Operating stability system for a foldable step device

Abstract

Disclosed is an operation stabilization system for a foldable pedal device of a vehicle, including: first and second batteries provided in the vehicle; first and second vehicle controllers that receive power from the first and second batteries, respectively, and transmit operation signals, respectively; a foldable pedal controller provided in the foldable pedal device and transmitting a control signal after receiving signals from the first and second vehicle controllers; and first and second motors provided in the foldable pedal device and connected to the first and second batteries, respectively, to receive power from the first and second batteries.

Description

Technical Field

[0001] This disclosure relates to an operational stabilization system for a foldable pedal device, and more specifically, to an operational stabilization system for a foldable pedal device that can improve operational stability by utilizing two independent batteries, two independent motors, and two independent travel sensors. Background Technology

[0002] Autonomous driving technology enables vehicles to drive themselves to their destination without the driver manually operating the steering wheel, accelerator pedal, brakes, etc. The development of such autonomous vehicles is currently underway.

[0003] Typically, when using autonomous driving, the driver can choose between a manual driving mode where the driver manually drives the vehicle to the destination, and an autonomous driving mode where the vehicle drives itself to the destination without the driver needing to drive.

[0004] In autonomous driving mode, the driver can stretch their legs and rest comfortably. However, pedals (such as the accelerator and brake pedals) located in the space in front of the driver's seat can be exposed in the cabin, potentially interfering with the driver's rest. In particular, if the pedal pads are misoperated, it could force the autonomous driving system to stop, increasing the risk of an accident.

[0005] Therefore, foldable pedal devices (such as accelerator pedal devices and brake pedal devices) are being developed for autonomous vehicles. In manual driving mode, when the driver is manually driving the vehicle, the pedal pads protrude and are exposed towards the driver, allowing the driver to operate the pedal devices. In autonomous driving mode, the pedal pads are hidden and do not protrude towards the driver, so as to prevent the driver from operating them. This allows the driver to rest comfortably and prevents accidental operation.

[0006] Furthermore, the pop-up operation, where the pedal pad protrudes towards the driver, and the hidden operation, where the pedal pad conceals itself from the driver, are performed using a battery-powered motor. In the prior art, since a single system comprising the battery and motor is already provided, fail-safe functionality cannot be expected. Therefore, there is a problem of significantly reduced stability of the foldable pedal device.

[0007] The foregoing is intended only to help understand the background of this disclosure and is not intended to imply that this disclosure falls within the scope of prior art known to those skilled in the art. Summary of the Invention

[0008] This disclosure is made in view of the aforementioned problems existing in the prior art, and the purpose of this disclosure is to provide an operation stabilization system for a foldable pedal device that can improve operation stability by utilizing two independent batteries, two independent motors and two independent travel sensors, thereby preventing the risk of accidents due to malfunctions.

[0009] To achieve the above objectives, according to one aspect of this disclosure, an operation stabilization system for a foldable pedal device in a vehicle is provided. The operation stabilization system includes: a first battery and a second battery disposed in the vehicle; a first vehicle controller and a second vehicle controller, respectively receiving power from the first battery and the second battery, and respectively sending operation signals; a foldable pedal controller disposed in the foldable pedal device, receiving signals from the first vehicle controller and the second vehicle controller, and then sending control signals; a first motor and a second motor disposed in the foldable pedal device and respectively connected to the first battery and the second battery to receive power from the first battery and the second battery, and respectively receiving control signals from the foldable pedal controller and operating accordingly; and a pedal drive unit disposed in the foldable pedal device, receiving power from the first motor and the second motor and operating accordingly, and during operation driving the pedal pad of the foldable pedal device to pivot relative to the pedal housing, causing the pedal pad to pop up or retract.

[0010] The operation stabilization system may further include: a first stroke sensor and a second stroke sensor, disposed in the foldable pedal device and respectively connected to the first battery and the second battery.

[0011] The foldable pedal controller may include a single foldable pedal controller, the control area of ​​which is divided into a first controller and a second controller. The first controller can receive signals from a first vehicle controller and then send operation control signals to a first motor, and the second controller can receive signals from a second vehicle controller and then send operation control signals to a second motor.

[0012] The pedal drive unit may include: a first gear coupled to a first motor; a second gear coupled to a second motor; a common gear connecting the first gear and the second gear; a lead screw coupled to the central portion of the common gear; a support member threadedly coupled to the lead screw to extend and retract along the length of the lead screw as the lead screw rotates; a pivot member pivotally coupled to the pedal housing and supported by the support member when the support member extends and released from support when the support member retracts; and a connecting rod connecting the pivot member and the pedal pad to each other.

[0013] When the support member extends and supports the pivot member, the pedal pad can pivot to protrude from the pedal housing, thus entering a pop-up state. When the support member retracts and is released from its supporting pivot member state, the pedal pad can pivot to insert into the pedal housing, thus entering a retracted state.

[0014] When a manual driving mode signal is generated during autonomous driving, the first vehicle controller receives power from the first battery and sends an operation signal to the first controller of the foldable pedal controller. Similarly, the second vehicle controller receives power from the second battery and sends an operation signal to the second controller of the foldable pedal controller. The first controller of the foldable pedal controller can then send the operation control signal to the first motor, and the second controller can send the operation control signal to the second motor. The pedal pad of the foldable pedal device can either pop up or remain hidden depending on whether the first and second motors are operating.

