Pedal type recognition method and vehicle

Abstract

The present application relates to a pedal type identification method and a vehicle, wherein after the replacement of a pedal in a new energy vehicle and the low-voltage power-on of the vehicle, the vehicle controller identifies the pedal type of the corresponding pedal and sends the pedal type to the motor controller. The present application stores the pedal configurations corresponding to different types of pedals in the motor controller. After the motor controller obtains the pedal type from the vehicle controller, the motor controller selects the corresponding pedal configuration according to the pre-stored corresponding relationship between the pedal type and the pedal configuration. The pedal configuration is the voltage value corresponding to the on-off signal output by different types of pedals. Therefore, after the pedal configuration corresponding to the currently installed pedal is selected, the motor controller is set to the pedal configuration, so that the motor controller can accurately identify the on-off signal of the pedal according to the voltage value before responding to the demand torque sent by the vehicle controller, thereby accurately identifying the driving intention.

Description

Technical Field

[0001] This invention relates to a method for identifying pedal type and a vehicle, belonging to the field of new energy vehicles. Background Technology

[0002] During vehicle operation, the accelerator pedal and brake pedal each receive two signals. One is an analog signal sent to the vehicle controller, which interprets the analog signal to determine the corresponding pedal opening and calculates the required torque based on the vehicle's specifications, then sends this to the motor controller. The other is a switch signal sent to the motor controller. To ensure safety, before responding to the required torque from the vehicle controller, the motor controller first identifies the driver's intention based on the switch signal. For example, before responding to the acceleration torque from the vehicle controller, it should at least determine through the switch signal that the accelerator pedal is depressed while the brake pedal is not open.

[0003] Specifically, the vehicle controller identifies the pedal opening degree of the corresponding pedal based on the accelerator pedal voltage signal and the brake pedal voltage signal. It then calculates the required torque based on the opening degree and sends the target torque command to the motor controller. Before outputting the corresponding torque according to the target torque command, the motor controller also receives the switching voltage signals reflecting the switching state of the accelerator pedal and the brake pedal via the low-voltage wiring harness. Based on the stored configuration program, the motor controller identifies the pedal switching state corresponding to the received switching voltage signal. For example, the motor controller receives a 3.3V level corresponding to the pedal from the low-voltage wiring harness.

[0004] The system determines whether the current action is the accelerator pedal or the brake pedal based on the switching voltage signal, and then matches it with the target torque command sent by the vehicle controller. When the target torque command received by the motor controller from the vehicle controller contradicts the pedal action data collected autonomously by the motor controller, the motor controller adopts a braking priority scheme to ensure the vehicle remains in a safe state.

[0005] During vehicle use, different types of accelerator and brake pedals can be replaced. The correspondence between the analog voltage signal and the pedal opening is different for different types of pedals. For example, a 5V analog voltage output from one type of pedal corresponds to a pedal opening of 20%, while a 5V analog voltage output from another type of pedal corresponds to a pedal opening of 50%. Therefore, the vehicle controller needs to identify the pedal type and update the configuration program of the corresponding pedal to ensure accurate identification of the pedal opening after acquiring the analog voltage.

[0006] Similarly, different types of pedals exhibit similar issues with their output switching voltage values. Different pedal types may output a high level to represent an "on" state, while a low level may represent the same state; furthermore, the specific voltage values ​​for high and low levels also differ. For example, some pedals output 3.3V to represent a high level, while others output 5V, and so on. Therefore, to ensure the motor controller correctly identifies the driver's intention before responding to torque and to guarantee driving safety, the pedal configuration in the motor controller needs to be reconfigured after replacing the pedals. This allows the motor controller to accurately identify the driver's intention through the switching voltage signal.

[0007] In the existing technology, after the vehicle has replaced different types of pedals, the pedal configuration program in the motor controller needs to be manually updated. There are many types of pedals, and the configuration programs are also numerous, which makes management difficult, the pedal replacement process is cumbersome, and manual operation is prone to errors, which can cause the motor controller to fail to accurately recognize the driver's intentions, affecting the driving experience and even posing a driving safety hazard. Summary of the Invention

[0008] The purpose of this invention is to provide a method and vehicle for identifying pedal type, in order to solve the problem that manual configuration is required when changing pedals due to vehicle age, which is cumbersome, prone to errors, and leads to safety hazards.

