicle speed is less than 20km /h, the anti-rolling function can only be achieved when all the conditions are met. Satisfying all the conditions ensures that the rolling feeling can be eliminated when the vehicle is braking, and the driving experience of the driver is improved.

In the above vehicle braking control method, the braking force includes a heavy braking force, a moderate braking force and a light braking force, the heavy braking force includes a braking force greater than a first preset value, and the moderate braking force includes The braking force is not greater than the first preset value and not less than the second preset value, the light braking force includes that the braking force is smaller than the second preset value, the braking force generated by the heavy braking is much larger than the driving force, and there is no problem of overturning, Moderate braking and light braking will cause the problem of rocking when braking. The purpose of distinguishing between moderate braking and light braking is to better adjust the cone wheel, thereby improving the accuracy of eliminating the rocking phenomenon when the vehicle is braking, and improving the the driver's driving experience.

In the above vehicle braking control method, the torque converter opening condition includes that the vehicle speed is lower than a preset speed, and judging the torque converter opening condition makes the activation of the anti-rolling function more accurate.

The present invention also includes the following solutions: a vehicle braking control device, comprising a gearbox and a hydraulic torque converter, characterized in that it also includes a collection module for collecting vehicle braking force and vehicle speed information in real time, and a collection module for receiving vehicle braking force and speed information in real time. A control unit for power and vehicle speed information, the gearbox includes a controller and a bevel wheel, the acquisition module is connected to the input end of the control unit, the input end of the controller is connected to the output end of the control unit, and the input end of the bevel wheel is connected to the control unit output end. The output end of the controller is connected, the output end of the bevel wheel is connected to the torque converter, and the control unit is used to check the braking force and vehicle speed information output by the acquisition module when it is in the braking condition and meets the anti-shake function conditions. The preset anti-tumbling tachometer obtains the torque converter turbine speed calibration value not higher than the engine speed and then outputs it to the transmission controller. The transmission controller receives the torque converter turbine speed calibration value information and adjusts the speed change. The working radius of the box cone wheel enables the torque converter turbine speed to be adjusted to the turbine speed calibration value.

The acquisition module collects the vehicle braking force and vehicle speed information in real time and outputs it to the control unit. The control unit judges whether the vehicle is in the braking condition. When it is in the braking condition, the control unit judges whether the anti-squatting function conditions are met. When the function conditions are met, the control unit checks the preset anti-rolling tachometer according to the braking force and vehicle speed information to obtain the input shaft speed calibration value of the execution unit that is not higher than the engine speed, and the control unit outputs the execution unit after obtaining the execution unit input shaft speed calibration value The unit inputs the shaft speed calibration value information to the gearbox controller, and the gearbox controller adjusts the working radius of the gearbox bevel wheel so that the pressure torque converter turbine speed is not higher than the engine speed, and the control unit of the present invention controls the speed change according to the vehicle braking control method The box controller adjusts the working radius of the cone wheel so that the torque converter turbine speed is adjusted to the rated value of the turbine speed to eliminate the vehicle swaying when braking, and improve the driver's driving experience.

In the above vehicle brake control device, the acquisition module includes a brake pressure sensor for outputting braking force information to the control unit and a vehicle speed sensor for outputting vehicle speed information to the control unit, the brake pressure sensor and the vehicle speed sensor Both are connected to the input of the control unit. The brake pressure sensor and the vehicle speed sensor have a short response time and accurate output data, which can ensure the accuracy of the adjustment of the control unit to control the execution unit.

In the above vehicle brake control device, the vehicle brake control device further comprises an enable switch, a brake switch, a brake pedal opening sensor for outputting the opening degree of the brake pedal, and a brake pedal opening sensor for outputting the opening degree of the accelerator pedal The accelerator pedal opening sensor, the enabling switch, the brake switch, the brake pedal opening sensor and the accelerator pedal opening sensor are all connected to the input end of the control unit, the control unit detects whether the enabling switch is in the open state, and the control unit detects The brake switch status signal judges whether the brake is in the active state, the control unit receives the throttle opening size output by the accelerator opening sensor to judge whether the throttle opening is 0, the control unit receives the braking force and judges whether the braking force is moderate or below, the control unit receives The size of the vehicle speed output by the vehicle speed sensor determines whether the vehicle speed is less than the preset speed. When the above conditions are all yes, the anti-rolling function conditions are met. The control unit detects whether the torque converter is in an open state, and the control unit receives the output of the brake pedal sensor. The size of the brake pedal opening determines whether the brake pedal opening is greater than 0. If the brake pedal opening is greater than 0 and the pressure torque converter is open, it is determined that the vehicle is in a braking condition.

