An electric pedal control system and method with anti-collision, anti-pinch and ice-breaking functions

Abstract

The present invention discloses a control system and method for an electric pedal with anti-collision, anti-pinch and ice-breaking functions. The present invention solves the technical problem that the existing control method based on identifying the current in a circuit cannot achieve the ice-breaking function; solves the technical problem that the existing control method based on identifying the radar sensor arranged on the side pedal cannot achieve the ice-breaking function; solves the technical problem that the existing control method based on identifying the current in the circuit is prone to mistakenly triggering the anti-collision and anti-pinch function when the actuator for opening and closing the electric pedal is frozen by water or mud, causing the electric pedal to be unable to open or close normally; solves the technical problem that the existing control method based on radar sensor signals cannot operate normally and stably when the pedal is worn or covered with mud.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric pedal control, and in particular relates to an electric pedal control system and method with anti-collision, anti-pinch and ice-breaking functions. Background Art

[0002] For some large SUV vehicles, due to their high chassis and poor inconvenience in getting on and off the vehicle, step boards are often designed on both sides of the door. The step boards are either fixed or electrically retractable. For vehicles with higher positioning, electrically retractable step boards are often configured. When in use, they are unfolded for passengers to step on when getting on and off the vehicle, and retracted back to the bottom of the vehicle when not in use. While enhancing the sense of luxury of the vehicle, it can also ensure that the overall shape of the vehicle side is more coordinated and beautiful.

[0003] As the application of electric pedals becomes more and more extensive, the corresponding safety issues have also attracted the attention of engineers. In the prior art, in order to prevent the electric pedal from causing damage to objects on its moving path during the opening or closing process, an anti-collision and anti-pinch function is designed. For example, in Chinese invention patent CN 112977264 A, a control method for anti-collision and anti-pinch of an electric pedal based on a detection radar installed on the side of a vehicle to collect signals is disclosed. However, since the pedal arrangement area is close to the ground and is easy to wear, it is difficult for various sensors to operate normally and stably for a long time; Chinese invention patent CN 110481441 A discloses a method for realizing anti-collision and anti-pinch based on the recognition of current in the circuit, but since the actuator for opening and closing the electric pedal is easy to contact objects such as water and mud, especially in winter, the freezing of water and mud will cause the resistance of the electric pedal to increase when it is opened and closed, and the corresponding current in the circuit will also increase, which is easy to cause false triggering of the anti-collision and anti-pinch function. At the same time, the control method of the electric pedal designed by relying solely on current cannot realize the ice-breaking function of the electric pedal. Summary of the invention

[0004] In order to solve the problem that the existing control method by identifying current or identifying the radar sensor arranged on the side pedal cannot achieve the ice-breaking function, and the control method based on identifying current is prone to mistakenly trigger the anti-collision and anti-pinch function when water or mud freezes the actuator that opens and closes the electric pedal, causing the electric pedal to be unable to open or close normally, and the control method using the radar sensor arranged on the side pedal cannot operate normally and stably when the pedal is worn or covered with mud. The present invention proposes a control system and method for an electric pedal with anti-collision, anti-pinch and ice-breaking functions.

[0005] A control system for an electric pedal with anti-collision and anti-pinch functions to achieve one of the purposes of the present invention includes an electric pedal control instruction generation module and an electric pedal anti-collision and anti-pinch control module;

[0006] The electric pedal control instruction generation module is used to generate the control instruction of the electric pedal according to the door signal, the vehicle speed signal, and the control intention of the driver and the passenger on the electric pedal;

[0007] The door signal includes a door closing state signal; the door closing state includes a door fully closed and a door not fully closed; after obtaining the door signal, it is used to determine whether the door on either side changes from fully closed to not fully closed, or from not fully closed to fully closed;

[0008] The electric pedal anti-collision and anti-pinch control module is used to enable the electric pedal to have anti-collision or anti-pinch functions during the process of unfolding or closing according to the motor speed and motor current.

[0009] Examples of the control instructions for the electric pedal generated by the driver's control intention on the electric pedal are as follows: prohibiting the electric pedal from opening in off-road mode; keeping the electric pedal in an open state without retracting it in car wash mode, but are not limited to these.

[0010] Furthermore, the electric pedal control instruction generation module includes a door lock information acquisition module, a vehicle speed signal acquisition module, and a driver and passenger instruction acquisition module;

[0011] The vehicle door lock information acquisition module is used to obtain the closing state of any vehicle door;

[0012] The vehicle speed signal acquisition module is used to acquire the current vehicle speed;

[0013] The driver and passenger command acquisition module is used to acquire the control command issued by the driver and passenger to the electric pedal and generate corresponding control commands;

[0014] The method of generating corresponding control instructions includes:

[0015] If the door on any side changes from fully closed to partially closed, and the current vehicle speed is less than the first vehicle speed threshold, and the electric pedal is not currently in a fully unfolded state: it is determined that the control instruction currently required to be issued to the electric pedal is to unfold the electric pedal;

[0016] If the door on either side changes from partially closed to fully closed, and the electric pedal is not currently in a fully closed state: it is determined that the control instruction currently required to be issued to the electric pedal is to close the electric pedal;

[0017] Corresponding control instructions are generated according to the control instructions issued by the driver to the electric pedal, and the instructions include unfolding the electric pedal and closing the electric pedal.

[0018] Furthermore, the electric pedal anti-collision and anti-pinch control module includes an electric pedal position judgment module, a motor speed acquisition module, a motor current acquisition module, and a counting module;

[0019] The electric pedal position determination module is used to determine whether the electric pedal has reached a fully extended or fully closed position;

[0020] The motor speed acquisition module is used to obtain the current speed of the electric pedal motor; the purpose of obtaining the motor speed is to determine whether the motor is working abnormally. When working normally, the motor speed will be in a set range or a set value. If the speed is less than the minimum value of the set range or less than the set value, it indicates that the electric pedal may be blocked or stuck by foreign objects;

[0021] The motor current acquisition module is used to obtain the current current of the electric pedal motor; the purpose of obtaining the motor current is to ensure safe anti-collision and anti-pinch work; when the motor is working normally, the motor current is not higher than the second current threshold b. If the current is higher than the second current threshold b, it indicates that the current flowing through the motor is too large and there is a risk of burning the motor; and when the electric pedal is normally unfolded or closed, its running time will not cause the motor current to be too large, which indicates that the electric pedal may be blocked or stuck by foreign objects.