[0009] To achieve the above objectives, the present invention includes: This invention discloses a pedal type recognition method. After replacing a pedal, the pedal is communicatively connected to the vehicle controller, and also hardwired to the motor controller so that the motor controller can recognize the driving intention through the corresponding pedal's switching signal. After the vehicle is powered on at low voltage, the vehicle controller recognizes the pedal type of the corresponding pedal and sends the corresponding pedal type to the motor controller. After determining the corresponding pedal type, the motor controller determines the corresponding pedal configuration based on the pre-obtained correspondence between pedal type and pedal configuration and completes the setting of the corresponding pedal configuration. The pedal configuration is used to enable the motor controller to recognize the switching signal based on the received voltage value of the corresponding pedal, thereby recognizing the driving intention.

[0010] The pedal type identification method provided by this invention, after replacing pedals in a new energy vehicle and energizing the vehicle at low voltage, allows the vehicle controller to identify the corresponding pedal type and send it to the motor controller. This invention stores the pedal configurations corresponding to different pedal types in the motor controller. After obtaining the pedal type from the vehicle controller, the motor controller selects the corresponding pedal configuration based on the pre-stored correspondence between pedal types and pedal configurations. The pedal configuration is the voltage value corresponding to the switching signal output by different pedal types. Therefore, after selecting the pedal configuration corresponding to the currently installed pedal, the motor controller sets it to that configuration, enabling the motor controller to accurately identify the pedal's switching state (i.e., the pedal's on / off state) based on the voltage value before responding to the required torque sent by the vehicle control, thereby accurately identifying the driving intention (i.e., whether the driver has actually pressed the corresponding pedal).

[0011] Furthermore, after replacing the pedal, the motor controller collects the voltage value output by the current state of the corresponding pedal, and identifies the pedal type of the corresponding pedal based on the pre-obtained correspondence between the pedal type and voltage value of different pedals; when the pedal type identified by the motor controller matches the pedal type received from the vehicle controller, the determination of the pedal type of the corresponding pedal is completed.

[0012] Furthermore, after changing the pedal, to more safely and accurately identify driving intentions, since different types of pedals correspond to different voltages when not pressed, the switching quantities corresponding to different voltage values ​​also differ. Therefore, the motor controller directly acquires the voltage value output by the pedal in its current state via hard wiring. The motor controller can directly determine the corresponding pedal type based on the pre-stored correspondence between pedal type and voltage value.

[0013] To ensure the accuracy of pedal type identification, the corresponding pedal is determined only when the pedal type determined by the motor controller based on the vehicle controller matches the pedal type determined by the motor controller based on the collected voltage value.

[0014] Furthermore, the vehicle controller sends the pedal type of the corresponding pedal to the motor controller via a CAN message with a type flag bit; when the motor controller identifies the same pedal type based on the type flag bit a certain number of times in a row, it uses the corresponding pedal type as the pedal type received by the vehicle controller.

[0015] When the vehicle controller identifies the pedal type, it generates a CAN message and sends it to the motor controller. The motor controller pre-stores type flags corresponding to various pedal type CAN messages. When the vehicle controller sends a CAN message to the motor controller, the motor controller can determine the pedal type based on the correspondence between the CAN message and its corresponding type flag. Furthermore, to improve accuracy and prevent errors, only when the CAN messages and their corresponding type flags match the same pedal type a set number of times consecutively, will that pedal type be accepted as the pedal type received by the motor controller from the vehicle controller.

[0016] Furthermore, when the motor controller continuously sets a number of times and identifies the pedal type as the same based on the voltage value output by the corresponding pedal in its current state, the corresponding pedal type will be used as the pedal type identified by the motor controller.

[0017] To ensure that the pedal type identified by the motor controller through hard-wired identification is more accurate, the pedal type is only considered to be the pedal type identified by the motor controller if the pedal type identified by the collected voltage value is the same for several consecutive times.

[0018] This invention also provides a pedal type recognition method. After replacing the pedal, the pedal is hard-wired to a motor controller so that the motor controller can recognize the driving intention through the corresponding pedal's switching signal. The motor controller collects the voltage value output by the current state of the corresponding pedal and, based on a pre-obtained correspondence between the corresponding pedal type and the voltage value, identifies the pedal type of the corresponding pedal from the voltage value output by the current state. After determining the pedal type, the motor controller determines the corresponding pedal configuration based on a pre-obtained correspondence between the pedal type and the pedal configuration and completes the setting of the corresponding pedal configuration. The pedal configuration is used to enable the motor controller to recognize the switching signal based on the received voltage value of the corresponding pedal, thereby recognizing the driving intention.

