KR20230078469A - Foldable pedal apparatus for autonomous vehicles with built-in safety function - Google Patents

Abstract

The present invention relates to a foldable pedal device for an autonomous vehicle with built-in safety functions. According to the present invention, in a foldable pedal device for an autonomous vehicle having a pedal pad that is folded during autonomous driving and popped up during manual driving, a mode monitoring unit that monitors the current driving mode of the vehicle, and the driving mode of the vehicle is an autonomous driving mode. When converted to the manual driving mode in the manual driving mode, it is determined whether the current failure or emergency occurs by using at least one of a pedal sensor for detecting the position of the pedal pad for acceleration or braking and a pressure sensor for detecting the pressure of the pedal pad. , and in the case of the failure or emergency, the driving mode of the vehicle is switched to the safety response mode, and then the engine or brake is controlled using the pressure signal size sensed through the pressure sensor to accelerate or brake. It provides a foldable pedal device for an autonomous vehicle including a control unit to perform.
According to the present invention, even in a malfunction or emergency situation that may occur during the functioning of the foldable pedal device, the pedal signal is normally output based on the pressure value applied to the pedal pad and transmitted to the engine/brake controller, so that the pedal failure or emergency situation to enable safer operation and response.

Description

Foldable pedal apparatus for autonomous vehicles with built-in safety function}

The present invention relates to a foldable pedal device for an autonomous vehicle with a built-in safety function, and more particularly, to a foldable pedal with a built-in safety function implemented to normally output a pedal sensor signal in the event of a pedal failure or an emergency. It's about the device.

1 is a view showing a foldable pedal device for a vehicle according to the prior art, and FIG. 2 is a view showing a basic function execution mode of the foldable pedal device according to the prior art.

As shown in FIGS. 1 and 2 , in the foldable pedal device for a vehicle according to the prior art, in a “manual driving mode” in which the driver directly drives, the pedal pad 13 is driven by the drive shaft 12 so that the driver can operate it. It rotates and protrudes from the pedal housing 11 to be exposed to the driver, and in the "autonomous driving mode", the pedal pad 13 is inserted into the pedal housing 11 so that the driver cannot manipulate it, so that exposure to the driver is blocked. .

However, according to the prior art, a failure situation (e.g., when the pedal pad fails to pop up due to a failure in the folded state) or an emergency situation (the process of converting the pedal pad from a folding state to a pop-up state or a conversion from a pop-up state to a folding state) In the process), even if the user steps on the pedal pad, the signal of the pedal sensor cannot be normally output, so improvement is needed.

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-2021-0130296 (published on November 1, 2021).

An object of the present invention is to provide a foldable pedal device for an autonomous vehicle with a built-in safety function capable of normally outputting a pedal sensor signal even when a pedal failure or an emergency occurs.

The present invention relates to a foldable pedal device for an autonomous vehicle having a pedal pad that is folded during autonomous driving and popped up during manual driving, comprising: a mode monitoring unit for monitoring the current driving mode of the vehicle; When the mode is switched to the manual driving mode, a determination unit for determining whether a current failure or emergency situation is present by using at least one of a pedal sensor for detecting the position of a pedal pad for acceleration or braking and a pressure sensor for detecting pressure on the pedal pad. And, in the case of the failure or emergency, the driving mode of the vehicle is switched to the safety response mode, and then the engine or brake is controlled using the pressure signal size sensed through the pressure sensor to accelerate or brake. Provided is a foldable pedal device for an autonomous vehicle including a control unit to perform.

In addition, the pressure sensor may be mounted on a front or rear surface of the pedal pad.

In addition, the control unit processes a pedal position signal corresponding to the magnitude of the pressure signal currently sensed based on the setting logic and transmits the processed pedal position signal to an engine controller or a brake controller, so that the acceleration or deceleration is performed according to the pedal position signal. Brake operation can be controlled.

In addition, the mode monitoring unit is currently driving the vehicle when a control signal for automatically switching from the current autonomous driving mode to the manual driving mode is input from the autonomous driving controller or a manual driving mode switching command is input from a control switch provided in the vehicle. It may be recognized that the mode has been switched from the autonomous driving mode to the manual driving mode.

In addition, the determination unit may determine the failure situation when the position value of the pedal pad observed after a set time from the time of switching to the manual driving mode is less than the position value of the preset pop-up state.