[0022] The counting module is used to determine whether the number of failures in opening or closing the electric pedal has reached a threshold; by counting the number of failures in opening or closing the electric pedal, the electric pedal and the motor can be protected so that the motor can be stopped in time when a problem occurs and is not resolved in a short time.

[0023] Furthermore, in the electric pedal anti-collision and anti-pinch control module, a method for enabling the electric pedal to have anti-collision or anti-pinch functions during deployment includes the following steps:

[0024] S2.1: Start the electric pedal motor;

[0025] S2.2: Determine whether the electric pedal has reached the fully unfolded position according to the current position of the electric pedal. If it has reached the fully unfolded position, stop the electric pedal motor, clear the electric pedal opening failure count C1, and the execution ends; otherwise, proceed to the next step;

[0026] S2.3: Determine whether the motor speed is abnormal. If it is abnormal, return abnormal information that the electric pedal may be hit or clamped to the vehicle and proceed to the next step;

[0027] S2.4: Determine whether the motor current exceeds the second current threshold b, if so, proceed to the next step, otherwise return to step S2.1;

[0028] S2.5: and increase the electric pedal opening failure count C1 by 1;

[0029] S2.6: Determine whether the electric pedal opening failure count C1 is greater than a first threshold value, and if so, output electric pedal deployment failure information, otherwise return to step S2.2.

[0030] In the above step S2.3, when the motor speed is less than the calibrated speed value, it is considered that the motor speed is abnormal, indicating that the electric pedal has hit a foreign object or a foreign object has entered during the movement of the electric pedal, causing the electric pedal to be stuck; in the above step S2.6, the first threshold value can be set according to actual conditions, and this is not limited in the present invention.

[0031] Furthermore, in the electric pedal anti-collision and anti-pinch control module, a method for enabling the electric pedal to have anti-collision or anti-pinch functions during the closing process comprises the following steps:

[0032] S3.1: start the electric pedal motor;

[0033] S3.2: Determine whether the electric pedal has reached the fully closed position. If it has, stop the electric pedal motor, clear the electric pedal closing failure count C2, and the execution ends; otherwise, proceed to the next step;

[0034] S3.3: Determine whether the motor speed is abnormal. If it is abnormal, return abnormal information that the electric pedal may be hit or clamped to the vehicle and proceed to the next step;

[0035] S3.4: Determine whether the motor current exceeds the second current threshold b, if so, proceed to the next step, otherwise return to step S3.1;

[0036] S3.5: and increase the electric pedal closing failure count C2 by 1;

[0037] S3.6: Determine whether the electric pedal closing failure count C2 is greater than a second threshold value, if so, output the electric pedal closing failure information, otherwise return to step S3.2.

[0038] In the above step S3.3, when the motor speed is less than the calibrated speed value, it is considered that the motor speed is abnormal, indicating that the electric pedal has hit a foreign object or a foreign object has entered during the movement of the electric pedal, causing the electric pedal to be stuck; the second threshold value in the above step S3.6 can be set according to actual conditions, and this is not limited in the present invention.

[0039] A control system for an electric pedal with an ice-breaking function to achieve the second objective of the present invention comprises: an electric pedal ice-breaking control module;

[0040] The electric pedal ice-breaking control module is used to enable the electric pedal to have an ice-breaking function during the process of unfolding or closing according to the number of motor rotations, the motor current, and the motor running time.

[0041] Furthermore, the electric pedal control instruction generation module includes a door lock information acquisition module, a vehicle speed signal acquisition module, and a driver and passenger instruction acquisition module;

[0042] The vehicle door lock information acquisition module is used to obtain the closing state of any vehicle door;

[0043] The vehicle speed signal acquisition module is used to acquire the current vehicle speed;

[0044] The driver and passenger instruction acquisition module is used to acquire the control instructions issued by the driver and passenger to the electric pedal and generate corresponding control instructions.

[0045] Furthermore, the electric pedal ice-breaking control module includes an electric pedal position judgment module, a motor rotation number acquisition module, a motor current acquisition module, a motor on time timing module, and a counting module;

[0046] The electric pedal position determination module is used to determine whether the electric pedal has reached a fully extended or fully closed position;

[0047] The motor rotation number acquisition module is used to obtain the number of rotations of the current electric pedal motor; the purpose of obtaining the number of rotations of the motor is to determine whether the electric pedal is in the ice-breaking range: generally, the scene that requires ice-breaking occurs when the electric pedal just starts to move. For example, if the electric pedal is frozen in cold weather, it is necessary to give the motor a larger current at the initial start to drive the electric pedal motor to break the ice. There is a certain relationship between the number of rotations of the motor and the rotation angle of the motor. The transmission path between the motor and the electric pedal deployment angle is: motor→motor transmission mechanism→electric pedal drive shaft. Every time the motor rotates one circle, the deployment angle or retraction angle of the electric pedal is certain; therefore, the movement range of the electric pedal can be known through the number of rotations of the motor, and then it can be known whether the current electric pedal needs to break the ice. When the number of rotations of the motor is less than a certain set value, it is considered that the current electric pedal needs to break the ice;

[0048] The motor current acquisition module is used to obtain the current current of the electric pedal motor; the purpose of obtaining the motor current is to ensure the safe ice-breaking work; during normal ice-breaking, the motor current is maintained at a first current threshold a greater than the motor's normal working state, a being the current value used for ice-breaking. If the current is greater than the first current threshold a, it indicates that the current flowing through the motor is too large and there is a risk of burning the motor, and the electric pedal is considered to have failed in ice-breaking.

