A drive-by-wire chassis pedal simulator and method of pedal force control

Abstract

The application discloses a kind of drive-by-wire chassis pedal simulator and pedal force control method, including middle shell, the inside one side of the middle shell is provided with coil framework, the inside fixed connection of the coil framework is electric permanent magnet, the side of the middle shell close to electric permanent magnet is provided with rear shell, the side of push rod front section is symmetrically provided with stroke sensor, the side of the middle shell close to stroke sensor is provided with controller, one end of the middle shell is provided with mounting plate, the side of the mounting plate is fixedly connected with front shell, the end of the middle shell close to mounting plate is fixedly connected with piston, the simulation of pedal feedback force is realized using adjustable electric permanent magnet and spring, compared with traditional hydraulic pedal simulator, it has the advantage of freely adjusting pedal force;Since brake fluid is not needed, brake fluid pot, main cylinder and other components are no longer needed, with the advantages of simple structure, more environmental protection and the like.

Description

Technical Field

[0001] This invention belongs to the technical field of drive-by-wire chassis pedal simulation equipment, specifically relating to a drive-by-wire chassis pedal simulator and a pedal force control method. Background Technology

[0002] A drive-by-wire chassis pedal simulator and pedal force control method is a device used to simulate pedal signals in a car chassis. It typically uses sensors and control circuits located inside the vehicle to simulate the signals of the accelerator, brake, and clutch pedals. The main purpose of this simulator is to provide a more realistic driving experience in automotive-related testing, training, and simulation applications. The working principle of the drive-by-wire chassis pedal simulator and pedal force control method is to use sensors to detect pedal movement and transmit signals to the control circuit. The control circuit generates simulated pedal signals based on the sensor signals, mimicking the pedal operation effects in a real vehicle. The drive-by-wire chassis pedal simulator and pedal force control method have a wide range of applications, including testing vehicle dynamics and driving comfort by automakers, as well as educational simulations and driver training. It allows for precise control of pedal signals to meet different testing needs and driving scenarios. The advantages of the drive-by-wire chassis pedal simulator and pedal force control method include high repeatability, high control precision, high reliability, and applicability to various car models. It provides a convenient and realistic solution for automotive research and development, testing, and training.

[0003] Traditional pedal simulators are hydraulic pedal simulators. Hydraulic pedal simulators require components such as brake fluid, brake fluid reservoir, and master cylinder. Their overall structure is relatively complex and their environmental performance is not very good, resulting in high operating costs and making it difficult to meet people's needs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a drive-by-wire chassis pedal simulator and pedal force control method, so as to solve the problem that the traditional pedal simulator mentioned in the background art is a hydraulic pedal simulator. The hydraulic pedal simulator requires components such as brake fluid, brake fluid reservoir and master cylinder. Its overall structure is relatively complex and its environmental protection is relatively poor, resulting in high cost and difficulty in meeting people's needs.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a drive-by-wire chassis pedal simulator and a pedal force control method, comprising a middle housing, a coil frame disposed on one side inside the middle housing, an electro-permanent magnet fixedly connected inside the coil frame, a rear housing disposed on the side of the middle housing near the electro-permanent magnet, stroke sensors symmetrically disposed on one side of the front section of the push rod, a controller disposed on the side of the middle housing near the stroke sensors, a mounting plate disposed at one end of the middle housing, a front housing fixedly connected to one side of the mounting plate, a piston fixedly connected to the end of the middle housing near the mounting plate, a permanent magnet and a push rod mounting seat fixedly connected to the left and right ends of the piston, a rear section of the push rod fixedly connected to the end of the push rod mounting seat near the mounting plate, a front section of the push rod engaging with the end of the rear section of the push rod, a rubber spring fixedly connected to the side of the front section of the push rod near the electro-permanent magnet, and a helical spring fixedly connected between the rubber spring and the permanent magnet.

[0006] Preferably, a coil is disposed on the outer side of the coil frame.

[0007] Preferably, the rear housing is fixedly connected to the middle housing by rear housing mounting bolts.

[0008] Preferably, the stroke sensor is fixedly connected to the middle housing by sensor mounting bolts.

[0009] Preferably, the controller is fixedly connected to the middle housing by controller mounting bolts.

[0010] Preferably, the mounting plate is fixedly connected to the middle housing via front housing mounting bolts, and simulator mounting bolts are fixedly connected to each of the four corners on one side of the mounting plate.

[0011] Preferably, a dust cover is fixedly connected to the side of the front housing near the front section of the push rod, and the rear section of the push rod is located inside the dust cover.

[0012] Preferably, a piston ring is fixedly connected to the outer side of the inner housing near the piston.