In addition, the determination unit may determine that the emergency situation occurs when a pressure value equal to or higher than a reference value of the pedal pad is observed within a set time from the time of switching to the manual driving mode.

Also, the set time may be a time required for the pedal pad to be converted from a folded state to a pop-up state.

In addition, the foldable pedal device for an autonomous vehicle further includes an accelerator pedal unit and a brake pedal unit, and the accelerator pedal unit controls an accelerator pedal pad, a motor that pops up or folds the pedal pad, and a driving position and pressure of the pedal pad, respectively. It includes a pedal sensor and a pressure sensor that sense, and the brake pedal unit may include a brake pedal pad, a motor that pops up or folds the pedal pad, and a pedal sensor and pressure sensor that respectively sense the driving position and pressure of the pedal pad. .

According to the present invention, even in a malfunction or emergency situation that may occur during the functioning of the foldable pedal device, the pedal signal is normally output based on the pressure value applied to the pedal pad and transmitted to the engine/brake controller, so that the pedal failure or emergency situation to enable safer operation and response.

1 is a view showing a foldable pedal device for a vehicle according to the prior art.
2 is a diagram showing a basic function execution mode of a foldable pedal device according to the prior art.
3 is a diagram illustrating a state in which a pressure sensor is added to a pedal pad for a foldable pedal device according to an embodiment of the present invention.
4 is a diagram showing the configuration of a foldable pedal device according to an embodiment of the present invention.
5 is a diagram illustrating the configuration of the foldable pedal device of FIG. 4 in more detail.
6 is a diagram conceptually explaining the function of the foldable pedal device according to an embodiment of the present invention.
7 is a diagram for explaining a safety response mode according to an embodiment of the present invention.

Then, with reference to the accompanying drawings, an embodiment of the present invention will be described in detail so that those skilled in the art can easily practice it. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case where it is "directly connected" but also the case where it is "electrically connected" with another element interposed therebetween. . In addition, when a certain component is said to "include", this means that it may further include other components without excluding other components unless otherwise stated.

The present invention relates to a foldable pedal device for an autonomous vehicle, and proposes a foldable pedal device with a built-in safety function capable of normally outputting a pedal signal even in a pedal failure or emergency situation. According to the present invention, a pedal sensor signal can be normally output when a failure or an emergency occurs while performing a basic function.

3 is a diagram illustrating a state in which a pressure sensor is added to a pedal pad for a foldable pedal device according to an embodiment of the present invention.

As shown in FIG. 3 , the foldable pedal device according to an embodiment of the present invention adds a pressure sensor 14 to the pedal pad 13 that is folded in the pedal housing 11 during autonomous driving and pops up to the outside during manual driving, and responds to safety. By adding control logic internally, it is possible to output a pedal signal based on the input value applied to the pedal pad 13 even in an emergency or failure situation, enabling safe response even in an emergency or failure situation.

Here, although FIG. 3 illustrates that the pressure sensor 14 is mounted on the front of the pedal pad 13, the present invention is not necessarily limited thereto, and the pressure applied to the pad is measured in a form mounted on the rear side of the pedal pad 13. It is also possible to implement sensing. In addition, the pedal pad 13 may correspond to a pedal pad for acceleration, a pedal pad for brake, and the like.

For example, under the driver's seat of the vehicle, the pedal structure housing 10 of the form shown in FIG. 3 may be separately installed side by side for acceleration and brake.

4 is a diagram showing the configuration of a foldable pedal device according to an embodiment of the present invention. 5 is a diagram illustrating the configuration of the foldable pedal device of FIG. 4 in more detail.

First, referring to FIG. 4 , the foldable pedal device 100 according to an embodiment of the present invention includes a mode monitoring unit 110, a determination unit 120, and a control unit 130.

The foldable pedal device 100 operates in conjunction with the pedal unit 10 for accelerating or braking, and when it is determined to be a failure or emergency, the driving mode of the vehicle is switched to a safety response mode, and then accelerating or braking. Using the pressure value applied to the pedal pad 13 for use, it is possible to control the acceleration or brake operation to a corresponding size.

In an embodiment of the present invention, the pedal unit 10 may correspond to any one of the accelerator pedal unit 10b and the brake pedal unit 10a, or may include both of them. In the case of FIG. 5, for convenience of description, it is illustrated that the foldable pedal device 100 controls a brake operation (eg, vehicle brake, braking, etc.) in conjunction with the brake pedal unit 10a.