[0019] This invention also provides a pedal type identification method. After replacing pedals in a new energy vehicle, and after the vehicle is powered on at low voltage, different types of pedals correspond to different voltages when not pressed, resulting in different switching quantities at different voltage values. Therefore, the motor controller directly collects the voltage value output by the pedal in its current state via hard wiring. The motor controller can directly determine the corresponding pedal type based on the pre-stored correspondence between pedal type and voltage value. After determining the pedal type, the motor controller selects the corresponding pedal configuration based on the pre-stored correspondence between pedal type and pedal configuration. The pedal configuration is the voltage value corresponding to the switching signal output by different types of pedals. Therefore, after selecting the pedal configuration corresponding to the currently installed pedal, the motor controller sets it to that pedal configuration, enabling the motor controller to accurately identify the switching quantity (i.e., the pedal's on / off state) of the pedal based on the voltage value before responding to the required torque sent by the vehicle control, thereby accurately identifying the driving intention (i.e., whether the driver has actually pressed the corresponding pedal).

[0020] Furthermore, after the pedal is replaced, the pedal is also connected to the vehicle controller for communication. After the vehicle is powered on at low voltage, the vehicle controller identifies the pedal type of the corresponding pedal and sends the corresponding pedal type to the motor controller. When the pedal type identified by the motor controller matches the pedal type received from the vehicle controller, the determination of the corresponding pedal type is completed.

[0021] Simultaneously, after replacing the pedal and powering on the vehicle at low voltage, the vehicle controller identifies the corresponding pedal type and sends it to the motor controller. To ensure accurate pedal type identification, the pedal type is only confirmed if the pedal type determined by the motor controller based on the vehicle controller matches the pedal type determined by the motor controller based on the collected voltage value.

[0022] Furthermore, the vehicle controller sends the pedal type of the corresponding pedal to the motor controller via a CAN message with a type flag bit; when the motor controller identifies the same pedal type based on the type flag bit a certain number of times in a row, it uses the corresponding pedal type as the pedal type received by the vehicle controller.

[0023] When the vehicle controller identifies the pedal type, it generates a CAN message and sends it to the motor controller. The motor controller pre-stores type flags corresponding to various pedal type CAN messages. When the vehicle controller sends a CAN message to the motor controller, the motor controller can determine the pedal type based on the correspondence between the CAN message and its corresponding type flag. Furthermore, to improve accuracy and prevent errors, only when the CAN messages and their corresponding type flags match the same pedal type a set number of times consecutively, will that pedal type be accepted as the pedal type received by the motor controller from the vehicle controller.

[0024] Furthermore, when the motor controller continuously sets a number of times and identifies the pedal type as the same based on the voltage value output by the corresponding pedal in its current state, the corresponding pedal type will be used as the pedal type identified by the motor controller.

[0025] To ensure that the pedal type identified by the motor controller through hard-wired identification is more accurate, the pedal type is only considered to be the pedal type identified by the motor controller if the pedal type identified by the collected voltage value is the same for several consecutive times.

[0026] The present invention also provides a vehicle, including a pedal, a vehicle controller, and a motor controller. The vehicle controller is connected to the pedal and is used to acquire the pedal opening degree. The motor controller is connected to the pedal and is used to identify the driving intention based on the switching signal of the corresponding pedal. The vehicle controller is connected to the motor controller and is used to send the required torque calculated based on the pedal opening degree to the motor controller. The vehicle controller and the motor controller execute corresponding instructions to realize the above-mentioned pedal type identification method. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the low-voltage wiring harness connection between the vehicle controller and the motor controller; Figure 2 This is a flowchart of the accelerator and brake type identification method. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings.

[0029] Method Implementation Examples: This invention provides a pedal type identification method, which is executed based on a vehicle system, such as... Figure 1 As shown, the system includes an accelerator pedal, a brake pedal, a vehicle controller, and a motor controller. Both the accelerator and brake pedals have one analog input and one digital input. The analog input of the accelerator and brake pedals is connected to the vehicle controller; the digital input of the accelerator and brake pedals is connected to the motor controller. The vehicle controller is communicatively connected to the motor controller.

[0030] In this invention, when replacing the accelerator and brake pedals in a new energy vehicle, the vehicle controller obtains the type of the accelerator and brake pedals and generates a CAN message to send the pedal type to the motor controller. The motor controller stores the type flag bits corresponding to the CAN messages of all pedal types, and can directly determine the pedal type of the accelerator and brake pedals based on the CAN message sent by the vehicle controller.