Compared with the prior art, the vehicle braking control method and device have the following advantages:

1. The present invention adjusts the working radius of the bevel wheel so that the rotational speed of the turbine of the torque converter is not higher than the rotational speed of the engine, so that the vehicle does not pass through when braking, and the change in the driving state of the vehicle is avoided, resulting in a decrease in the absolute value of the deceleration of the vehicle. It prevents the vehicle from generating driving force and eliminates the situation that the vehicle rolls when braking, thereby improving the driver's driving experience.

2. In the present invention, the control unit controls the execution unit to adjust the working radius of the bevel wheel only when the vehicle is in the braking condition and meets the anti-squatting function conditions, which improves the accuracy of eliminating the overturning when the vehicle is braking, and improves the driver's driving experience.

Description of drawings

1 is a schematic diagram of a vehicle braking control method of the present invention;

Fig. 2 is the comparative schematic diagram of correction effect of the present invention;

FIG. 3 is a schematic structural diagram of the vehicle braking control device of the present invention.

In the figure 1, acquisition module; 11, brake pressure sensor; 12, vehicle speed sensor; 2, control unit; 3, gearbox; 31, controller; 32, bevel wheel; 4, enable switch; 5, brake switch; 6. Accelerator pedal opening sensor; 7. Brake pedal opening sensor; 8. Hydraulic torque converter.

Detailed ways

In order to make the technical problems, technical solutions and advantages solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

As shown in Figure 1, the steps of the vehicle braking control method are as follows: the acquisition module 1 collects the braking force and vehicle speed information in real time and outputs it to the control unit 2, and the control unit 2 judges whether the vehicle is in the braking condition, and the judgment of the braking condition includes: It is judged whether the opening degree of the brake pedal is greater than 0, and if the opening degree of the brake pedal is greater than 0, it is judged that it is in the braking condition.

If it is in the braking condition, it is judged whether the anti-rolling car function conditions can be met, and judging whether the anti-rolling car function conditions can be met includes judging whether the enable switch 4 is turned on, whether the brake switch 5 is in the activated state, whether the accelerator opening is 0, Whether the braking force is moderate or below and the vehicle speed is less than 20km/h, if the enable switch 4 is turned on, the brake switch 5 is activated, the accelerator opening is 0, the braking force is moderate or below, and the vehicle speed is less than 20km/h, all are satisfied, then It is judged that the anti-tower function conditions are met.

The braking force of the present invention is divided into heavy braking force, moderate braking force and light braking force. Heavy braking force means that the braking force is greater than 800N; The braking force is less than 400N, the braking force generated by heavy braking is much greater than the driving force, and there is no swaying problem. Only moderate braking and light braking will cause the slamming problem during braking. The distinction between moderate braking and light braking is to improve the A good adjustment cone wheel can eliminate the swaying feeling when the vehicle is braking and improve the driver's driving experience.

If the conditions for the anti-swing car function can be met, the control unit 2 checks the anti-squatting car table according to the braking force and vehicle speed information output by the acquisition module 1. The anti-tumbling car table obtains the information of the torque converter turbine speed calibration value and the speed ratio filter coefficient calibration value and outputs it to the gearbox 3 controller 31. The gearbox 3 controller 31 reduces the gearbox by increasing the working radius of the bevel wheel 32. The output shaft speed of 3 adjusts the turbine speed of the torque converter 8 to the calibration value of the turbine speed, and increases the working radius of the cone wheel to adjust the speed ratio filter coefficient to the speed ratio filter calibration coefficient.

The speed chart of the anti-rolling car made by the torque converter turbine speed corresponding to the braking force and the vehicle speed is as follows:

In the present invention, the control unit 2 looks up the table according to the braking force and vehicle speed information to obtain the calibration value of the turbine speed of the torque converter 8, that is, the calibration value of the input shaft speed of the gearbox 3, and the control unit 2 outputs the calibration value of the turbine speed of the torque converter 8 to The gearbox 3 controller 31, the gearbox 3 controller 31 receives the calibration value of the torque converter 8 turbine speed and adjusts the working radius of the gearbox 3 cone wheel 32. Usually, the torque converter 8 turbine speed of the vehicle is the shift point. The setting is relatively high. During braking, the turbine speed of torque converter 8 is higher than the engine speed. During the braking process, the turbine speed of torque converter 8 gradually decreases, and the engine speed basically does not change, resulting in a change in the driving state of the vehicle. In the present invention, the rotational speed of the turbine of the torque converter 8 is reduced so that the rotational speed of the turbine of the torque converter of the vehicle is always not higher than the speed of the engine, so that the driving state does not change when the vehicle is braking, so as to prevent the vehicle from shaking when the vehicle is braking. , which improves the driver's driving experience.