A general operation of the foldable pedal device 100 will be described based on FIGS. 3 and 4 as follows. The foldable pedal device 100 receives an autonomous driving mode command from the autonomous driving controller 20 and transmits it to the pedal unit 10, and the pedal unit 10 controls the driving shaft 12 through the motor 16 to pedal The pad 13 is inserted (folded) into the pedal housing 11. Conversely, when a manual driving mode command is received, it is transmitted to the pedal unit 10, and the pedal unit 10 controls the driving shaft 12 in the opposite direction so that the pedal pad 13 pops out of the pedal housing 11. . The transition time from folding to pop-up or from pop-up to folding usually takes 1 to 3 seconds.

Here, the foldable pedal device 100 according to an embodiment of the present invention monitors the sensing values of various sensors built into the pedal unit 10 and the current driving mode, and monitors the current driving mode and the sensing values of the pedal unit 10. Based on this, if it is determined that a pedal failure or an emergency occurs after or during the conversion process of the manual driving mode, the driving mode of the vehicle is immediately switched to the safety response mode and operated in the safety response mode. Specific examples for this are as follows.

First, in FIG. 4 , the mode monitoring unit 110 monitors the current driving mode of the vehicle. The mode monitoring unit 110 may check the driving mode of the vehicle in real time, provide and update the checked driving mode information to the determination unit 120 and the control unit 130 in real time.

The mode monitoring unit 110 recognizes whether the current driving mode is an autonomous driving mode or a manual driving mode by using a signal input from the autonomous driving controller 20 built in the vehicle or the switch 30 for user operation mounted in the vehicle. do.

For example, when a control command including an autonomous driving mode is input from the autonomous driving controller 20, the mode monitoring unit 110 recognizes that the driving mode of the vehicle has been switched to the autonomous driving mode, and transmits information thereto to the controller 130. convey

In addition, the mode monitoring unit 110 operates when a control signal for automatically switching to the manual driving mode is input from the autonomous driving controller 20 while driving in the current autonomous driving mode or from the control switch 30 provided inside the vehicle to the user. When a manual driving mode switching command is input through manipulation, it may be recognized that the driving mode of the current vehicle is switched from the autonomous driving mode to the manual driving mode.

When the driving mode of the vehicle is switched from the autonomous driving mode to the manual driving mode, the determination unit 120 detects the driving (manipulation) position of the pedal pad 13 and the pressure applied to the pedal pad 13 Using at least one of the pressure sensors 14 that sense the current, it is determined whether it corresponds to a failure situation or an emergency situation.

The pedal sensor 14 is a sensor that measures the pedal position, that is, the driving position of the pedal pad 13. The pressure sensor 14 is a sensor that measures the magnitude of the driver's stepping force and is attached to the front or rear surface of the pedal pad. In addition, the output signal of the pressure sensor is output proportionally according to the size of the pressure.

For example, the determination unit 120 determines that the position value of the pedal pad 13 observed after a set time (eg, 1 second to 3 seconds) from the time of switching to the manual driving mode corresponds to the position value of the preset pop-up state. If it falls short, it can be judged as a 'failure situation'.

Here, the set time means the time required for the pedal pad 13 to be converted from a folding state to a pop-up state.

In general, when switching from an autonomous driving mode to a manual driving mode, it takes several seconds (eg, 1 to 3 seconds) for the pedal pad 13 to switch from a folding state to a pop-up state. If the position value of the pedal pad 13 observed after this time is less than the pop-up state or is still in the folded state, it can be determined that the pedal is out of order.

Therefore, in this case, even if the user manipulates the pedal pad 13, since the pedal position cannot be recognized and an accurate pedal position value cannot be transmitted, braking and control of the vehicle become difficult, so the pressure sensor ( 14) should be used to control engine acceleration or braking using the pressure value observed.

As another example, the determination unit 120 determines an 'emergency situation' when a pressure value greater than or equal to the reference value is observed through the pressure sensor 14 within a set time (eg, 1 second to 3 seconds) from the time of switching to the manual driving mode. can be judged by

That is, the determination unit 120 transmits the pressure through the pressure sensor 14 within a set time from the time when the manual driving mode is commanded from the autonomous driving controller 20 or the switch 30, that is, during the transition from the folding state to the pop-up state. If the value is observed to be greater than or equal to the reference value, it may be determined that the user has stepped on the brake or accelerator pedal urgently while driving.