[0013] A method for controlling pedal force in a drive-by-wire chassis pedal simulator includes the following steps;

[0014] Step 1: Press down the pedal from the initial state. In the initial stage, the magnetic force is weak and can be ignored because the distance between the permanent magnet and the rechargeable magnet is large. At this time, the pedal force is mainly provided by the helical spring, and the pedal force curve is represented by segment AB.

[0015] Step 2: As the pedal is gradually pressed down, the magnetic force between the permanent magnet and the rechargeable magnet gradually increases as the distance decreases. At this time, the pedal force is provided by the magnetic force and the helical spring, and the pedal force curve is shown as segment BC. When the pedal is fully depressed, the piston of the pedal simulator contacts the rubber spring. After that, if the pedal is continued to be pressed, the pedal force rises sharply, and the pedal force curve is shown as segment CD. The controller of the pedal simulator applies an appropriate pulse current to the coil according to the pedal force curve selected by the driver, quantitatively magnetizes or demagnetizes the rechargeable magnet, and adjusts the magnetic flux of the rechargeable magnet to the target value, thereby completing the setting of the pedal force curve.

[0016] Step 3: The initial pedal force curve is set as ABCD. The AB segment is mainly due to the spring force of the coil spring, the BC segment is due to the combined action of the magnetic field force and the coil spring, and the CD segment is due to the combined action of the magnetic field force, the coil spring, and the rubber spring.

[0017] Step 4: The area between curves A1-B1-C1-D1 and A2-B2-C2-D2 is the range where the pedal force can be freely set and adjusted, and users can adjust it according to their needs.

[0018] Compared with the prior art, the present invention provides a drive-by-wire chassis pedal simulator and a pedal force control method, which has the following beneficial effects:

[0019] 1. This invention provides a drive-by-wire chassis pedal simulator and pedal force control method. It uses an adjustable electro-permanent magnet and a spring to simulate pedal feedback force, which has the advantage of being able to freely adjust the pedal force compared to traditional hydraulic pedal simulators. Since no brake fluid is required, there is no need for brake fluid reservoirs, master cylinders and other components, which has the advantages of simple structure and more environmental protection.

[0020] 2. This invention achieves quantitative magnetization or demagnetization of the electro-permanent magnet by applying a specific pulse current to the coil, thereby enabling free control of the pedal force. After the electro-permanent magnet has completed quantitative magnetization or demagnetization, its magnetic field force can be maintained for a long time without the need for continued power supply. This device is very energy-efficient, has extremely low operating costs, and is highly reliable.

[0021] 3. The pedal simulator device of the present invention integrates two pedal travel sensors. The two pedal travel signals can be respectively sent to the main controller and the backup controller of the steer-by-wire chassis, realizing the redundancy of the control signals of the steer-by-wire system and effectively improving the safety and reliability of the steer-by-wire system.

[0022] 4. The present invention utilizes pulsed current to magnetize or demagnetize an electro-permanent magnet to achieve free control of pedal force, which can effectively improve driving performance and meet users' diverse needs for pedal force.

[0023] The parts of this device not covered herein are the same as or can be implemented using existing technologies. This invention has a scientific and reasonable structure, is safe and convenient to use, and provides great assistance to people. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 This is a schematic diagram of the isometric structure of one side of a drive-by-wire chassis pedal simulator proposed in this invention;

[0026] Figure 2 This is a cross-sectional view of a drive-by-wire chassis pedal simulator proposed in this invention.

[0027] Figure 3 This is a flowchart of a method for adjusting the pedal feel of a drive-by-wire chassis pedal simulator proposed in this invention;

[0028] Figure 4 This is a pedal force curve diagram of a drive-by-wire chassis pedal simulator proposed in this invention;

[0029] Figure 5 This is a limit state diagram of a drive-by-wire chassis pedal simulator proposed in this invention;