[0015] The first and second controllers of the foldable pedal controller can respectively determine whether the first and second motors are operating. When the first and second motors operate simultaneously, they can each share 50% of the torque required for the pedal drive unit to operate under the control of the first and second controllers of the foldable pedal controller. In response to the simultaneous operation of the first and second motors, the pedal pad of the foldable pedal device can be popped up.

[0016] The first and second controllers of the foldable pedal controller can determine whether the first and second motors are operating, respectively. When one of the first and second motors is operating, 100% of the torque can be applied to the operating motor under the control of the foldable pedal controller, and the pedal pad of the foldable pedal device can be popped up.

[0017] When one of the first motor and the second motor is operating, the vehicle's warning system can operate under the control of the first vehicle controller and the second vehicle controller.

[0018] The first and second controllers of the foldable pedal controller can determine whether the first and second motors are operating, respectively. When neither the first nor the second motor is operating, the control logic required for the pedal pad to pop up can be terminated under the control of the foldable pedal controller. The vehicle's warning system can operate under the control of the first and second vehicle controllers, and the vehicle can maintain its autonomous driving mode.

[0019] After the pedal pad of the foldable pedal device is in the pop-up state, when the pedal pad is pivoted by the driver's operation, the pedal pad can remain in the pop-up state or become in the hidden state according to the output state of the first stroke sensor and the second stroke sensor.

[0020] The first and second controllers of the foldable pedal controller can determine the output states of the first and second travel sensors. When the output values ​​of the first and second travel sensors are the same, the pedal pad can remain in the pop-up state under the control of the first and second controllers of the foldable pedal controller, and the vehicle can drive normally in manual driving mode. When the output values ​​of the first and second travel sensors are different, the pedal pad can be hidden under the control of the first and second controllers of the foldable pedal controller, and the vehicle can drive in autonomous driving mode.

[0021] According to another aspect of this disclosure, an operation stabilization system for a foldable pedal device for a vehicle is provided. The operation stabilization system includes: a first battery and a second battery disposed in the vehicle; a vehicle controller including a first controller receiving power from the first battery and transmitting an operation signal, and a second controller receiving power from the second battery and transmitting an operation signal; a foldable pedal controller disposed in the foldable pedal device, including a first controller receiving a signal from the first controller of the vehicle controller and transmitting a control signal, and a second controller receiving a signal from the second controller of the vehicle controller and transmitting a control signal; a first motor and a second motor disposed in the foldable pedal device and respectively connected to the first and second batteries to receive power from the first and second batteries, and respectively operating by receiving control signals from the foldable pedal controller; a pedal drive unit disposed in the foldable pedal device, operating by receiving power from the first and second motors, and driving a pedal pad of the foldable pedal device to pivot relative to a pedal housing during operation, causing the pedal pad to pop up or retract; and a first travel sensor and a second travel sensor disposed in the foldable pedal device and respectively connected to the first and second batteries.

[0022] The pedal drive unit may include: a first gear coupled to a first motor; a second gear coupled to a second motor; a common gear connecting the first gear and the second gear; a lead screw coupled to the central portion of the common gear; a support member threadedly coupled to the lead screw to extend and retract along the length of the lead screw as the lead screw rotates; a pivot member pivotally coupled to the pedal housing and supported by the support member when the support member extends and released from support when the support member retracts; and a connecting rod connecting the pivot member and the pedal pad to each other.

[0023] When a manual driving mode signal is generated during autonomous driving, the first controller of the vehicle controller receives power from the first battery and sends an operation signal to the first controller of the foldable pedal controller, while the second controller of the vehicle controller receives power from the second battery and sends an operation signal to the second controller of the foldable pedal controller. The first controller of the foldable pedal controller can send the operation control signal to the first motor, and the second controller of the foldable pedal controller can send the operation control signal to the second motor. The pedal pad of the foldable pedal device either pops up or remains hidden depending on whether the first and second motors are operated.

[0024] The first and second controllers of the foldable pedal controller can respectively determine whether the first and second motors are operating. When the first and second motors operate simultaneously, they can each share 50% of the torque required for the pedal drive unit to operate under the control of the first and second controllers of the foldable pedal controller. In response to the simultaneous operation of the first and second motors, the pedal pad of the foldable pedal device can be popped up.

[0025] The first and second controllers of the foldable pedal controller can determine whether the first and second motors are operating, respectively. When one of the first and second motors is operating, 100% of the torque can be applied to the operating motor under the control of the foldable pedal controller, and the pedal pad of the foldable pedal device can be popped up.

[0026] The first and second controllers of the foldable pedal controller can determine whether the first and second motors are operating, respectively. When neither the first nor the second motor is operating, the control logic required for the pedal pad to pop up can be terminated under the control of the foldable pedal controller, and the vehicle can maintain the autonomous driving mode.

[0027] After the pedal pad of the foldable pedal device is in the pop-up state, when the pedal pad is pivoted by the driver, the pedal pad can remain in the pop-up state or become in the hidden state according to the output state of the first stroke sensor and the second stroke sensor.

[0028] The first and second controllers of the foldable pedal controller can determine the output states of the first and second travel sensors. When the output values ​​of the first and second travel sensors are the same, the pedal pad can remain in the pop-up state under the control of the first and second controllers of the foldable pedal controller, and the vehicle can drive normally in manual driving mode. When the output values ​​of the first and second travel sensors are different, the pedal pad can be hidden under the control of the first and second controllers of the foldable pedal controller, and the vehicle can drive in autonomous driving mode.