Since the pedal pad 13 can be operated normally after it is completely popped up, the pedal position value cannot be sent even if the pedal pad 13 is stepped on while coming up from the folded state to the popped up state. In this case, the engine must be accelerated or the brake must be controlled by an amount corresponding to the corresponding pressure level using the pressure value observed from the pressure sensor 14 .

In this way, when the driving mode of the vehicle is switched from the autonomous driving mode to the manual driving mode, the determination unit 120 refers to the sensor values of the pedal sensor 15 and the pressure sensor 14 to correspond to the current failure or emergency situation. It is determined whether or not to do so, and the result is transmitted to the control unit 130.

As a result of the determination of the determination unit 120, the control unit 130 immediately switches the driving mode of the vehicle to the 'safety response mode' when the current breakdown or emergency situation is reached, and then senses the pressure through the pressure sensor 14. Acceleration or brake operation is performed by controlling the engine or brake using the pressure signal level.

As such, the control unit 130 performs an acceleration or brake operation according to the pressure value sensed through the pressure sensor 14 mounted on the foldable pedal device 100 in the safety response mode.

Specifically, the controller 130 processes (generates) a pedal position signal corresponding to the magnitude of the pressure signal currently sensed by the pressure sensor 14 based on the setting logic, and converts the processed pedal position signal to the engine or brake controller 40. ), and controls acceleration or brake driving according to the pedal position signal. At this time, acceleration or brake driving can be controlled with an amount proportional to the pedal position signal.

For example, the controller 130 may convert the currently measured pressure signal level into a pedal position signal corresponding thereto by using a preset conversion function or conversion algorithm. The conversion function or algorithm may derive a pedal position signal corresponding to the pressure signal as an input value as an output value. Such a conversion function or algorithm may be implemented through machine learning or deep learning of a relationship between a plurality of pressure values and a plurality of pedal position signals corresponding thereto.

In the embodiment of the present invention, the pedal sensor 15 is implemented as a sensor capable of detecting a rotational value, position, displacement, etc. of the pedal pad 13, and the pressure sensor 14 is a sensor capable of detecting pressure. is implemented as Each of the sensors 14 and 15 provides the sensed value to the determination unit 120 in real time or at a set period.

Here, the pedal sensor 15 senses the position of the pedal pad 14 operated by the user in the manual driving mode. For example, in the case of a brake pedal pad, the pedal sensor 15 senses a brake pedal position value corresponding to a rotation angle, depth, movement distance, etc. of the brake pedal pad operated by the user, and transmits the sensing data to the determination unit 120. forward to

The pressure sensor 14 detects pressure applied to the pedal pad 13 for acceleration or braking in the manual driving mode. For example, in the case of a brake pedal pad, the pedal sensor 15 senses the pressure of the brake pedal pad 13 applied by the user and transmits the sensed data to the determination unit 120 .

Here, of course, since the engine and brakes are automatically controlled by the autonomous driving controller 20 in the autonomous driving mode rather than the manual driving mode, the pressure value or position value observed from each sensor can be ignored when operating in the autonomous driving mode. .

5 illustrates a more specific embodiment of the structure of the foldable pedal device of the present invention, and when the foldable pedal device 100 interlocks with the brake pedal unit 10a and recognizes an 'emergency situation', the pedal position value An operation of directly controlling the brake controller 40a and the brake light 50 (brake lamp) by sending a brake signal is exemplified.

In FIG. 5 , the input unit 140 receives a driving mode signal or switch signal from the autonomous driving controller 20 or switch 30, and transmits the signal to the mode monitoring unit 110, motor controller 160, or controller 130. convey The mode monitoring unit 110 recognizes the current driving mode based on information input to the input unit 140 and shares the recognized result with the controller 130 in real time.

Here, when an autonomous driving mode command is input from the autonomous driving controller 20, the input unit 140 transfers it to the motor controller 160. The motor control unit 160 controls the motor 16a of the pedal unit 10a so that the pedal pad 13a is converted from a pop-up state to a folded state, and is hidden inside the housing of the pedal pad 13a. In this autonomous driving mode, even if the user accidentally steps on the pedal pad 13a, the pressure value is not transmitted or the transmitted pressure value is ignored.

In addition, the input unit 140 receives a manual driving mode switching command from the autonomous driving controller 20 due to a controller error, uncontrollability, emergency occurrence, etc. during autonomous driving mode operation, or a switch by user manipulation. When a manual driving mode switching command is input from 30, it is transmitted to the motor control unit 160 so that the pedal pad 13a of the pedal unit 10a is converted from the existing folding state to the pop-up state.