[0031] Furthermore, because the voltage values ​​of different accelerator and brake pedals differ when they are not depressed, the corresponding "off" states in the switching signals are different. Similarly, the voltage values ​​of the accelerator and brake pedals will differ when they are depressed, resulting in different "on" states in the switching signals. Therefore, the motor controller also directly acquires the voltage values ​​of the accelerator and brake pedals via hard-wired connections. The motor controller stores the correspondence between different types of accelerator and brake pedals and their voltage values. Thus, when the motor controller acquires the current voltage values ​​of the accelerator and brake pedals, it can determine the pedal type based on the correspondence between pedal type and voltage value.

[0032] Based on the above, this invention proposes a method for identifying accelerator and brake types, such as... Figure 2 As shown, the specific steps include the following.

[0033] 1) After the vehicle is powered on at low voltage, the vehicle controller sends pedal information.

[0034] Different manufacturers install different types of accelerator and brake pedals in new energy vehicles. The vehicle controller automatically identifies the type of accelerator and brake pedal installed on the vehicle and uploads the pedal type to the vehicle's CAN network. The motor controller receives the message information from the accelerator and brake pedals through the vehicle's CAN network. Simultaneously, the motor controller stores type flags for different types of accelerator and brake pedals, with each type of message corresponding to a different type flag. The motor controller verifies the message information received from the CAN network against the type flags stored internally. If the verification is successful, it outputs the corresponding pedal model for the accelerator and brake pedals.

[0035] After the vehicle is powered on at low voltage, and the accelerator and brake pedals are not activated, the vehicle controller uploads the pedal information of the accelerator and brake pedals to the vehicle's CAN network. The motor controller receives the pedal information of the accelerator and brake pedals through the vehicle's CAN network. When the time T for the motor controller to receive the message information generated by the pedal type exceeds T1, the vehicle's instrument panel will display a message information reception timeout message. Each time the motor controller receives a message information from the vehicle's CAN network, it verifies the message information against the corresponding type flag bit. This verification allows the motor controller to determine the pedal type of the accelerator and brake pedals installed in the vehicle. Simultaneously, each time the motor controller receives a message information, the message information reception count (A) increments by one. When the message information reception count exceeds a set number, the vehicle's instrument panel will cancel the message information reception timeout message previously displayed when the motor controller experienced a timeout.

[0036] During the process of verifying the message information received by the motor controller against the corresponding type flag, if the type flags for the accelerator and brake pedals are lost, the message reception count is reset to zero. Similarly, if the message information for the accelerator and brake pedals does not match the type flags pre-stored by the motor controller (i.e., the pedal type in the message information received by the motor controller is not present in the pre-stored pedal types), the message reception count is also reset to zero. This process continues until the message information and type flag verification is completed a set number of times before the corresponding pedal type is output. At this point, the corresponding pedal type for each pedal has been determined, and the message reception timeout message displayed on the vehicle's instrument panel can be canceled.

[0037] 2) After the vehicle is powered on at low voltage, the motor controller determines the pedal switching information.

[0038] Different models of accelerator and brake pedals have different voltage values ​​when not depressed, and therefore the corresponding switching quantities are also different. For example, the voltage value of accelerator pedal #1 when not depressed is 3V, so the "off" quantity in the switching quantity corresponding to 3V voltage is low level under this model; the voltage value of accelerator pedal #2 when not depressed is 4V, so the "off" quantity in the switching quantity corresponding to 4V voltage is low level under this model.

[0039] Therefore, after the vehicle is powered on at low voltage, the accelerator and brake pedals are not activated. The motor controller collects the voltage values ​​of the accelerator and brake pedals. Since the "off state" in the switching parameters corresponds to different voltage values ​​for different models of accelerator and brake pedals when they are not activated, the "off state" can be determined based on the currently collected voltage value. Based on the corresponding "off state," the pedal type for the current accelerator and brake pedals can be determined.

[0040] Throughout the process, if the time T0 for the motor controller to acquire the voltage value is greater than T2, the vehicle's instrument panel will display a pedal voltage reception timeout warning. After acquiring the voltage values ​​of different pedals, the motor controller determines the "off" state in the switch quantity based on the acquired voltage values, and then determines the corresponding pedal type based on the "off" state. Simultaneously, each time the motor controller acquires a voltage value from a different pedal, it increments the voltage reception count (B) by one. When the voltage reception count exceeds a set number, the vehicle's instrument panel will cancel the pedal voltage reception timeout warning.