[0049] The motor on-time timing module is used to calculate the on-time of the electric pedal motor; when the ice-breaking time of the electric pedal is too long, it indicates that the electric pedal may fail to break the ice this time.

[0050] The counting module is used to determine whether the number of failures of the electric pedal to open or close has reached a threshold. When the threshold is exceeded, the motor needs to be stopped to protect the motor and the electric pedal itself.

[0051] Furthermore, the method for enabling the electric step to have an ice-breaking function during the process of unfolding or closing includes:

[0052] S4.1: Start the electric pedal motor, the timer T starts counting from zero, and the number of rotations of the motor starts counting from zero;

[0053] S4.2: When the electric pedal needs to be fully unfolded, determine whether the electric pedal has reached the fully unfolded position. If it has reached the fully unfolded position, stop the electric pedal motor, reset the electric pedal opening failure count C3, and end the execution; otherwise, go to step S4.3;

[0054] When the electric pedal needs to be fully closed, determine whether the electric pedal has reached the fully closed position. If it has reached the fully closed position, stop the electric pedal motor, clear the electric pedal closing failure count C4, and end the execution; otherwise, go to step S4.3;

[0055] S4.3: Determine whether the number of revolutions of the motor is less than the set number of revolutions. If so, proceed to the next step, otherwise, the execution ends;

[0056] S4.4: Determine whether the motor current exceeds the first current threshold a, if not, proceed to the next step, otherwise jump to step S4.6;

[0057] S4.5: Determine whether the reading of the timer T exceeds the ice-breaking time threshold T1, or if it does not exceed, return to step 4.2, otherwise proceed to the next step;

[0058] S4.6: When the electric pedal is performing the deployment action, the electric pedal opening failure count C3 is increased by 1;

[0059] When the electric pedal is performing the closing action, the electric pedal closing failure count C4 is increased by 1;

[0060] S4.7: When the electric pedal is performing the unfolding action: determine whether the electric pedal opening failure count C3 is greater than the first threshold value, if it is greater than the first threshold value, output the electric pedal ice-breaking failure information, otherwise return to step S4.2; when the electric pedal is performing the closing action: determine whether the electric pedal closing failure count is greater than the second threshold value, if it is greater than the second threshold value, output the electric pedal ice-breaking failure information, otherwise return to step S4.2.

[0061] In the above step S4.5, the function of judging whether the reading of the timer T exceeds the ice-breaking time threshold T1 is to protect the motor. When the current does not exceed the set ice-breaking current threshold, but the motor running time exceeds the normal ice-breaking time, it is also considered that this round of ice-breaking may fail; the ice-breaking time threshold T1 is calibrated according to the motor characteristics. Generally, the motor is powered on according to the ice-breaking current, and the power-on time when the motor is damaged under this current is tested. Then, the ice-breaking time threshold T1 is set with reference to this time. The ice-breaking time threshold T1 should be shorter than this power-on time. The specific value can be set according to the actual situation. The purpose is to avoid damage to the motor due to long-term operation under a large current.

[0062] A control method for an electric pedal with anti-collision and anti-pinch functions to achieve the third objective of the present invention comprises the following steps:

[0063] S1, generating a control instruction for the electric pedal according to a door signal, a vehicle speed signal, and the driver's or passenger's control intention for the electric pedal;

[0064] When the control instruction of the electric pedal is to unfold the electric pedal, jump to step S2;

[0065] When the control instruction of the electric pedal is to close the electric pedal, jump to step S3;

[0066] S2, starting the motor of the electric pedal to control the electric pedal to unfold, and according to the motor speed and motor current, the electric pedal has an anti-collision or anti-pinch function during the unfolding process;

[0067] S3, starting the motor of the electric pedal to control the electric pedal to close, and according to the motor speed and motor current, making the electric pedal have anti-collision or anti-pinch function during the closing process.

[0068] A control method for an electric pedal with an ice-breaking function to achieve the fourth objective of the present invention comprises the following steps:

[0069] S1, generating a control instruction for the electric pedal according to a door lock signal, a vehicle speed signal, and the driver's or passenger's control intention for the electric pedal;

[0070] When the control instruction of the electric pedal is to unfold the electric pedal, jump to step S2;

[0071] When the control instruction of the electric pedal is to close the electric pedal, jump to step S3;

[0072] S2, starting the motor of the electric step to control the electric step to unfold, and according to the number of motor rotations, the motor current, and the motor running time, the electric step has an ice-breaking function during the unfolding process;

[0073] S3, starting the motor of the electric pedal to control the electric pedal to close, and according to the number of motor rotations, the motor current, and the motor running time, the electric pedal has an ice-breaking function during the closing process.

[0074] Beneficial effects:

[0075] 1. By identifying the ice-breaking area in the electric step movement area, the electric step can achieve the ice-breaking function more accurately;

[0076] 2. The existing control method based on the current in the identification circuit solves the technical problem that the anti-collision and anti-pinch function is easily triggered by mistake when the actuator for opening and closing the electric pedal is frozen by water or mud, causing the electric pedal to be unable to open or close normally. This paper can solve the problem of false triggering of the anti-collision and anti-pinch function by comparing the motor current with the ice-breaking current threshold;

[0077] 3. The present invention solves the technical problem that the existing control method for identifying the radar sensor set on the side pedal cannot operate normally and stably when the pedal is worn or covered with mud, thus causing misidentification. At the same time, this paper does not need to add additional radar sensors, thus saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 It is a schematic diagram of the process in the fifth embodiment of the present invention;

[0079] Figure 2 is a schematic diagram of step S100 in the fifth embodiment of the present invention;

[0080] Figure 3 is a schematic diagram of step S200 in the fifth embodiment of the present invention;

[0081] Figure 4 It is a schematic diagram of step S300 in the fifth embodiment of the present invention.