[0029] The operational stability system for a foldable pedal device according to this disclosure can utilize two independent batteries, two independent motors, and two independent travel sensors to improve operational stability, thereby preventing the risk of accidents due to malfunctions. Attached Figure Description

[0030] The above and other objects, features and advantages of this disclosure will become more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, wherein:

[0031] Figure 1 This is a schematic structural diagram illustrating an operational stabilization system for a foldable pedal device according to a first embodiment of the present disclosure;

[0032] Figure 2 This is a diagram illustrating the pedal operation unit of this disclosure;

[0033] Figure 3 and Figure 4 These are block diagrams and flowcharts illustrating the first embodiment of this disclosure;

[0034] Figure 5 This is a schematic structural diagram illustrating an operational stabilization system for a foldable pedal device according to a second embodiment of the present disclosure; and

[0035] Figure 6 and Figure 7 The diagrams shown are a block diagram and a flowchart illustrating a second embodiment of the present disclosure. Detailed Implementation

[0036] The specific structural and functional descriptions of the embodiments disclosed herein are for illustrative purposes only. This disclosure can be implemented in many different forms without departing from its spirit and essential features. Therefore, the embodiments of this disclosure are for illustrative purposes only and should not be construed as limiting the scope of this disclosure.

[0037] Reference will now be made in detail to various embodiments of the present disclosure, specific examples of which are illustrated in the accompanying drawings and described below, as embodiments of the present disclosure can be modified in many different forms. While the present disclosure will be described in conjunction with exemplary embodiments, it should be understood that this description is not intended to limit the present disclosure to those exemplary embodiments. Rather, the present disclosure is intended to cover not only the exemplary embodiments, but also various alternatives, modifications, equivalents, and other embodiments that may be included within the spirit and scope of the present disclosure as defined by the appended claims.

[0038] It should be understood that although the terms “first,” “second,” etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the teachings of this disclosure, the first element discussed below may be referred to as the second element. Similarly, the second element may also be referred to as the first element.

[0039] It should be understood that when an element is referred to as "connected" or "attached" to another element, it can be directly connected to or attached to the other element, or there can be an intermediate element between them. Conversely, it should be understood that when an element is referred to as "directly connected" or "directly attached" to another element, there is no intermediate element. Other expressions explaining the relationship between elements, such as "between," "directly between," "adjacent," or "directly adjacent," should be interpreted in the same way.

[0040] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It will be further understood that, when used in this specification, the terms “comprising,” “including,” “having,” etc., specify the presence of the stated features, integers, steps, operations, elements, components, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0041] Unless otherwise defined, all terms used herein, including technical and scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It should also be understood that terms such as those defined in general dictionaries shall be interpreted as having the same meaning as they have in the relevant field and in the context of this disclosure, and shall not be interpreted as having an idealized or overly formal meaning unless expressly defined herein.

[0042] The controller according to an exemplary embodiment of this disclosure can be implemented using a non-volatile memory (not shown) configured to store data about algorithms for controlling the operation of various components of a vehicle or software instructions for reproducing the algorithms, and a processor (not shown) configured to perform the following operations using the data stored in the memory. The memory and processor can be implemented as separate chips. Alternatively, the memory and processor can be implemented as a single integrated chip. The processor can be one or more processors.

[0043] In the following text, reference will be made to Figures 1 to 4 A detailed description of an operational stabilization system for a foldable pedal device according to a first exemplary embodiment of the present disclosure.

[0044] In autonomous vehicles, drivers can choose between a manual driving mode where the driver manually drives the vehicle, and an autonomous driving mode where the vehicle drives itself to the destination without the driver manually driving the vehicle.

[0045] In other words, the driving mode of an autonomous vehicle can change in response to operations such as driving mode switch 10. Driving mode switch 10 may include autonomous driving mode switch 11 and manual driving mode switch 12.

[0046] The driving mode switch 10 is connected to a first battery 21 and a second battery 22 installed in the autonomous vehicle. The first battery 21 and the second battery 22 are respectively connected to a first vehicle controller 31 and a second vehicle controller 32 installed in the autonomous vehicle.

[0047] The first vehicle controller 31 and the second vehicle controller 32 receive power from the first battery 21 and the second battery 22 respectively, and then send operation signals.

[0048] The operation signals of the first vehicle controller 31 and the second vehicle controller 32 are transmitted to the foldable pedal device.

[0049] The foldable pedal device can be a foldable accelerator pedal device or a foldable brake pedal device.

[0050] The foldable pedal device may include: a pedal housing 110, fixedly disposed in the space below and in front of the driver's seat; a pedal pad 120, pivotally connected to the pedal housing 110 and operable by the driver's foot; a foldable pedal controller 130, which receives signals from a first vehicle controller 31 and a second vehicle controller 32 and sends control signals thereafter; a first motor 141 and a second motor 142, respectively connected to a first battery 21 and a second battery 22 to receive power from the first battery 21 and the second battery 22, and respectively receiving control signals from the foldable pedal controller 130 for operation; a pedal drive unit 150, which receives power from the first motor 141 and the second motor 142 for operation, and drives the pedal pad 120 to pivot relative to the pedal housing 110 during operation, causing the pedal pad 120 to pop up or retract; and a first travel sensor 161 and a second travel sensor 162, respectively connected to the first battery 21 and the second battery 22.

[0051] The pedal housing 110 has the shape of a hollow box, and the foldable pedal controller 130, the first motor 141 and the second motor 142, the pedal drive unit 150 and the like are arranged in the internal space of the pedal housing 110.