[0041] During the process of the motor controller verifying the voltage values ​​of different pedals against the corresponding "off" switch inputs, if an abnormal voltage value is detected, the voltage reception count is reset to zero. This process continues until the voltage value and "off" switch input verification is completed several times consecutively before the corresponding pedal type is output. At this point, the corresponding pedal type for each pedal has been determined, and the pedal voltage reception timeout message displayed on the car's instrument panel can be canceled.

[0042] 3) The motor controller will receive the pedal information from the vehicle controller to determine the pedal type, and verify it with the pedal type determined by the motor controller based on the pedal voltage information.

[0043] The accelerator and brake pedal types are adjusted when the vehicle is powered on at low voltage. The throttle controller determines the pedal type through the vehicle controller, and also determines the corresponding pedal type by collecting the voltage values ​​of the accelerator and brake pedals. These two are verified. If the pedal type received by the motor controller matches the pedal type identified by the motor controller, the vehicle's instrument panel indicates successful pedal verification. After successful verification, the motor controller sends a flag to the vehicle to allow high-voltage power-on. After the vehicle's high-voltage power-on is complete, the successfully verified type flag is latched, and pedal type verification is no longer performed after power-on. If the pedal type received by the motor controller does not match the pedal type identified by the motor controller, the verification fails, high-voltage power-on is not allowed, and the vehicle's instrument panel displays a pedal verification failure message.

[0044] When the pedal type determined by the vehicle controller matches the pedal type determined by collecting voltage values ​​from the accelerator and brake pedals, the motor controller determines the corresponding pedal type. The motor controller also stores pedal configurations for different pedal types, which are the voltage values ​​corresponding to the switching signals output by different pedal types. After determining the pedal type, the motor controller sets the corresponding pedal configuration. Once the motor controller completes the pedal configuration, after the vehicle is powered on, there is no need to verify the pedal type again. As long as the corresponding pedal is activated, the switching signal can be determined based on the voltage value of the corresponding pedal according to the pedal configuration, thereby accurately identifying the driver's driving intention.

[0045] Vehicle Example: This invention also provides a vehicle, including an accelerator pedal, a brake pedal, a vehicle controller, and a motor controller. The vehicle controller is connected to the accelerator and brake pedals and is used to acquire the pedal opening degree; the motor controller is connected to the accelerator and brake pedals and is used to identify driving intentions based on the on / off signals of the corresponding pedals; the vehicle controller is connected to the motor controller and is used to send the required torque calculated based on the pedal opening degree to the motor controller; the vehicle controller and the motor controller execute corresponding instructions to implement the pedal type identification method. The pedal type identification method has been clearly described in the method embodiments and will not be repeated here.

Claims

1. A method for identifying pedal type, characterized in that, After replacing the pedal, connect the pedal to the vehicle controller for communication, and also connect the pedal to the motor controller via hardwire so that the motor controller can identify the driving intention through the corresponding pedal's switch signal. After the vehicle is powered on at low voltage, the vehicle controller identifies the pedal type of the corresponding pedal and sends the pedal type to the motor controller. After determining the pedal type, the motor controller determines the corresponding pedal configuration based on the pre-obtained correspondence between pedal type and pedal configuration and completes the setting of the corresponding pedal configuration. The pedal configuration is used to enable the motor controller to identify the switching signal based on the received voltage value of the corresponding pedal and thus identify the driving intention.

2. The pedal type identification method according to claim 1, characterized in that, After the pedal is replaced, the motor controller collects the voltage value output by the current state of the corresponding pedal, and identifies the pedal type of the corresponding pedal by the voltage value output by the current state based on the pre-obtained correspondence between the pedal type and the voltage value of different pedals. When the pedal type identified by the motor controller matches the pedal type received from the vehicle controller, the pedal type of the corresponding pedal is determined.

3. The pedal type identification method according to claim 2, characterized in that, The vehicle controller sends the pedal type of the corresponding pedal to the motor controller via a CAN message with a type flag bit; when the motor controller identifies the same pedal type based on the type flag bit a certain number of times in a row, it will use the corresponding pedal type as the pedal type received by the vehicle controller.

4. The pedal type identification method according to claim 3, characterized in that, When the motor controller continuously sets a number of times and identifies the pedal type as the same based on the voltage value output by the corresponding pedal in its current state, the corresponding pedal type will be used as the pedal type identified by the motor controller.