[0082] Figure 5 is a schematic diagram of a control system of an electric pedal with anti-collision and anti-pinch functions according to the present invention;

[0083] Figure 6 is a schematic diagram of a control system of the electric pedal with ice-breaking function according to the present invention; DETAILED DESCRIPTION

[0084] The following specific implementations are used to explain the technical solutions of the claims of the present invention so that those skilled in the art can understand the claims. The protection scope of the present invention is not limited to the following specific implementation structures. The technical solutions of the claims of the present invention made by those skilled in the art but different from the following specific implementations are also within the protection scope of the present invention.

[0085] In the description of the present invention, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0086] The electric pedal of the present invention is composed of a motor, a motion mechanism, a reducer assembly, a pedal surface, and a controller;

[0087] The motor is used to drive the movement mechanism of the electric pedal to expand and close, and the number of motor rotations and the speed can be obtained through the sensor; for example, a Hall sensor provides a Hall signal for identifying the number of motor rotations and the speed. It can also be other sensors that can obtain the number of motor rotations and the speed. It is not limited to this. As long as the implementation means can obtain the number of motor rotations and the speed, it is applicable to the present invention.

[0088] The motion mechanism is provided with an electric pedal fully closed signal switch and an electric pedal fully opened signal switch; in this embodiment, the electric pedal fully closed signal switch is at a low potential, i.e., when the circuit is disconnected, it represents that the electric pedal is fully closed; the electric pedal fully opened signal switch is at a high potential, i.e., when the circuit is open, it represents that the electric pedal is fully opened. It should be noted that the determination of whether the electric pedal is fully closed or fully opened is not limited to this method, and any other technical means that can determine whether the electric pedal is fully closed or fully opened are applicable to the present invention.

[0089] The speed reducer assembly is used as a transmission mechanism to convert the rotation of the motor into the rotation of the pedal surface rotation shaft, so as to reduce the rotation speed and increase the torque; the controller includes various control modules;

[0090] Embodiment 1

[0091] like Figure 5 The figure shows an embodiment of a control system of an electric pedal with anti-collision and anti-pinch functions, including an electric pedal control instruction generation module and an electric pedal anti-collision and anti-pinch control module;

[0092] The electric pedal control instruction generation module is used to generate the control instruction of the electric pedal according to the door signal, the vehicle speed signal, and the control intention of the driver and passenger on the electric pedal; it includes a door lock information acquisition module, a vehicle speed signal acquisition module, and a driver and passenger instruction acquisition module;

[0093] The door lock information acquisition module is used to obtain the closing state of any door;

[0094] The vehicle speed signal acquisition module is used to obtain the current vehicle speed;

[0095] The driver and passenger command acquisition module is used to acquire the control command issued by the driver and passenger to the electric pedal and generate corresponding control commands;

[0096] The method for generating the control instruction of the electric pedal includes:

[0097] If the door on any side changes from fully closed to partially closed, and the current vehicle speed is less than the first vehicle speed threshold, and the electric pedal is not currently in a fully extended state: it is determined that a control instruction to extend the electric pedal downward is currently required;

[0098] If the door on either side changes from partially closed to fully closed, and the electric pedal is not currently in a fully closed state: it is determined that a control instruction to close the electric pedal is currently required to be issued to the electric pedal;

[0099] Corresponding control instructions are generated according to the control instructions issued by the driver to the electric pedal, and the instructions include unfolding the electric pedal and closing the electric pedal.

[0100] In this embodiment, the first vehicle speed threshold is 5KM / h, but is not limited to this value and can be set according to actual needs;

[0101] The electric pedal anti-collision and anti-pinch control module is used to enable the electric pedal to have anti-collision or anti-pinch functions during the process of unfolding or closing according to the motor speed and motor current; it includes an electric pedal position judgment module, a motor speed acquisition module, a motor current acquisition module, and a counting module;

[0102] The electric pedal position determination module is used to determine whether the electric pedal has reached a fully extended or fully closed position;

[0103] In this embodiment, whether the electric pedal has reached the fully extended position is determined by the electric pedal fully closed signal switch and the electric pedal fully open signal switch. When the electric pedal fully closed signal switch is at a low potential, it represents that the electric pedal is fully closed; when the electric pedal fully open signal switch is at a high potential, it represents that the electric pedal is fully open.

[0104] The motor speed acquisition module is used to obtain the current speed of the electric pedal motor; in this embodiment, the method for obtaining the motor speed is to obtain it through a Hall sensor, but it is not limited to this sensor or this method. Any method that can obtain the motor speed is applicable to the present invention;

[0105] The motor current acquisition module is used to obtain the current current of the electric pedal motor;

[0106] The counting module is used to determine whether the number of failures of the electric pedal to open or close has reached a threshold.

[0107] The method for enabling the electric step to have an anti-collision or anti-pinch function during the deployment process comprises the following steps:

[0108] S2.1: Start the electric pedal motor;

[0109] S2.2: Determine whether the electric pedal has reached the fully deployed position according to the current position of the electric pedal obtained in the electric pedal position determination module. If it has reached the fully deployed position, the electric pedal motor is stopped, the electric pedal opening failure count C1 in the counting module is cleared, and the execution ends; otherwise, proceed to the next step;

[0110] S2.3: According to the motor speed obtained from the motor speed acquisition module, it is determined whether the motor speed is abnormal. If it is abnormal, the abnormal information that the electric pedal may be hit or clamped is returned to the vehicle, and the next step is entered;

[0111] S2.4: judging whether the motor current exceeds the second current threshold b according to the motor current obtained from the motor current acquisition module. In this embodiment, the second current threshold b is set according to the motor characteristics and is 3A in this embodiment. If the motor current exceeds the second current threshold b, proceed to the next step, otherwise return to step S2.1;

[0112] S2.5: and increase the electric pedal opening failure count C1 in the counting module by 1;

[0113] S2.6: Determine whether the electric pedal opening failure count C1 is greater than a first threshold value. If so, output the electric pedal deployment failure information; otherwise, return to step S2.2. In this embodiment, the first threshold value is not limited and can be set according to actual conditions.