[0052] The pedal pad 120 can be an accordion-style pad, the bottom of which is pivotally connected to the pedal housing 110 via a hinge pin 121, and the top of which is pivotable in the front-rear direction about the hinge pin 121 on the bottom end.

[0053] The foldable pedal controller 130 can be a single controller, whose control area is divided into a first controller 131 and a second controller 132.

[0054] After receiving a signal from the first vehicle controller 31, the first controller 131 sends an operation control signal to the first motor 141. After receiving a signal from the second vehicle controller 32, the second controller 132 sends an operation control signal to the second motor 142.

[0055] Each of the first motor 141 and the second motor 142 can be a rotary motor. The rotary motor can be a stepper motor. The first motor 141 and the second motor 142 can be configured to receive power from the first battery 21 and the second battery 22, respectively.

[0056] The pedal drive unit 150 includes: a first gear 151 coupled to a first motor 141; a second gear 152 coupled to a second motor 142; a common gear 153 connecting the first gear 151 and the second gear 152; a lead screw 154 coupled to the central portion of the common gear 153; a support member 155 threaded to the lead screw 154 to extend and retract along the length of the lead screw 154 as the lead screw 154 rotates; a pivot member 156 pivotally coupled to the pedal housing 110 and supported by the support member 155 when the support member 155 extends, and released from support when the support member 155 retracts; and a connecting rod 157 connecting the pivot member 156 and the pedal pad 120 to each other.

[0057] One end of the pivot member 156 is pivotally connected to the fixed shaft 111 of the pedal housing 110. The pivot member 156 is connected to the pedal pad 120 via a connecting rod 157. The pivot member 156 may be a hysteresis module, which can generate a hysteresis phenomenon when the pedal pad 120 is operated by the driver.

[0058] The pedal pad 120 can change between a hidden state in which the pedal pad 120 is inserted into the pedal housing 110 and a popped state in which the pedal pad 120 protrudes from the pedal housing 110 in response to the pivoting of the pivoting member 156 caused by the extension and retraction of the support member 155.

[0059] In other words, when the first gear 151, the second gear 152, and the common gear 153 are rotated by the operation of the first motor 141 and the second motor 142, the lead screw 154 connected to the common gear 153 rotates. As the lead screw 154 rotates, the support member 155 threadedly connected to the lead screw 154 extends and retracts along the length of the lead screw 154 in a state guided by the pedal housing 110.

[0060] When the support member 155 extends and inserts between the pedal housing 110 and the pivot member 156, the extended support member 155 supports the pivot member 156, and the pedal pad 120 protrudes from the pedal housing 110 and is in a pop-up state. From this point onward, the pedal pad 120 can be operated by the driver (see...). Figure 1 and Figure 2 (The bounce-up state in the middle).

[0061] When the support member 155 retracts and is released from its position relative to the support pivot member 156, the pedal pad 120 pivots into the pedal housing 110, thus becoming concealed. At this time, the driver cannot operate the pedal pad 120 (see [link]). Figure 1 and Figure 2 (Hidden state in the middle).

[0062] The return spring is configured to support the pedal housing 110 and the pivot member 156 at both ends. When the support member 155 retracts and is released from its supporting pivot member 156 state, the pivot member 156 pivots in the direction in which it is inserted into the pedal housing 110 by the elastic force of the return spring. At this time, the pedal pad 120, which is connected to the pivot member 156 via the connecting rod 157, also pivots and is inserted into the pedal housing 110, thus becoming a concealed state.

[0063] The first travel sensor 161 and the second travel sensor 162 are fixedly connected to the left and right portions of the pedal housing 110, respectively. The first travel sensor 161 and the second travel sensor 162 are connected to the pedal pad 120 via connecting rods. When the driver operates the pedal pad 120, the first travel sensor 161 and the second travel sensor 162 detect the initial position (i.e., the return position) of the pedal pad 120. Furthermore, each of the first travel sensor 161 and the second travel sensor 162 can perform auxiliary functions of an accelerator pedal sensor (APS) or a brake pedal sensor (BPS).

[0064] Reference Figure 4 The control process according to a first embodiment of the present disclosure is described.

[0065] In step S1, when the autonomous vehicle equipped with the foldable pedal device generates a signal indicating manual driving mode through the operation of the manual driving mode switch 12 in the autonomous driving mode, in step S2, the first vehicle controller 31 receives power from the first battery 21 and sends an operation signal to the first controller 131 of the foldable pedal controller 130, and the second vehicle controller 32 receives power from the second battery 22 and sends an operation signal to the second controller 132 of the foldable pedal controller 130.

[0066] Next, in step S3, the first controller 131 of the foldable pedal controller 130 sends an operation control signal to the first motor 141, and the second controller 132 of the foldable pedal controller 130 sends an operation control signal to the second motor 142. In step S4, the first controller 131 and the second controller 132 of the foldable pedal controller 130 determine whether the first motor 141 and the second motor 142 operate simultaneously.

[0067] When the determination result in step S4 is that the first motor 141 and the second motor 142 operate simultaneously, in step S5, the first motor 141 and the second motor 142, under the control of the first controller 131 and the second controller 132 of the foldable pedal controller 130, respectively share 50% of the torque required for the operation of the pedal drive unit 150, and the support member 155 extends and supports the pivot member 156 in response to the simultaneous operation of the first motor 141 and the second motor 142, so that the pedal pad 120 of the foldable pedal device becomes a pop-up state.