The anti-rolling filter coefficient table made by the transmission speed ratio filter coefficient corresponding to the braking force is as follows:

The control unit 2 of the present invention obtains the calibration value of the speed ratio filter coefficient of the gearbox 3 by checking the anti-rolling filter coefficient table according to the braking force information, and the control unit 2 outputs the calibration value of the speed ratio filter coefficient to the transmission 3 controller 31 , and the transmission 3 controller 31 After receiving the calibration value of the speed ratio filter coefficient, adjust the working radius of the gearbox 3 cone wheel 31. Usually, the speed ratio change rate is relatively high. The present invention reduces the speed ratio change rate by increasing the speed ratio filter coefficient, that is, reducing the hydraulic pressure during vehicle braking. The torque converter 8 turbo speed reduction rate makes the vehicle braking more stable and improves the driver's driving experience.

As shown in Figure 2, the effect of the present invention before and after the correction, the dotted line is the effect before the correction, the solid line is the effect after the correction, the engine speed during braking before the correction is significantly lower than the torque converter 8 turbine speed , During the braking process, the engine speed hardly changes, and the torque converter 8 turbine speed will continue to decrease. When the engine speed is greater than the torque converter 8 turbine speed, the engine speed will pass through, and the vehicle will drive when braking. The state changes from engine reverse drag to engine drive, and the vehicle generates driving force, so the acceleration changes significantly, which will cause the vehicle to roll when braking, resulting in poor driver experience. The braking experience of the vehicle is not good. After the correction, the engine speed at the shift point is not much different from the torque converter 8 turbine speed. When braking, the vehicle is always in reverse drag of the engine, the vehicle does not generate driving force, and the acceleration change is not obvious. Therefore, the vehicle will not sway when braking, which improves the driver's driving experience. After the correction, the change of the speed ratio is also slowed down, and the driver does not feel an obvious sense of deceleration, which improves the driver's driving experience.

The present invention obtains the speed calibration value of the input shaft of the execution unit which is not higher than the engine speed by checking the preset anti-tumbling speed table, and then adjusts the working radius of the bevel wheel 32 of the gearbox 3 so that the torque converter turbine speed is braked and activated. The anti-shake function is always not higher than the engine speed, so that the vehicle does not cross when braking, avoids the change of the driving state of the vehicle and the absolute value of the vehicle deceleration, prevents the vehicle from generating driving force, and eliminates the towering car that occurs when the vehicle is braking. phenomenon, improving the driver's driving experience.

As shown in FIG. 3 , a vehicle braking control device applies the above-mentioned vehicle braking control method, including an acquisition module 1, a control unit 2, a gearbox 3, a hydraulic torque converter 8, an enabling switch 4, a brake switch 5, Accelerator pedal opening sensor 6 and brake pedal opening sensor 7, acquisition module 1 includes brake pressure sensor 11 and vehicle speed sensor 12, brake pressure sensor 11, vehicle speed sensor 12, torque converter 8, enable switch 4 , the brake switch 5, the accelerator pedal opening sensor 6 and the brake pedal opening sensor 7 are all connected to the input end of the control unit 2, the gearbox 3 includes a controller 31 and a bevel wheel 32, and the input end of the gearbox 3 controller 31 is connected to the control unit 2. The unit 2 is connected, the input end of the gearbox 3 bevel wheel 32 is connected with the output end of the gearbox 3 controller 31 , and the output end of the gearbox 3 bevel wheel 32 is connected with the torque converter 8 .

The acquisition module 1 collects the brake master cylinder pressure and vehicle speed information of the vehicle in real time and outputs it to the control unit 2. When the vehicle is idling, the control unit 2 judges whether it is in a state according to the signals output by the brake pedal opening sensor 7 and the torque converter 8. In the braking condition, when the opening of the brake pedal is 0 and the torque converter 8 is turned on, that is, in the braking condition, the control unit 2 is in the braking condition according to the enabling switch 4, the brake switch 5, the accelerator pedal opening sensor 6, the control unit 2 The signals output by the dynamic pressure sensor 11 and the vehicle speed sensor 12 determine whether the function of activating the rollover elimination function can be activated. h that is, when the function of eliminating the rollover is activated, the control unit 2 checks the anti-rollover tachometer according to the braking force and vehicle speed information output by the acquisition module 1, and then controls the gearbox 3. The controller 31 adjusts the working radius of the bevel wheel 32 to make the torque converter 8. The turbine speed is adjusted to the calibration value of the turbine speed.

Preferably, the control unit 2 of the present invention is a vehicle controller, and the vehicle controller is a core controller commonly used in current vehicles.

The control unit 2 of the present invention controls the gearbox 3 and the controller 31 to adjust the working radius of the bevel wheel 32 according to the vehicle braking control method, so that the turbine speed of the torque converter 8 is adjusted to the rated value of the turbine speed, so as to eliminate the phenomenon of vehicle bumping when the vehicle is braking , which improves the driver's driving experience.