[0114] The method for making the electric step have anti-collision or anti-pinch function during the closing process includes the following steps:

[0115] S3.1: start the electric pedal motor;

[0116] S3.2: judging whether the electric pedal has reached the fully closed position according to the current position of the electric pedal obtained in the electric pedal position judging module, if it has reached the fully closed position, stopping the electric pedal motor, clearing the electric pedal closing failure count C2 in the counting module, and the execution ends; otherwise, proceeding to the next step;

[0117] S3.3: According to the motor speed obtained from the motor speed acquisition module, it is determined whether the motor speed is abnormal. If it is abnormal, the abnormal information that the electric pedal may be hit or clamped is returned to the vehicle, and the next step is entered;

[0118] S3.4: judging whether the motor current exceeds the second current threshold b according to the motor current obtained from the motor current acquisition module. In this embodiment, the second current threshold b is determined according to the motor characteristics and is 3A in this embodiment. If the motor current exceeds the second current threshold b, proceed to the next step, otherwise return to step S3.2;

[0119] S3.5: and increase the electric pedal opening failure count C1 in the counting module by 1;

[0120] S3.6: Determine whether the electric pedal opening failure count C2 is greater than the second threshold. If it is greater than the threshold, output the electric pedal closing failure information, otherwise return to step S3.2; in this embodiment, the second threshold is not restricted and can be set according to actual conditions.

[0121] Embodiment 2

[0122] like Figure 6 An embodiment of a control system of an electric pedal with an ice-breaking function is shown, comprising: an electric pedal ice-breaking control module;

[0123] The electric pedal ice-breaking control module is used to enable the electric pedal to have an ice-breaking function during the process of unfolding or closing according to the number of motor rotations, motor current, and motor running time;

[0124] The electric pedal ice-breaking control module includes an electric pedal position judgment module, a motor rotation number acquisition module, a motor current acquisition module, a motor on time timing module, and a counting module;

[0125] The electric pedal position determination module is used to determine whether the electric pedal has reached a fully extended or fully closed position;

[0126] The motor rotation number acquisition module is used to obtain the number of rotations of the current electric pedal motor;

[0127] The motor current acquisition module is used to obtain the current current of the electric pedal motor;

[0128] The timing module is used to calculate the duration of the electric pedal motor being turned on;

[0129] The counting module is used to determine whether the number of failures of the electric pedal to open or close has reached a threshold.

[0130] Methods for enabling the electric running board to have an ice-breaking function during the process of unfolding or closing include:

[0131] S4.1: Start the electric pedal motor, and the timer T in the timing module starts counting from zero, and the number of rotations of the motor starts counting from zero;

[0132] S4.2: When the electric pedal needs to be fully deployed, determine whether the electric pedal has reached the fully deployed position according to the current position of the electric pedal obtained in the electric pedal position determination module. If it has reached the fully deployed position, stop the electric pedal motor, clear the electric pedal start failure count C3 in the counting module, and end the execution; otherwise, go to step S4.3;

[0133] When the electric pedal needs to be fully closed, the electric pedal is judged whether it has reached the fully closed position according to the current position of the electric pedal obtained in the electric pedal position judgment module. If it has reached the fully closed position, the electric pedal motor is stopped, the electric pedal closing failure count C4 in the counting module is cleared, and the execution ends; otherwise, it goes to step S4.3;

[0134] S4.3: judging whether the number of rotations of the motor is less than the set number of rotations according to the number of rotations of the motor obtained from the motor rotation number acquisition module, if so, proceeding to the next step, otherwise the execution ends;

[0135] S4.4: judging whether the motor current exceeds the first current threshold a according to the motor current obtained from the motor current acquisition module, if not, proceeding to the next step, otherwise jumping to step S4.6; the first current threshold a is set according to the motor characteristics, and in this embodiment, the first current threshold a is 7A;

[0136] S4.5: Determine whether the reading of the timer T exceeds the ice-breaking time threshold T1, or if it does not exceed, return to step 4.2, otherwise proceed to the next step;

[0137] S4.6: When the electric pedal is performing the deployment action, the electric pedal opening failure count C3 in the counting module is increased by 1;

[0138] When the electric pedal is performing the closing action, the electric pedal closing failure count C4 in the counting module is increased by 1;

[0139] S4.7: When the electric pedal is performing the unfolding action: determine whether the electric pedal opening failure count C3 in the counting module is greater than the first threshold value, if it is greater than the first threshold value, output the electric pedal ice-breaking failure information, otherwise return to step S4.2; the first threshold value can be set according to actual needs; when the electric pedal is performing the closing action: determine whether the electric pedal closing failure count in the counting module is greater than the second threshold value, if it is greater than the second threshold value, output the electric pedal ice-breaking failure information, otherwise return to step S4.2, the first threshold value can be set according to actual needs.

[0140] Embodiment 3

[0141] A control method for an electric pedal with anti-collision and anti-pinch functions comprises the following steps:

[0142] S1, generating a control instruction for the electric pedal according to a door signal, a vehicle speed signal, and the driver's or passenger's control intention for the electric pedal;

[0143] When the control instruction of the electric pedal is to unfold the electric pedal, jump to step S2;

[0144] When the control instruction of the electric pedal is to close the electric pedal, jump to step S3;

[0145] S2, starting the motor of the electric pedal to control the electric pedal to unfold, and according to the motor speed and motor current, the electric pedal has an anti-collision or anti-pinch function during the unfolding process;

[0146] S3, starting the motor of the electric pedal to control the electric pedal to close, and according to the motor speed and motor current, making the electric pedal have anti-collision or anti-pinch function during the closing process.

[0147] Embodiment 4

[0148] A control method for an electric pedal with an ice-breaking function, characterized in that it comprises the following steps:

[0149] S1, generating a control instruction for the electric pedal according to a door lock signal, a vehicle speed signal, and the driver's or passenger's control intention for the electric pedal;

[0150] S2. Start the motor of the electric step, and enable the electric step to have an ice-breaking function during the unfolding and closing process according to the number of motor revolutions, the motor current, and the motor running time.