Here, the determination unit 120 determines whether the current situation corresponds to a failure situation or an emergency situation by checking the sensing values of the pedal sensor 15 and the pressure sensor 14 in real time from the time of switching to the manual driving mode.

As a result of the determination of the determination unit 120, the control unit 130 converts the driving mode to a 'safety response mode' and drives the safety response mode for the brakes when it is determined that the brake pedal pad is currently in a failure situation or an emergency situation.

For example, if the pedal position of the brake pedal pad 13a observed after 1 second from the time of switching to the manual driving mode is smaller than the position value (maximum position value) of the pop-up state, the determination unit 120 determines that the pop-up is not normal. It is judged by the 'failure situation' of the brake pedal. In this situation, when the user steps on the pedal pad 13a to brake the vehicle, the magnitude of the pressure signal observed by the pressure sensor 14a is used to enable vehicle braking.

That is, in this case, the control unit 130 applies the pressure observed at the brake pedal pad 13a to the setting function to generate a brake pedal position value and a braking signal corresponding thereto, and the brake controller through the output unit 150. By transmitting to (40a) and brake light 50, brake operation becomes possible. Here, when the pressure level exceeds the reference value, a braking signal for turning on the braking lamp may be output.

As another example, the determination unit 120 determines that when the pressure of the pressure sensor 14a is observed to be greater than the reference value at a time when 1 second has not elapsed from the time of switching to the manual driving mode, that is, the brake pedal goes up from the holding state to the pop-up state. If the pressure is observed to be higher than the standard during the course, it is judged as an 'emergency situation'. At this time, in the same way as above, a pedal position value corresponding to the pressure of the pressure sensor 14a mounted on the brake pedal pad 15a is generated and a braking signal is generated and transmitted to the brake controller 40a and the brake light 50. , the vehicle is braked and the brake light 50 is turned on to notify the braking situation.

Referring to FIG. 5 , the foldable pedal device 100 according to an embodiment of the present invention may include only a foldable pedal controller block or may further include a pedal unit block. Here, both the foldable pedal controller block and the pedal unit block may be implemented by being included in the pedal housing 11 of FIG. It is also possible to connect to the outside of (11).

As such, the foldable pedal device 100 may further include a pedal unit 10 . The pedal unit 10 includes a pedal pad 13 that folds during autonomous driving and pops up during manual driving, and various sensors related to the pedal pad that folds or pops up according to the vehicle's driving mode (autonomous driving mode, manual driving mode), It may be implemented by including a motor or the like.

The pedal unit 10 may include an accelerator pedal unit 10b and a brake pedal unit 10a, as shown in FIG. 6 to be described later.

The accelerator pedal unit 10b includes an accelerator pedal pad 13b, a motor 16b for popping up or folding the pedal pad 13b, a pedal sensor 15b for detecting the driving position and pressure of the pedal pad 13b, and Each includes a pressure sensor 14b.

Similarly, the brake pedal unit 10a includes a brake pedal pad 13a, a motor 16a that pops up or folds the pedal pad 13a, and a pedal sensor 15a that detects the driving position and pressure of the pedal pad 13a, respectively. and pressure sensors 14a, respectively.

6 is a diagram conceptually explaining the function of the foldable pedal device according to an embodiment of the present invention.

6 shows a state in which the foldable pedal device 100 according to an embodiment of the present invention operates in conjunction with the accelerator pedal unit 10b and the brake pedal unit 10a. Here, the foldable pedal device 100 may be implemented by including both a foldable pedal controller block and a pedal block (accelerator pedal unit block, brake pedal unit block), or may be composed of only the foldable pedal controller block.

In FIG. 6 , the autonomous driving interface control logic A is an element related to the input unit 140 of FIG. 5 , and each output interface F, G, and H is an element related to the output unit 150 . The accelerator pedal motor control logic (B) and the brake pedal motor control logic (C) are associated with the motor controller 160. Here, the "pedal sensor signal control logic" (D; D1, D2) for each of the accelerator pedal and brake pedal is for the determination unit 120 and includes logic for determining "failure" and "emergency", The pedal safety response control logic "(E; E1, E2) is related to the control unit 130 of the present invention and includes logic for converting and generating a pedal position signal using the pedal pressure signal of the pedal pressure sensor. The final converted signal is output through the pedal signal output interfaces F and G and transmitted to the engine controller 40b and the brake controller 40a.