[0030] In the diagram: 1. Front section of push rod; 2. Dust cover; 3. Rear section of push rod; 4. Simulator mounting bolt; 5. Mounting plate; 6. Front housing mounting bolt; 7. Push rod mounting seat; 8. Piston; 9. Permanent magnet; 10. Stroke sensor; 11. Helical spring; 12. Rubber spring; 13. Middle housing; 14. Rear housing mounting bolt; 15. Rear housing; 16. Coil frame; 17. Coil; 18. Electro-permanent magnet; 19. Piston ring; 20. Sensor mounting bolt; 21. Front housing; 22. Controller mounting bolt; 23. Controller. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figure 1-5This invention provides a technical solution: a drive-by-wire chassis pedal simulator, including a middle housing 13. A coil frame 16 is disposed on one side inside the middle housing 13, and an electro-permanent magnet 18 is fixedly connected inside the coil frame 16. A method for freely controlling pedal force is achieved by using pulse current to magnetize or demagnetize the electro-permanent magnet, which can effectively improve driving performance and meet the diverse needs of users for pedal force. A rear housing 15 is disposed on the side of the middle housing 13 near the electro-permanent magnet 18. Travel sensors 10 are symmetrically disposed on one side of the front section 1 of the push rod, detecting pedal travel by sensing the magnetic field of the permanent magnet. Two pedal travel signals can be respectively sent to the main controller and backup controller of the drive-by-wire chassis, realizing redundancy of the control signals of the drive-by-wire system and effectively improving the safety of the drive-by-wire system. For full reliability, a controller 23 is provided on the side of the middle housing 13 near the stroke sensor 10. A mounting plate 5 is provided at one end of the middle housing 13. A front housing 21 is fixedly connected to one side of the mounting plate 5. A piston 8 is fixedly connected to the end of the middle housing 13 near the mounting plate 5. A permanent magnet 9 and a push rod mounting seat 7 are fixedly connected to the left and right ends of the piston 8, respectively. A push rod rear section 3 is fixedly connected to the end of the push rod mounting seat 7 near the mounting plate 5. A push rod front section 1 is engaged at one end of the push rod rear section 3. A rubber spring 12 is fixedly connected to the side of the push rod front section 1 near the electro-permanent magnet 18 to realize the pedal limit and provide part of the pedal force when the pedal is fully depressed. A helical spring 11 is fixedly connected between the rubber spring 12 and the permanent magnet 9 to provide part of the pedal feedback force.

[0033] In this invention, preferably, a coil 17 is provided on the outer side of the coil frame 16.

[0034] In this invention, preferably, the rear housing 15 is fixedly connected to the middle housing 13 by the rear housing mounting bolts 14.

[0035] In this invention, preferably, the stroke sensor 10 is fixedly connected to the middle housing 13 by sensor mounting bolts 20.

[0036] In this invention, preferably, the controller 23 is fixedly connected to the middle housing 13 by the controller mounting bolt 22.

[0037] In this invention, preferably, the mounting plate 5 is fixedly connected to the middle shell 13 by the front shell mounting bolts 6, and simulator mounting bolts 4 are fixedly connected to each of the four corners on one side of the mounting plate 5.

[0038] In this invention, preferably, a dust cover 2 is fixedly connected to the side of the front housing 21 near the front section 1 of the push rod, and the rear section 3 of the push rod is located inside the dust cover 2.

[0039] In this invention, preferably, a piston ring 19 is fixedly connected inside the middle housing 13 near the outer side of the piston 8, which provides guidance and reduces frictional resistance.

[0040] A method for controlling pedal force in a drive-by-wire chassis pedal simulator includes the following steps;

[0041] Step 1: Press down the pedal from the initial state. In the initial stage, the magnetic force is weak and can be ignored because the distance between the permanent magnet and the rechargeable magnet is large. At this time, the pedal force is mainly provided by the helical spring, and the pedal force curve is represented by segment AB.

[0042] Step 2: As the pedal is gradually pressed down, the magnetic force between the permanent magnet and the rechargeable magnet gradually increases as the distance decreases. At this time, the pedal force is provided by the magnetic force and the helical spring, and the pedal force curve is shown as segment BC. When the pedal is fully depressed, the piston of the pedal simulator contacts the rubber spring. After that, if the pedal is continued to be pressed, the pedal force rises sharply, and the pedal force curve is shown as segment CD. The controller of the pedal simulator applies an appropriate pulse current to the coil according to the pedal force curve selected by the driver, quantitatively magnetizes or demagnetizes the rechargeable magnet, and adjusts the magnetic flux of the rechargeable magnet to the target value, thereby completing the setting of the pedal force curve.

[0043] Step 3: The initial pedal force curve is set as ABCD. The AB segment is mainly due to the spring force of the coil spring, the BC segment is due to the combined action of the magnetic field force and the coil spring, and the CD segment is due to the combined action of the magnetic field force, the coil spring, and the rubber spring.

[0044] Step 4: The area between curves A1-B1-C1-D1 and A2-B2-C2-D2 is the range where the pedal force can be freely set and adjusted, and users can adjust it according to their needs.