[0068] When the determination result in step S4 is that the first motor 141 and the second motor 142 do not operate simultaneously, in step S6, the foldable pedal controller 130 determines whether the first motor 141 and the second motor 142 are both in a stopped state.

[0069] When the determination result in step S6 is that one of the first motor 141 and the second motor 142 is operating, in step S7, 100% torque is applied to the operating motor under the control of the foldable pedal controller 130, and at this time, the pedal pad 120 of the foldable pedal device becomes a pop-up state.

[0070] Step S7 occurs when one of the first motor 141 and the second motor 142 is damaged or malfunctions. In this case, the vehicle's warning system can be operated under the control of the first vehicle controller 31 and the second vehicle controller 32 to warn the driver.

[0071] Warning systems can be warning lights, warning sound generators, instrument clusters, audio-visual navigation (AVN) devices, etc. The warning signals generated by the warning system can include at least one of visual warning signals, auditory warning signals, and tactile warning signals.

[0072] Conversely, if the determination result in step S6 is that neither the first motor 141 nor the second motor 142 operates, in step S8, the control logic required for the pop-up operation of the pedal pad 120 under the control of the foldable pedal controller 130 ends. At this time, in step S9, the vehicle's warning system operates, and the vehicle remains in autonomous driving mode.

[0073] After the pedal pad 120 of the foldable pedal device is in the pop-up state in step S5, in step S10, when the pedal pad 120 is pivoted by the driver's operation, the first controller 131 and the second controller 132 of the foldable pedal controller 130 determine whether the output value of the first stroke sensor 161 and the output value of the second stroke sensor 162 are the same.

[0074] When the judgment result in step S10 is that the output value of the first stroke sensor 161 is the same as the output value of the second stroke sensor 162, in step S11, the pedal pad 120 remains in the pop-up state under the control of the first controller 131 and the second controller 132 of the foldable pedal controller 130, and the vehicle is driven normally in manual mode.

[0075] Conversely, when the determination result in step S10 is that the output value of the first travel sensor 161 is different from the output value of the second travel sensor 162, in step S12, the pedal pad 120 is hidden under the control of the first controller 131 and the second controller 132 of the foldable pedal controller 130. At this time, in step S13, the vehicle's warning system operates and the vehicle travels in autonomous driving mode.

[0076] Reference Figures 5 to 7 A second embodiment of the present disclosure describes an operational stabilization system for a foldable pedal device.

[0077] Reference Figures 5 to 7 The components of the second embodiment of this disclosure are the same as those mentioned above. Figures 1 to 4 Compared to the first embodiment described, the components are identical except that a single vehicle controller is provided and the control area of ​​the single vehicle controller is divided into a first controller and a second controller. The same components will be indicated by the same reference numerals.

[0078] In other words, the driving mode of an autonomous vehicle can be changed by operating the driving mode switch 10. The driving mode switch 10 may include an autonomous driving mode switch 11 and a manual driving mode switch 12.

[0079] The driving mode switch 10 is connected to a first battery 21 and a second battery 22 installed in the autonomous vehicle. The first battery 21 and the second battery 22 are connected to a vehicle controller 50 installed in the autonomous vehicle.

[0080] The vehicle controller 50 can be a single controller, whose control area is divided into a first controller 51 and a second controller 52.

[0081] The first controller 51 receives power from the first battery 21 and then sends an operation signal, and the second controller 52 receives power from the second battery 22 and then sends an operation signal.

[0082] Control signals from the first controller 51 and the second controller 52 of the vehicle controller 50 are sent to the foldable pedal device.

[0083] The foldable pedal device can be a foldable accelerator pedal device or a foldable brake pedal device. The construction of the foldable pedal device is the same as that of the foldable pedal device according to the first embodiment.

[0084] In other words, the foldable pedal device may include: a pedal housing 110, fixedly disposed in the space below and in front of the driver's seat; a pedal pad 120, pivotally connected to the pedal housing 110 and operable by the driver's foot; a foldable pedal controller 130, which receives signals from the vehicle controller 50 and sends control signals; a first motor 141 and a second motor 142, respectively connected to a first battery 21 and a second battery 22 to receive power from the first battery 21 and the second battery 22 and to operate by receiving control signals from the foldable pedal controller 130; a pedal drive unit 150, which receives power from the first motor 141 and the second motor 142 and to operate thereby, driving the pedal pad 120 to pivot relative to the pedal housing 110 during operation, causing the pedal pad 120 to pop up or retract; and a first travel sensor 161 and a second travel sensor 162, respectively connected to the first battery 21 and the second battery 22.

[0085] The pedal housing 110 has the shape of a hollow box, and the foldable pedal controller 130, the first motor 141 and the second motor 142, the pedal drive unit 150 and the like are arranged in the internal space of the pedal housing 110.

[0086] The pedal pad 120 can be an accordion-style pad, the bottom of which is pivotally connected to the pedal housing 110 via a hinge pin 121, and the top of which is pivotable in the front-rear direction about the hinge pin 121 on the bottom end.

[0087] The foldable pedal controller 130 can be a single controller, whose control area is divided into a first controller 131 and a second controller 132.

[0088] The first controller 131 of the foldable pedal controller 130 receives a signal from the first controller 51 of the vehicle controller 50 and sends an operation control signal to the first motor 141. The second controller 132 of the foldable pedal controller 130 receives a signal from the second controller 52 of the vehicle controller 50 and sends an operation control signal to the second motor 142.

[0089] Each of the first motor 141 and the second motor 142 can be a rotary motor. The rotary motor can be a stepper motor. The first motor 141 and the second motor 142 can be configured to receive power from the first battery 21 and the second battery 22, respectively.