5. A method for identifying pedal type, characterized in that, After replacing the pedal, connect the pedal to the motor controller via hardwire so that the motor controller can recognize the driving intention through the corresponding pedal's on / off signal. The motor controller collects the voltage value output by the corresponding pedal in the current state, and identifies the pedal type of the corresponding pedal by the voltage value output in the current state based on the pre-obtained correspondence between the pedal type and the voltage value. After the motor controller determines the pedal type of the corresponding pedal, it determines the corresponding pedal configuration based on the pre-obtained correspondence between pedal type and pedal configuration and completes the setting of the corresponding pedal configuration. The pedal configuration is used to enable the motor controller to identify the switching signal based on the received voltage value of the corresponding pedal and thus identify the driving intention.

6. The pedal type identification method according to claim 5, characterized in that, After the pedal is replaced, the pedal is still connected to the vehicle controller. After the vehicle is powered on at low voltage, the vehicle controller identifies the pedal type of the corresponding pedal and sends the pedal type of the corresponding pedal to the motor controller. When the pedal type identified by the motor controller matches the pedal type received from the vehicle controller, the determination of the pedal type of the corresponding pedal is completed.

7. The pedal type identification method according to claim 6, characterized in that, The vehicle controller sends the pedal type of the corresponding pedal to the motor controller via a CAN message with a type flag bit; when the motor controller identifies the same pedal type based on the type flag bit a certain number of times in a row, it will use the corresponding pedal type as the pedal type received by the vehicle controller.

8. The pedal type identification method according to claim 7, characterized in that, When the motor controller continuously sets a number of times and identifies the pedal type as the same based on the voltage value output by the corresponding pedal in its current state, the corresponding pedal type will be used as the pedal type identified by the motor controller.

9. A vehicle, comprising pedals, a vehicle controller, and a motor controller, wherein the vehicle controller is connected to the pedals and is used to acquire pedal opening degree; The motor controller is connected to the pedal and is used to identify driving intentions based on the switching signals of the corresponding pedal. The vehicle controller is connected to the motor controller and is used to send the required torque calculated based on the pedal opening to the motor controller; characterized in that the vehicle controller and the motor controller execute corresponding instructions to realize the pedal type identification method as described in claim 1.

10. The vehicle according to claim 9, characterized in that, After the pedal is replaced, the motor controller collects the voltage value output by the current state of the corresponding pedal, and identifies the pedal type of the corresponding pedal by the voltage value output by the current state based on the pre-obtained correspondence between the pedal type and the voltage value of different pedals. When the pedal type identified by the motor controller matches the pedal type received from the vehicle controller, the pedal type of the corresponding pedal is determined.

11. The vehicle according to claim 10, characterized in that, The vehicle controller sends the pedal type of the corresponding pedal to the motor controller via a CAN message with a type flag bit; when the motor controller identifies the same pedal type based on the type flag bit a certain number of times in a row, it will use the corresponding pedal type as the pedal type received by the vehicle controller.

12. The vehicle according to claim 11, characterized in that, When the motor controller continuously sets a number of times and identifies the pedal type as the same based on the voltage value output by the corresponding pedal in its current state, the corresponding pedal type will be used as the pedal type identified by the motor controller.

13. A vehicle, comprising pedals, a vehicle controller, and a motor controller, wherein the vehicle controller is connected to the pedals and is used to acquire pedal opening degree; The motor controller is connected to the pedal and is used to identify driving intentions based on the switching signals of the corresponding pedal. The vehicle controller is connected to the motor controller and is used to send the required torque calculated based on the pedal opening to the motor controller; characterized in that the vehicle controller and the motor controller execute corresponding instructions to realize the pedal type identification method as described in claim 5.

14. The vehicle according to claim 13, characterized in that, After the pedal is replaced, the pedal is still connected to the vehicle controller. After the vehicle is powered on at low voltage, the vehicle controller identifies the pedal type of the corresponding pedal and sends the pedal type of the corresponding pedal to the motor controller. When the pedal type identified by the motor controller matches the pedal type received from the vehicle controller, the determination of the pedal type of the corresponding pedal is completed.

15. The vehicle according to claim 14, characterized in that, The vehicle controller sends the pedal type of the corresponding pedal to the motor controller via a CAN message with a type flag bit; when the motor controller identifies the same pedal type based on the type flag bit a certain number of times in a row, it will use the corresponding pedal type as the pedal type received by the vehicle controller.

16. The vehicle according to claim 15, characterized in that, When the motor controller continuously sets a number of times and identifies the pedal type as the same based on the voltage value output by the corresponding pedal in its current state, the corresponding pedal type will be used as the pedal type identified by the motor controller.

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