[0151] Embodiment 5

[0152] This embodiment also provides a control method for an electric pedal with both anti-collision and anti-pinch and ice-breaking functions, such as Figure 1 As shown, the following steps are included:

[0153] Step S100: obtaining a door lock signal, a vehicle speed signal, and other switch signals, and determining and generating an instruction for the electric pedal to unfold, close, or maintain the status quo;

[0154] Step S200: Control the electric step to unfold, and enable the electric step to have anti-collision and ice-breaking functions during the unfolding process according to the Hall signal, current, and total unfolding time threshold;

[0155] Step S300: Control the electric pedal to close, and enable the electric pedal to have anti-pinch and ice-breaking functions during the closing process according to the Hall signal, current, and all closing time thresholds;

[0156] like Figure 2 The schematic diagram of step S100 is shown, which specifically includes the following steps:

[0157] S101: Acquire a door signal, a vehicle speed signal, and other switch signals. The other switch signals may be instructions input by a physical switch or a virtual switch representing the driver or other passengers' control intentions on the electric pedal, such as prohibiting the electric pedal from being opened in an off-road mode or keeping the electric pedal opened in a car wash mode;

[0158] S102: Analyze the acquired signal to determine whether the door on either side of the door changes from fully closed to partially closed. If so, determine that the input signal is an electric pedal opening signal and proceed to step S103. Otherwise, determine that it is not and proceed to step S105.

[0159] S103: judging the vehicle speed. If the vehicle speed is less than a first vehicle speed threshold, which can be set according to actual conditions, such as 5 km / h, it is judged as yes and the process goes to step S104. Otherwise, it is judged as no and the process goes to step S107.

[0160] S104: judging the current state of the electric pedal, if the electric pedal fully closed switch is at a low potential, it is judged as yes and proceeds to step S200, otherwise it is judged as no and proceeds to step S108;

[0161] S105: Analyze the acquired signal to determine whether the door on either side of the door changes from partially closed to fully closed. If so, determine that the input signal is an electric pedal closing signal and proceed to step S107. Otherwise, determine that it is not and proceed to step S106.

[0162] S106: Analyze the acquired signal to determine whether the vehicle speed is not less than a first vehicle speed threshold, which can be set according to actual conditions, such as 5 km / h. If yes, proceed to step S107; otherwise, it is determined to be no and the execution ends;

[0163] S107: judging the current state of the electric pedal, if the electric pedal fully-on switch is at a high potential, judging as yes, and entering step S300; otherwise, judging as no, and the execution ends;

[0164] S108: judging the current state of the electric pedal, if the electric full-on switch is at a high potential, judging as yes, and proceeding to step S200, otherwise judging as no, and the execution ends;

[0165] like Figure 3 The schematic diagram of step S200 is shown, which specifically includes the following steps:

[0166] S201: start the electric pedal motor and proceed to step S202;

[0167] S202: Determine whether the electric pedal has reached the fully open position, if so, it is determined to be yes and the process goes to step S203, otherwise it is determined to be no and the process goes to step S204;

[0168] S203: Stop the electric pedal motor;

[0169] S204: Determine whether the Hall sensor is abnormal. If the motor rotation signal cannot be obtained from the Hall sensor, it is considered abnormal. If it is abnormal, it is determined to be yes and the process goes to step S205. Otherwise, it is determined to be no and the process goes to step S206. In this embodiment, the Hall sensor is arranged in the motor to calculate the speed and number of rotations of the motor by obtaining the Hall signal.

[0170] S205: Output the Hall sensor abnormality information to the vehicle, and proceed to step S213;

[0171] S206: judging whether the motion mechanism is not in the ice-breaking interval according to the Hall signal, the ice-breaking interval needs to be set according to the calibration, usually set to the area near the full closure and the area near the full extension in the running path, which corresponds to the number of revolutions of the motor. For example, after the motor is started, the motor rotates for a set number of revolutions, which is the ice-breaking interval. If the number of revolutions exceeds the set number, the motion mechanism is not in the ice-breaking interval; if it is not in the ice-breaking interval, it is judged as yes, and the process goes to step S212; if it is in the ice-breaking area, it is judged as no, and the process goes to step S207;

[0172] S207: Determine whether the current of the motor exceeds the first current threshold a for breaking ice. The first threshold a is set according to the motor characteristics. Different motors correspond to different current thresholds a for breaking ice. The first current threshold a for breaking ice should be higher than the current value when the motor is working normally. If the current exceeds the first current threshold a for breaking ice, it is determined to be yes and the process goes to step S209. Otherwise, it is determined to be no and the process goes to step S208.

[0173] S208: Determine whether the time from the start of the command to control the deployment of the electric step exceeds the ice-breaking time threshold T1. If so, it is determined to be yes and the process proceeds to step S209. Otherwise, it is determined to be no and the process proceeds to step S202.

[0174] S209: adding 1 to the electric pedal start failure counter, and proceeding to step S210;

[0175] S210: Determine whether the electric pedal start failure count is greater than a threshold value, if so, it is determined to be yes, and the process proceeds to step S211; otherwise, it is determined to be no, and the process proceeds to step S202;

[0176] S211: outputting electric pedal ice-breaking failure information and entering S300;

[0177] S212: Determine whether the signal period of the Hall sensor is greater than a set threshold value. The set threshold value is 10ms in this embodiment. When the speed of the motor slows down, the signal period of the Hall sensor becomes longer. Therefore, the speed of the motor can be indirectly known through the signal period of the Hall sensor. If the signal period is greater than the set threshold value, it is determined to be yes, and the process goes to step S214. Otherwise, it is determined to be no, and the process goes to step S213.

[0178] S213: Determine whether the motor current exceeds the second current threshold b. In this embodiment, the current threshold b is 3A. If it exceeds, it is determined to be yes and the process goes to step S214. Otherwise, it is determined to be no and the process goes to step S202.