[0090] The pedal drive unit 150 includes: a first gear 151 coupled to a first motor 141; a second gear 152 coupled to a second motor 142; a common gear 153 connecting the first gear 151 and the second gear 152; a lead screw 154 coupled to the central portion of the common gear 153; a support member 155 threaded to the lead screw 154 to extend and retract along the length of the lead screw 154 as the lead screw 154 rotates; a pivot member 156 pivotally coupled to the pedal housing 110 and supported by the support member 155 when the support member 155 extends, and released from support when the support member 155 retracts; and a connecting rod 157 connecting the pivot member 156 and the pedal pad 120 to each other.

[0091] One end of the pivot member 156 is pivotally connected to the fixed shaft 111 of the pedal housing 110. The pivot member 156 is connected to the pedal pad 120 via a connecting rod 157. The pivot member 156 can be a hysteresis module that can generate a hysteresis phenomenon when the pedal pad 120 is operated by the driver.

[0092] The pedal pad 120 can change between a hidden state in which the pedal pad 120 is inserted into the pedal housing 110 and a popped state in which the pedal pad 120 protrudes from the pedal housing 110 in response to the pivoting of the pivoting member 156 caused by the extension and retraction of the support member 155.

[0093] In other words, when the first gear 151, the second gear 152, and the common gear 153 are rotated by the operation of the first motor 141 and the second motor 142, the lead screw 154 connected to the common gear 153 rotates. As the lead screw 154 rotates, the support member 155 threadedly connected to the lead screw 154 extends and retracts along the length of the lead screw 154 in a state guided by the pedal housing 110.

[0094] When the support member 155 extends and inserts between the pedal housing 110 and the pivot member 156, the extended support member 155 supports the pivot member 156, and the pedal pad 120 protrudes from the pedal housing 110 and is in a pop-up state. From this point onward, the pedal pad 120 can be operated by the driver (see...). Figure 5 (The bounce-up state in the middle).

[0095] When the support member 155 retracts and is released from its position relative to the support pivot member 156, the pedal pad 120 pivots into the pedal housing 110, thus becoming concealed. At this time, the driver cannot operate the pedal pad 120 (see [link]). Figure 1 and Figure 2 (Hidden state in the middle).

[0096] The return spring is configured to support the pedal housing 110 and the pivot member 156 at both ends. When the support member 155 retracts and is released from its supporting pivot member 156 state, the pivot member 156 pivots in the direction in which it is inserted into the pedal housing 110 by the elastic force of the return spring. At this time, the pedal pad 120, which is connected to the pivot member 156 via the connecting rod 157, also pivots and is inserted into the pedal housing 110, thus becoming a concealed state.

[0097] The first travel sensor 161 and the second travel sensor 162 are fixedly connected to the left and right portions of the pedal housing 110, respectively. The first travel sensor 161 and the second travel sensor 162 are connected to the pedal pad 120 via connecting rods. When the driver operates the pedal pad 120, the first travel sensor 161 and the second travel sensor 162 detect the initial position (i.e., the return position) of the pedal pad 120. Furthermore, each of the first travel sensor 161 and the second travel sensor 162 can perform either APS or BPS auxiliary functions.

[0098] Reference Figure 7 The control process according to a second embodiment of the present disclosure is described.

[0099] In step S51, when the autonomous vehicle equipped with the foldable pedal device generates a signal indicating manual driving mode through the operation of the manual driving mode switch 12 in the autonomous driving mode, in step S52, the first controller 51 of the vehicle controller 50 receives power from the first battery 21 and sends an operation signal to the first controller 131 of the foldable pedal controller 130, and the second controller 52 of the vehicle controller 50 receives power from the second battery 22 and sends an operation signal to the second controller 132 of the foldable pedal controller 130.

[0100] Next, in step S53, the first controller 131 of the foldable pedal controller 130 sends an operation control signal to the first motor 141, and the second controller 132 of the foldable pedal controller 130 sends an operation control signal to the second motor 142. In step S54, the first controller 131 and the second controller 132 of the foldable pedal controller 130 determine whether the first motor 141 and the second motor 142 operate simultaneously.

[0101] When the determination result in step S54 is that the first motor 141 and the second motor 142 operate simultaneously, in step S55, the first motor 141 and the second motor 142, under the control of the first controller 131 and the second controller 132 of the foldable pedal controller 130, respectively share 50% of the torque required for the operation of the pedal drive unit 150, and the support member 155 extends and supports the pivot member 156 in response to the simultaneous operation of the first motor 141 and the second motor 142, so that the pedal pad 120 of the foldable pedal device becomes a pop-up state.

[0102] When the determination result in step S54 is that the first motor 141 and the second motor 142 do not operate simultaneously, in step S56, the foldable pedal controller 130 determines whether the first motor 141 and the second motor 142 are both in a stopped state.

[0103] When the determination result in step S56 is that one of the first motor 141 and the second motor 142 is operating, in step S57, 100% torque is applied to the operating motor under the control of the foldable pedal controller 130, and at this time, the pedal pad 120 of the foldable pedal device becomes a pop-up state.

[0104] Step S57 occurs when one of the first motor 141 and the second motor 142 is damaged or malfunctions. In this case, the vehicle's warning system can be operated under the control of the first vehicle controller 31 and the second vehicle controller 32 to warn the driver.