The specific embodiments described herein are merely illustrative of the invention. Those skilled in the art to which the present invention pertains can make various modifications or additions to the described specific embodiments or substitute in similar manners, but will not deviate from the spirit of the present invention or go beyond the definitions of the appended claims range.

Claims (9)

1. A vehicle braking control method, wherein the method comprises the following steps: The control unit (2) acquires braking force and vehicle speed information in real time; The control unit (2) judges whether it is in a braking working condition, and judges whether the anti-swing car function condition is met when the braking working condition is in use, and searches for a preset according to the obtained braking force and vehicle speed information when the anti-swing car function condition is met. The anti-tumbling tachometer obtains the torque converter (8) turbine speed calibration value not higher than the current engine speed, and the control unit (2) outputs the speed adjustment signal after obtaining the torque converter (8) turbine speed calibration value To the gearbox (3) controller (31), the gearbox (3) controller (31) receives the speed adjustment signal and controls the working radius of the gearbox (3) bevel wheel (32) to make the torque converter (8) The turbine speed is adjusted to the turbine speed calibration value. 2 . The vehicle braking control method according to claim 1 , wherein the control unit ( 2 ) also searches a preset anti-tower vehicle speed ratio filter coefficient table according to braking force information when in a braking condition. 3 . After obtaining the speed ratio filter coefficient calibration value, the control unit (2) outputs the speed ratio adjustment signal to the gearbox (3) controller (31) after obtaining the speed ratio filter coefficient calibration value, and the gearbox (3) controller (31) receives the speed ratio. After the ratio adjustment signal, the working radius of the bevel wheel (32) of the gearbox (3) is controlled to adjust the speed ratio filter coefficient to the calibration value of the speed ratio filter coefficient. 3 . The vehicle braking control method according to claim 1 , wherein the step of judging whether it is in a braking condition comprises judging the size of the brake pedal opening and judging that the brake pedal is in braking when the brake pedal opening is greater than 0. 4 . working condition. 4 . The vehicle braking control method according to claim 1 , wherein the meeting the anti-rolling function condition comprises judging that the braking force is at a moderate level or below, the enabling switch (4) is turned on, and the braking switch (5) is turned on. 5 . Active, the accelerator pedal is 0 and the torque converter (8) is on. 5 . The vehicle braking control method according to claim 4 , wherein the braking force includes a heavy braking force, a moderate braking force and a light braking force, and the heavy braking force includes a braking force greater than the first preset force. 6 . The moderate braking force includes that the braking force is not greater than the first preset value and not less than the second preset value, and the light braking force includes that the braking force is smaller than the second preset value. 6 . The vehicle braking control method according to claim 4 , wherein the torque converter ( 8 ) opening condition includes that the vehicle speed is lower than a preset speed. 7 . 7. A vehicle braking control device, comprising a gearbox (3), a hydraulic torque converter (8), and characterized in that it also includes a collection module (1) for real-time collection of vehicle braking force and vehicle speed information, and a a control unit (2) for receiving vehicle braking force and vehicle speed information, the gearbox (3) includes a controller (31) and a bevel wheel (32), the acquisition module (1) and the input end of the control unit (2) The input end of the controller (31) is connected to the output end of the control unit (2), the input end of the bevel wheel (32) is connected to the output end of the controller (31), and the output end of the bevel wheel (32) is connected to the output end of the controller (31). The hydraulic torque converter (8) is connected, and the control unit (2) is used to check the preset anti-rolling vehicle according to the braking force and vehicle speed information output by the collecting module (1) when the control unit (2) is in the braking condition and meets the anti-rolling function conditions. The crank tachometer obtains the torque converter (8) turbine speed calibration value that is not higher than the engine speed and then outputs it to the gearbox (3) controller (31), and the gearbox (3) controller (31) receives hydraulic power After the torque converter (8) turbine speed calibration value information is adjusted, the working radius of the gearbox (3) bevel wheel (32) is adjusted so that the torque converter (8) turbine speed is adjusted to the turbine speed calibration value. 8. The vehicle brake control device according to claim 7, characterized in that the acquisition module (1) comprises a brake pressure sensor (11) for outputting braking force information to the control unit (2) and a brake pressure sensor (11) for outputting braking force information to the control unit (2) The vehicle speed information is output to the vehicle speed sensor (12) of the control unit (2). The brake pressure sensor (11) and the vehicle speed sensor (12) are both connected to the input end of the control unit (2). 9. The vehicle braking control device according to claim 8, characterized in that, the vehicle braking control device further comprises an enabling switch (4), a brake switch (5), for outputting the opening degree of the brake pedal The brake pedal opening sensor (7) and the accelerator pedal opening sensor (6) for outputting the size of the accelerator pedal opening, the enabling switch (4), the brake switch (5), the brake pedal opening sensor (7) and the accelerator pedal opening sensor (6) are both connected to the input end of the control unit (2).

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