[0045] Example 1

[0046] A drive-by-wire chassis pedal simulator includes a middle housing 13. A coil frame 16 is disposed on one side inside the middle housing 13, and an electro-permanent magnet 18 is fixedly connected inside the coil frame 16. A method of freely controlling pedal force by magnetizing or demagnetizing the electro-permanent magnet using pulsed current can effectively improve driving performance and meet diverse user needs for pedal force. A rear housing 15 is disposed on the side of the middle housing 13 closest to the electro-permanent magnet 18. Travel sensors 10 are symmetrically disposed on one side of the front section 1 of the push rod. The pedal travel is detected by sensing the magnetic field of the permanent magnet. Two pedal travel signals can be respectively sent to the main controller and backup controller of the drive-by-wire chassis, realizing redundancy of the control signals of the drive-by-wire system and effectively improving the safety and reliability of the drive-by-wire system. A controller 23 is provided on the side of the body 13 near the stroke sensor 10. A mounting plate 5 is provided on one end of the middle housing 13. A front housing 21 is fixedly connected to one side of the mounting plate 5. A piston 8 is fixedly connected to the end of the middle housing 13 near the mounting plate 5. A permanent magnet 9 and a push rod mounting seat 7 are fixedly connected to the left and right ends of the piston 8, respectively. A push rod rear section 3 is fixedly connected to the end of the push rod mounting seat 7 near the mounting plate 5. A push rod front section 1 is engaged with one end of the push rod rear section 3. A rubber spring 12 is fixedly connected to the side of the push rod front section 1 near the electro-permanent magnet 18 to realize the pedal limit and provide part of the pedal force when the pedal is fully depressed. A helical spring 11 is fixedly connected between the rubber spring 12 and the permanent magnet 9 to provide part of the pedal feedback force.

[0047] Example 2

[0048] A drive-by-wire chassis pedal simulator includes a coil 17 on the outer side of a coil frame 16, a rear housing 15 fixedly connected to a middle housing 13 via rear housing mounting bolts 14, a stroke sensor 10 fixedly connected to the middle housing 13 via sensor mounting bolts 20, a controller 23 fixedly connected to the middle housing 13 via controller mounting bolts 22, a mounting plate 5 fixedly connected to the middle housing 13 via front housing mounting bolts 6, simulator mounting bolts 4 fixedly connected to each of the four corners on one side of the mounting plate 5, a dust cover 2 fixedly connected to the side of the front housing 21 near the front section 1 of the push rod, the rear section 3 of the push rod being located inside the dust cover 2, and a piston ring 19 fixedly connected to the outer side of the middle housing 13 near the piston 8, providing guidance and reducing frictional resistance.

[0049] Example 3

[0050] A method for controlling pedal force in a drive-by-wire chassis pedal simulator includes the following steps;

[0051] Step 1: Press down the pedal from the initial state. In the initial stage, the magnetic force is weak and can be ignored because the distance between the permanent magnet and the rechargeable magnet is large. At this time, the pedal force is mainly provided by the helical spring, and the pedal force curve is represented by segment AB.

[0052] Step 2: As the pedal is gradually pressed down, the magnetic force between the permanent magnet and the rechargeable magnet gradually increases as the distance decreases. At this time, the pedal force is provided by the magnetic force and the helical spring, and the pedal force curve is shown as segment BC. When the pedal is fully depressed, the piston of the pedal simulator contacts the rubber spring. After that, if the pedal is continued to be pressed, the pedal force rises sharply, and the pedal force curve is shown as segment CD. The controller of the pedal simulator applies an appropriate pulse current to the coil according to the pedal force curve selected by the driver, quantitatively magnetizes or demagnetizes the rechargeable magnet, and adjusts the magnetic flux of the rechargeable magnet to the target value, thereby completing the setting of the pedal force curve.

[0053] Step 3: The initial pedal force curve is set as ABCD. The AB segment is mainly due to the spring force of the coil spring, the BC segment is due to the combined action of the magnetic field force and the coil spring, and the CD segment is due to the combined action of the magnetic field force, the coil spring, and the rubber spring.

[0054] Step 4: The area between curves A1-B1-C1-D1 and A2-B2-C2-D2 is the range where the pedal force can be freely set and adjusted, and users can adjust it according to their needs.