7 is a diagram for explaining a safety response mode according to an embodiment of the present invention.

As shown in FIG. 7, a "failure situation" is a case in which the pedal pad 13 (13a or 13b) does not pop up in a folded state and thus cannot normally output a pedal signal. "Emergency situation" is a case in which a pedal signal cannot be normally output when the pedal pad 13 is stepped on while the pedal pad 13 is converted from a folding state to a pop-up state or vice versa. Also, the pedal pad 13 refers to an accelerator pedal pad 13b and a brake pedal pad 13a.

As such, according to an embodiment of the present invention, in the conventional foldable pedal device, a foldable pedal device with a built-in safety response function capable of normally outputting a pedal sensor signal when a failure or emergency occurs during function execution is provided.

In the conventional case, only the mechanical structural design of the foldable pedal device and the basic function performance mode (autonomous driving mode, manual driving mode) are proposed, but according to the embodiment of the present invention, in the existing foldable pedal control device, the pedal pad part By newly attaching a "pressure sensor" and adding a new "pedal safety response control logic" to the pedal sensor signal control logic, the pedal sensor signal can be normally output when a failure or emergency occurs while performing the function of the foldable pedal device. can

As described above, according to an embodiment of the present invention, it is possible to cope with safer driving by outputting a pedal signal and transmitting it to the engine/brake controller even in a failure situation or an emergency situation that may occur during the functioning of the foldable pedal device.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims.

10: pedal part 11: pedal housing
12: drive shaft 13: pedal pad
14: pedal sensor 15: pressure sensor
16: motor 20: autonomous driving controller
30: switch 40a: engine controller
40b: brake controller 50: brake light
100: foldable pedal device 110: mode monitoring unit
120: determination unit 130: control unit
140: input unit 150: output unit
160: motor control

Claims (8)

In the foldable pedal device for an autonomous vehicle having a pedal pad that is folded during autonomous driving and popped up during manual driving,
a mode monitoring unit that monitors a current driving mode of the vehicle;
When the driving mode of the vehicle is switched from the autonomous driving mode to the manual driving mode, the current failure situation or a judgment unit that determines whether it corresponds to an emergency situation; and
In the case of the failure or emergency, the driving mode of the vehicle is switched to the safety response mode, and then the engine or brake is controlled using the pressure signal size sensed through the pressure sensor to perform an acceleration or brake operation. A foldable pedal device for an autonomous vehicle including a control unit. The method of claim 1,
The pressure sensor,
A foldable pedal device for an autonomous vehicle mounted on the front or rear side of the pedal pad. in claim 1
The control unit,
Based on the setting logic, the pedal position signal corresponding to the currently sensed pressure signal is processed, and the processed pedal position signal is transmitted to the engine controller or brake controller to control the acceleration or brake operation according to the pedal position signal. A foldable pedal device for driving vehicles. The method of claim 1,
The mode monitoring unit,
When a control signal for automatically switching from the current autonomous driving mode to the manual driving mode is input from the autonomous driving controller or a manual driving mode switching command is input from the control switch provided in the vehicle, the current driving mode of the vehicle is changed from the autonomous driving mode to the manual driving mode. A foldable pedal device for self-driving vehicles that recognizes that it has been switched to driving mode. The method of claim 1,
The judge,
When the position value of the pedal pad observed after a set time from the time of switching to the manual driving mode is less than the position value of the preset pop-up state, the foldable pedal device for an autonomous vehicle is determined to be the failure situation. The method of claim 1,
The judge,
A foldable pedal device for an autonomous vehicle that determines the emergency situation when a pressure value of the pedal pad equal to or higher than a reference value is observed within a set time from the time of switching to the manual driving mode. According to claim 5 or claim 6,
The setting time is
A foldable pedal device for an autonomous vehicle, which is the time required for the pedal pad to switch from a folding state to a pop-up state. The method of claim 1,
Further comprising an accelerator pedal unit and a brake pedal unit,
The accelerator pedal unit,
Includes an accelerator pedal pad, a motor for popping up or folding the pedal pad, a pedal sensor and a pressure sensor for respectively detecting the driving position and pressure of the pedal pad,
The brake pedal part,
A foldable pedal device for an autonomous vehicle including a brake pedal pad, a motor for popping up or folding the pedal pad, a pedal sensor for detecting a driving position and pressure of the pedal pad, and a pressure sensor, respectively.

Images