[0179] S214: The electric pedal opening failure count is increased by 1;

[0180] S215: Determine whether the electric pedal start failure count is greater than a threshold value, if so, determine yes and proceed to step S216, otherwise determine no and proceed to step S202;

[0181] S216: Stop the motor, output the electric pedal deployment failure information, and enter S300;

[0182] like Figure 4 The schematic diagram of step S200 is shown, which specifically includes the following steps:

[0183] S301: Reverse the electric pedal motor and proceed to step S302;

[0184] S302: Determine whether the electric pedal has reached the fully closed position. If so, it is determined to be yes and the process goes to step S303; otherwise, it is determined to be no and the process goes to step S304;

[0185] S303: Stop the electric pedal motor;

[0186] S304: Determine whether the Hall sensor is abnormal. If the motor rotation signal cannot be obtained from the Hall sensor, it is considered abnormal. If it is abnormal, it is determined to be yes and the process goes to step S305. Otherwise, it is determined to be no and the process goes to step S306.

[0187] S305: Return the Hall sensor abnormality information to the vehicle and proceed to step S313;

[0188] S306: judging whether the motion mechanism is not in the ice-breaking interval according to the Hall signal, the ice-breaking interval needs to be set according to the calibration, usually set to the area near the full closure and the area near the full extension in the running path, which corresponds to the number of revolutions of the motor. For example, after the motor is started, the motor rotates for a set number of revolutions, which is the ice-breaking interval. If the number of revolutions exceeds the set number, the motion mechanism is not in the ice-breaking interval. If it is not in the ice-breaking area, it is judged to be yes and the process goes to step S312, otherwise it goes to step S307;

[0189] S307: Determine whether the motor current exceeds the first current threshold a for breaking ice. The threshold is set according to the motor characteristics. Different motors correspond to different first current thresholds a for breaking ice. The first current threshold a for breaking ice must be higher than the current value when the motor is working normally. In this embodiment, the current threshold for breaking ice is set to 7A. If it exceeds the first current threshold a for breaking ice, it is determined to be yes and the process goes to step S309. Otherwise, it is determined to be no and the process goes to step S308.

[0190] S308: Determine whether the time from the start of the command to control the deployment of the electric step exceeds the ice-breaking time threshold T1. If so, it is determined to be yes and the process proceeds to step S309. Otherwise, it is determined to be no and the process proceeds to step S302.

[0191] S309: adding 1 to the electric pedal closing failure counter, and proceeding to step S310;

[0192] S310: Determine whether the electric pedal closing failure count is greater than a threshold value, if so, it is determined to be yes, and the process proceeds to step S311; otherwise, it is determined to be no, and the process proceeds to step S302;

[0193] S311: Stop the motor and output the electric pedal ice breaking failure information;

[0194] S312: Determine whether the signal period of the Hall sensor is greater than a set threshold value. The set threshold value is 10ms in this embodiment. When the speed of the motor slows down, the signal period of the Hall sensor becomes longer. Therefore, the speed of the motor can be indirectly known through the signal period of the Hall sensor. If it is greater than the threshold value, it is judged as yes, and the process goes to step S314. Otherwise, it is judged as no, and the process goes to step S313.

[0195] S313: Determine whether the motor current exceeds the current threshold. The current threshold is set according to the motor characteristics. In this embodiment, it is set to 3A. If it exceeds, it is determined to be yes and the process goes to step S314. Otherwise, it is determined to be no and the process goes to step S302.

[0196] S314: the electric pedal closing failure count is increased by 1;

[0197] S315: Determine whether the electric pedal closing failure count is greater than a threshold value, if so, determine yes and proceed to step S316, otherwise determine no and proceed to step S302;

[0198] S316: Stop the motor and output the electric step deployment failure information.

[0199] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0200] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A control system for an electric pedal with anti-collision and anti-pinch functions, characterized in that: It includes an electric pedal control instruction generation module and an electric pedal anti-collision and anti-pinch control module; The electric pedal control instruction generation module is used to generate the control instruction of the electric pedal according to the door signal, the vehicle speed signal, and the control intention of the driver and the passenger on the electric pedal; The electric pedal anti-collision and anti-pinch control module is used to enable the electric pedal to have anti-collision or anti-pinch functions during the process of unfolding or closing according to the motor speed and motor current; In the electric pedal anti-collision and anti-pinch control module, the method for enabling the electric pedal to have anti-collision or anti-pinch functions during the deployment process comprises the following steps: S2.1: Start the electric pedal motor; S2.2: Determine whether the electric pedal has reached the fully unfolded position according to the current position of the electric pedal. If it has reached the fully unfolded position, stop the electric pedal motor, clear the electric pedal opening failure count C1, and the execution ends; otherwise, proceed to the next step; S2.3: Determine whether the motor speed is abnormal. If it is abnormal, return abnormal information that the electric pedal may be hit or clamped to the vehicle and proceed to the next step; S2.4: Determine whether the motor current exceeds the second current threshold b, if so, proceed to the next step, otherwise return to step S2.2; S2.5: and increase the electric pedal opening failure count C1 by 1; S2.6: Determine whether the electric pedal opening failure count C1 is greater than a first threshold value, and if so, output electric pedal deployment failure information, otherwise return to step S2.

2.

2. The control system of the electric pedal with anti-collision and anti-pinch functions as claimed in claim 1, characterized in that: The electric pedal control command generation module includes a door lock information acquisition module, a vehicle speed signal acquisition module, and a driver and passenger command acquisition module; The vehicle door lock information acquisition module is used to obtain the closing state of any vehicle door; The vehicle speed signal acquisition module is used to acquire the current vehicle speed; The driver and passenger instruction acquisition module is used to acquire the control instructions issued by the driver and passenger to the electric pedal and generate corresponding control instructions.