[0055] The working principle and usage process of this invention are as follows: When in use, the pedal is initially pressed down. In the initial stage, due to the large distance between the permanent magnet and the rechargeable magnet, the magnetic force is weak and negligible. At this time, the pedal force is mainly provided by the helical spring, and the pedal force curve is represented by segment AB. As the pedal is gradually pressed down, the magnetic force between the permanent magnet and the rechargeable magnet gradually increases as the distance decreases. At this time, the pedal force is jointly provided by the magnetic force and the helical spring, and the pedal force curve is represented by segment BC. When the pedal is fully depressed, the piston of the pedal simulator contacts the rubber spring. Continuing to press the pedal further causes the pedal force to rise sharply, and the pedal force curve is represented by segment CD. The pedal simulator controller applies a suitable pulse current to the coil according to the pedal force curve selected by the driver, quantitatively magnetizing or demagnetizing the rechargeable magnet, adjusting the magnetic flux of the rechargeable magnet to the target value, thereby completing the setting of the pedal force curve. The initially set pedal force curve is ABCD. Segment AB is mainly due to the spring force of the helical spring, segment BC is due to the combined action of the magnetic force and the helical spring, and segment CD is due to the combined action of the magnetic force, the helical spring, and the rubber spring. The area between curves A1-B1-C1-D1 and A2-B2-C2-D2 is the range where the pedal force can be freely set and adjusted, and users can adjust it according to their needs.

[0056] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for controlling pedal force in a drive-by-wire chassis pedal simulator, characterized in that, Includes the following steps; Step 1: Press down the pedal from the initial state. In the initial stage, the magnetic force is weak and can be ignored because the distance between the permanent magnet and the rechargeable magnet is large. At this time, the pedal force is mainly provided by the helical spring, and the pedal force curve is represented by segment AB. Step 2: As the pedal is gradually pressed down, the magnetic force between the permanent magnet and the rechargeable magnet gradually increases as the distance decreases. At this time, the pedal force is provided by the magnetic force and the coil spring, and the pedal force curve is shown in segment BC. When the pedal is fully depressed, the piston of the pedal simulator contacts the rubber spring. If the pedal is continued to be depressed, the pedal force rises sharply, and the pedal force curve is shown in segment CD. The pedal simulator controller applies an appropriate pulse current to the coil according to the pedal force curve selected by the driver, quantitatively magnetizes or demagnetizes the rechargeable magnet, and adjusts the magnetic flux of the rechargeable magnet to the target value, thereby completing the setting of the pedal force curve. Step 3: The initial pedal force curve is set as ABCD. The AB segment is mainly due to the spring force of the coil spring, the BC segment is due to the combined action of the magnetic field force and the coil spring, and the CD segment is due to the combined action of the magnetic field force, the coil spring, and the rubber spring. Step 4: The area between curves A1-B1-C1-D1 and A2-B2-C2-D2 is the range where the pedal force can be freely set and adjusted, and users can adjust it according to their needs. The drive-by-wire chassis pedal simulator includes a middle housing (13), a coil frame (16) is provided on one side inside the middle housing (13), an electro-permanent magnet (18) is fixedly connected inside the coil frame (16), a rear housing (15) is provided on the side of the middle housing (13) near the electro-permanent magnet (18), a stroke sensor (10) is symmetrically provided on one side of the front section (1) of the push rod, a controller (23) is provided on the side of the middle housing (13) near the stroke sensor (10), a mounting plate (5) is provided at one end of the middle housing (13), and a front housing is fixedly connected to one side of the mounting plate (5). (21) A piston (8) is fixedly connected to one end of the middle shell (13) near the mounting plate (5). A permanent magnet (9) and a push rod mounting seat (7) are fixedly connected to the left and right ends of the piston (8), respectively. A push rod rear section (3) is fixedly connected to one end of the push rod mounting seat (7) near the mounting plate (5). A push rod front section (1) is engaged with one end of the push rod rear section (3). A rubber spring (12) is fixedly connected to one side of the push rod front section (1) near the electro-permanent magnet (18). A helical spring (11) is fixedly connected between the rubber spring (12) and the permanent magnet (9). A coil (17) is provided on the outside of the coil frame (16); a dust cover (2) is fixedly connected to the side of the front housing (21) near the front section (1) of the push rod, and the rear section (3) of the push rod is located inside the dust cover (2); a piston ring (19) is fixedly connected to the outside of the middle housing (13) near the piston (8).

2. The pedal force control method for a drive-by-wire chassis pedal simulator according to claim 1, characterized in that: The rear housing (15) is fixedly connected to the middle housing (13) by rear housing mounting bolts (14).

3. The pedal force control method for a drive-by-wire chassis pedal simulator according to claim 2, characterized in that: The stroke sensor (10) is fixedly connected to the middle housing (13) by sensor mounting bolts (20).

4. The pedal force control method for a drive-by-wire chassis pedal simulator according to claim 3, characterized in that: The controller (23) is fixedly connected to the middle housing (13) by the controller mounting bolts (22).

5. The pedal force control method for a drive-by-wire chassis pedal simulator according to claim 4, characterized in that: The mounting plate (5) is fixedly connected to the middle shell (13) by the front shell mounting bolts (6), and simulator mounting bolts (4) are fixedly connected at the four corners of one side of the mounting plate (5).

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