[0105] Warning systems can be warning lights, warning sound generators, instrument clusters, AVN devices, etc. The warning signals generated by a warning system can include at least one of visual warning signals, auditory warning signals, and tactile warning signals.

[0106] Conversely, if the determination result in step S56 is that neither the first motor 141 nor the second motor 142 operates, in step S58, the control logic required for the pop-up operation of the pedal pad 120 under the control of the foldable pedal controller 130 ends. At this time, in step S59, the vehicle's warning system operates, and the vehicle remains in autonomous driving mode.

[0107] After the pedal pad 120 of the foldable pedal device becomes popped up in step S55, in step S60, when the pedal pad 120 is pivoted by the driver's operation, the first controller 131 and the second controller 132 of the foldable pedal controller 130 determine whether the output value of the first stroke sensor 161 and the output value of the second stroke sensor 162 are the same.

[0108] When the judgment result in step S60 is that the output value of the first stroke sensor 161 is the same as the output value of the second stroke sensor 162, in step S61, the pedal pad 120 remains in the pop-up state under the control of the first controller 131 and the second controller 132 of the foldable pedal controller 130, and the vehicle is driven normally in manual mode.

[0109] Conversely, when the determination result in step S60 is that the output value of the first travel sensor 161 is different from the output value of the second travel sensor 162, in step S62, the pedal pad 120 is hidden under the control of the first controller 131 and the second controller 132 of the foldable pedal controller 130. At this time, in step S63, the vehicle's warning system operates and the vehicle travels in autonomous driving mode.

[0110] As described above, the operational stability system for a foldable pedal device according to this disclosure can significantly improve operational stability by utilizing independent first battery 21 and second battery 22, independent first motor 141 and second motor 142, and two independent travel sensors 161 and 162. In particular, the foldable pedal device has a configuration capable of performing fault protection functions, thereby preventing the risk of accidents caused by malfunctions.

[0111] Although specific embodiments of this disclosure have been described for illustrative purposes, those skilled in the art will understand that various modifications, additions, and substitutions are possible without departing from the scope and spirit of this disclosure as disclosed in the appended claims.

Claims

1. An operation stabilization system for a foldable pedal device in a vehicle, the operation stabilization system comprising: A first battery and a second battery are installed in the vehicle; The first vehicle controller and the second vehicle controller receive power from the first battery and the second battery, respectively, and send operation signals, respectively. A foldable pedal controller is disposed in the foldable pedal device and sends control signals after receiving signals from the first vehicle controller and the second vehicle controller; A first motor and a second motor are disposed in the foldable pedal device and are respectively connected to the first battery and the second battery to receive power from the first battery and the second battery, wherein the first motor and the second motor are operated by receiving control signals from the foldable pedal controller. as well as A pedal drive unit, disposed in the foldable pedal device, receives power from the first motor and the second motor to operate, and drives the pedal pad of the foldable pedal device to pivot relative to the pedal housing during operation, causing the pedal pad to pop up or hide.

2. The operational stability system according to claim 1, further comprising: A first stroke sensor and a second stroke sensor are disposed in the foldable pedal device and are respectively connected to the first battery and the second battery.

3. The operational stability system according to claim 2, wherein, The foldable pedal controller includes: a single foldable pedal controller, comprising a first controller and a second controller. After receiving a signal from the first vehicle controller, the first controller sends an operation control signal to the first motor, and after receiving a signal from the second vehicle controller, the second controller sends an operation control signal to the second motor.

4. The operational stability system according to claim 1, wherein, The pedal drive unit includes: The first gear is connected to the first motor; The second gear is connected to the second motor; A common gear connects the first gear and the second gear; A lead screw is connected to the central portion of the common gear; A support member is threaded to the lead screw to extend and retract along the length of the lead screw as the lead screw rotates; A pivoting member, pivotally connected to the pedal housing, and supported by the support member when the support member extends, and released from the support member when the support member retracts; and A connecting rod connects the pivot member and the pedal pad to each other.

5. The operational stability system according to claim 4, wherein, When the support member extends and supports the pivot member, the pedal pad pivots to protrude from the pedal housing, thereby becoming a spring-loaded state, and When the support member retracts and is released from its state of supporting the pivot member, the pedal pad pivots to insert into the pedal housing, thereby becoming a hidden state.

6. The operational stability system according to claim 3, wherein, When a manual driving mode signal is generated during autonomous driving, the first vehicle controller receives power from the first battery and sends an operation signal to the first controller of the foldable pedal controller; the second vehicle controller receives power from the second battery and sends an operation signal to the second controller of the foldable pedal controller. The first controller of the foldable pedal controller sends the operation control signal to the first motor, and the second controller of the foldable pedal controller sends the operation control signal to the second motor. The pedal pad of the foldable pedal device either pops up or remains hidden depending on whether the first motor and the second motor are operated.

7. The operational stability system according to claim 6, wherein, The first controller and the second controller of the foldable pedal controller respectively determine whether the first motor and the second motor are operating. When the first motor and the second motor operate simultaneously, under the control of the first and second controllers of the foldable pedal controller, the first motor and the second motor respectively share 50% of the torque required for the operation of the pedal drive unit. In response to the simultaneous operation of the first motor and the second motor, the pedal pad of the foldable pedal device changes to the pop-up state.

8. The operational stability system according to claim 6, wherein, The first and second controllers of the foldable pedal controller respectively determine whether the first motor and the second motor are operating, and When one of the first motor and the second motor is operating, 100% torque is applied to the operating motor under the control of the foldable pedal controller, and the pedal pad of the foldable pedal device changes to the pop-up state.