3. The control system of the electric pedal with anti-collision and anti-pinch functions as claimed in claim 1, characterized in that: The electric pedal anti-collision and anti-pinch control module includes an electric pedal position judgment module, a motor speed acquisition module, a motor current acquisition module, and a counting module; The electric pedal position determination module is used to determine whether the electric pedal has reached a fully extended or fully closed position; The motor speed acquisition module is used to obtain the current speed of the electric pedal motor; The motor current acquisition module is used to acquire the current current of the electric pedal motor; The counting module is used to determine whether the number of failures of opening or closing the electric pedal reaches a threshold.

4. The control system of the electric pedal with anti-collision and anti-pinch functions according to any one of claims 1 to 3, characterized in that: In the electric pedal anti-collision and anti-pinch control module, the method for enabling the electric pedal to have anti-collision or anti-pinch functions during the closing process comprises the following steps: S3.1: start the electric pedal motor; S3.2: Determine whether the electric pedal has reached the fully closed position. If it has, stop the electric pedal motor, clear the electric pedal closing failure count C2, and the execution ends; otherwise, proceed to the next step; S3.3: Determine whether the motor speed is abnormal. If it is abnormal, return abnormal information that the electric pedal may be hit or clamped to the vehicle and proceed to the next step; S3.4: Determine whether the motor current exceeds the second current threshold b, if so, proceed to the next step, otherwise return to step S3.2; S3.5: and increase the electric pedal closing failure count C2 by 1; S3.6: Determine whether the electric pedal closing failure count C2 is greater than a second threshold value, if so, output the electric pedal closing failure information, otherwise return to step S3.

2.

5. A control system for an electric pedal with ice-breaking function as claimed in claim 1, characterized in that: include: Electric pedal ice breaking control module; The electric pedal ice-breaking control module is used to enable the electric pedal to have an ice-breaking function during the process of unfolding or closing according to the number of motor rotations, the motor current, and the motor running time.

6. The control system of the electric pedal with ice-breaking function as claimed in claim 5, characterized in that: The electric pedal ice-breaking control module includes an electric pedal position judgment module, a motor rotation number acquisition module, a motor current acquisition module, a motor opening time timing module, and a counting module; The electric pedal position determination module is used to determine whether the electric pedal has reached a fully extended or fully closed position; The motor rotation number acquisition module is used to obtain the number of rotations of the current electric pedal motor; The motor current acquisition module is used to acquire the current current of the electric pedal motor; The motor on time timing module is used to calculate the on time of the electric pedal motor; The counting module is used to determine whether the number of failures of opening or closing the electric pedal reaches a threshold.

7. The control system of the electric pedal with ice-breaking function according to claim 5 or 6, characterized in that: In the electric pedal ice-breaking control module, a method for enabling the electric pedal to have an ice-breaking function during the process of unfolding or closing includes: S4.1: Start the electric pedal motor, the timer T starts counting from zero, and the number of rotations of the motor starts counting from zero; S4.2: When the electric pedal needs to be fully unfolded, determine whether the electric pedal has reached the fully unfolded position. If it has reached the fully unfolded position, stop the electric pedal motor, reset the electric pedal opening failure count C3, and end the execution; otherwise, go to step S4.3; When the electric pedal needs to be fully closed, determine whether the electric pedal has reached the fully closed position. If it has reached the fully closed position, stop the electric pedal motor, clear the electric pedal closing failure count C4, and end the execution; otherwise, go to step S4.3; S4.3: Determine whether the number of revolutions of the motor is less than the set number of revolutions. If so, proceed to the next step, otherwise, the execution ends; S4.4: Determine whether the motor current exceeds the first current threshold a, if not, proceed to the next step, otherwise jump to step S4.6; S4.5: Determine whether the reading of the timer T exceeds the ice-breaking time threshold T1, or if it does not exceed, return to step 4.2, otherwise proceed to the next step; S4.6: When the electric pedal is performing the unfolding action, the electric pedal opening failure count C3 is incremented by 1; when the electric pedal is performing the closing action, the electric pedal closing failure count C4 is incremented by 1; S4.7: When the electric pedal is performing the unfolding action: determine whether the electric pedal opening failure count C3 is greater than the first threshold value, if it is greater than the first threshold value, output the electric pedal ice-breaking failure information, otherwise return to step S4.2; when the electric pedal is performing the closing action: determine whether the electric pedal closing failure count is greater than the second threshold value, if it is greater than the second threshold value, output the electric pedal ice-breaking failure information, otherwise return to step S4.

2.

8. A control method for an electric pedal with anti-collision and anti-pinch functions of the system as claimed in claim 1, characterized in that: The steps include: S1, generating a control instruction for the electric pedal according to a door signal, a vehicle speed signal, and the driver's or passenger's control intention for the electric pedal; When the control instruction of the electric pedal is to unfold the electric pedal, jump to step S2; When the control instruction of the electric pedal is to close the electric pedal, jump to step S3; S2, starting the motor of the electric pedal to control the electric pedal to unfold, and according to the motor speed and motor current, the electric pedal has an anti-collision or anti-pinch function during the unfolding process; S3, starting the motor of the electric pedal to control the electric pedal to close, and according to the motor speed and motor current, making the electric pedal have anti-collision or anti-pinch function during the closing process.

9. A method for controlling an electric pedal with ice-breaking function of the system as claimed in claim 5, characterized in that: The steps include: S1, generating a control instruction for the electric pedal according to a door lock signal, a vehicle speed signal, and the driver's or passenger's control intention for the electric pedal; When the control instruction of the electric pedal is to unfold the electric pedal, jump to step S2; When the control instruction of the electric pedal is to close the electric pedal, jump to step S3; S2, starting the motor of the electric pedal to control the electric pedal to unfold, and according to the number of motor rotations, the motor current, and the motor running time, the electric pedal has an ice-breaking function during the unfolding process; S3, starting the motor of the electric pedal to control the electric pedal to close, and according to the number of motor rotations, the motor current, and the motor running time, the electric pedal has an ice-breaking function during the closing process.

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