9. The operational stability system according to claim 8, wherein, When one of the first motor and the second motor is operating, the vehicle's warning system operates under the control of the first vehicle controller and the second vehicle controller.

10. The operational stability system according to claim 6, wherein, The first and second controllers of the foldable pedal controller respectively determine whether the first motor and the second motor are operating, and When neither the first motor nor the second motor is in operation, the control logic required for the pop-up operation of the pedal pad is terminated under the control of the foldable pedal controller, the vehicle's warning system operates under the control of the first vehicle controller and the second vehicle controller, and the vehicle remains in autonomous driving mode.

11. The operational stability system according to claim 6, wherein, After the pedal pad of the foldable pedal device is in the pop-up state, when the pedal pad is pivoted by the driver, the pedal pad maintains the pop-up state or changes to the hidden state according to the output state of the first travel sensor and the second travel sensor.

12. The operational stability system according to claim 11, wherein, The first and second controllers of the foldable pedal controller determine the output states of the first and second travel sensors. When the output values ​​of the first travel sensor and the second travel sensor are the same, the pedal pad remains in the pop-up state under the control of the first and second controllers of the foldable pedal controller, and the vehicle is driven normally in manual driving mode. When the output values ​​of the first travel sensor and the second travel sensor are different, the pedal pad changes to the hidden state under the control of the first and second controllers of the foldable pedal controller, and the vehicle drives in autonomous driving mode.

13. An operational stabilization system for a foldable pedal device in a vehicle, the operational stabilization system comprising: A first battery and a second battery are installed in the vehicle; The vehicle controller includes a first controller that receives power from the first battery and sends an operation signal, and a second controller that receives power from the second battery and sends an operation signal; A foldable pedal controller is disposed in the foldable pedal device and includes a first controller that receives a signal from a first controller of the vehicle controller and then sends a control signal, and a second controller that receives a signal from a second controller of the vehicle controller and then sends a control signal. A first motor and a second motor are disposed in the foldable pedal device and are respectively connected to the first battery and the second battery to receive power from the first battery and the second battery, wherein the first motor and the second motor are operated by receiving control signals from the foldable pedal controller. A pedal drive unit, disposed in the foldable pedal device, receives power from the first motor and the second motor to operate, and drives the pedal pad of the foldable pedal device to pivot relative to the pedal housing during operation, so that the pedal pad pops up or hides. as well as A first stroke sensor and a second stroke sensor are disposed in the foldable pedal device and are respectively connected to the first battery and the second battery.

14. The operational stability system according to claim 13, wherein, The pedal drive unit includes: The first gear is connected to the first motor; The second gear is connected to the second motor; A common gear connects the first gear and the second gear; A lead screw is connected to the central portion of the common gear; A support member is threaded to the lead screw to extend and retract along the length of the lead screw as the lead screw rotates; A pivoting member, pivotally connected to the pedal housing, and supported by the support member when the support member extends, and released from the support member when the support member retracts; and A connecting rod connects the pivot member and the pedal pad to each other.

15. The operational stability system according to claim 13, wherein, When a manual driving mode signal is generated during autonomous driving, the first controller of the vehicle controller receives power from the first battery and sends an operation signal to the first controller of the foldable pedal controller; the second controller of the vehicle controller receives power from the second battery and sends an operation signal to the second controller of the foldable pedal controller. The first controller of the foldable pedal controller sends an operation control signal to the first motor, and the second controller of the foldable pedal controller sends an operation control signal to the second motor. The pedal pad of the foldable pedal device either pops up or remains hidden depending on whether the first motor and the second motor are operated.

16. The operational stability system according to claim 15, wherein, The first controller and the second controller of the foldable pedal controller respectively determine whether the first motor and the second motor are operating. When the first motor and the second motor operate simultaneously, under the control of the first and second controllers of the foldable pedal controller, the first motor and the second motor respectively share 50% of the torque required for the operation of the pedal drive unit. In response to the simultaneous operation of the first motor and the second motor, the pedal pad of the foldable pedal device changes to the pop-up state.

17. The operational stability system according to claim 15, wherein, The first and second controllers of the foldable pedal controller respectively determine whether the first motor and the second motor are operating, and When one of the first motor and the second motor is operating, 100% torque is applied to the operating motor under the control of the foldable pedal controller, and the pedal pad of the foldable pedal device changes to the pop-up state.

18. The operational stability system according to claim 15, wherein, The first and second controllers of the foldable pedal controller respectively determine whether the first motor and the second motor are operating, and When neither the first motor nor the second motor is operating, the control logic required for the pop-up operation of the pedal pad ends under the control of the foldable pedal controller, and the vehicle remains in autonomous driving mode.

19. The operational stability system according to claim 15, wherein, After the pedal pad of the foldable pedal device is in the pop-up state, when the pedal pad is pivoted by the driver, the pedal pad maintains the pop-up state or changes to the hidden state according to the output state of the first stroke sensor and the second stroke sensor.

20. The operational stability system according to claim 15, wherein, The first and second controllers of the foldable pedal controller determine the output states of the first and second travel sensors. When the output values ​​of the first travel sensor and the second travel sensor are the same, the pedal pad remains in the pop-up state under the control of the first and second controllers of the foldable pedal controller, and the vehicle is driven normally in manual driving mode. When the output values ​​of the first travel sensor and the second travel sensor are different, the pedal pad changes to the hidden state under the control of the first and second controllers of the foldable pedal controller, and the vehicle drives in autonomous driving mode.

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