A control system, sensing system, sensor, controller and terminal device

Abstract

A control system, a sensing system, a sensor, a controller and a terminal device are disclosed. The control system can be applied to the fields of manual driving, automatic driving, intelligent driving, auxiliary driving or networked vehicle, etc. The control system includes a first controller and a second controller, both of which are connected to a sensor. The sensor includes a first sensing module and a second sensing module. The second controller includes a sampling circuit, which includes a first channel and a second channel. The first channel is connected to the first sensing module, and the second channel is connected to the second sensing module. The second controller is configured to acquire a first signal detected by the first sensing module through the first channel, acquire a second signal detected by the second sensing module through the second channel, and determine second opening degree information of a pedal based on the first signal and the second signal. The double channels of the second controller can eliminate the ground bias, thereby improving the reliability of the control system.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a control system, sensing system, sensor, controller and terminal equipment. Background Technology

[0002] In the automotive industry, the accelerator pedal is directly related to the safety of the driver and passengers, making it a critical safety component. Therefore, high-reliability control of the accelerator pedal is becoming increasingly important.

[0003] Currently, the system that controls the accelerator pedal (which can be called an acceleration control system) is as follows: Figure 1 As shown, when the driver presses the accelerator pedal, the accelerator pedal position sensor detects the pedal's opening information (which can also represent the angle or position of the pedal). This information is converted into an electrical signal and transmitted to the controller via cable. The controller processes the received electrical signal and signals from other related systems to obtain a control signal, which is then sent to the actuator to control it to perform the corresponding actions. However, if the controller in the acceleration control system malfunctions during signal processing or fails (or malfunctions), the acceleration control system may fail to output an accurate control signal, or the controller may be unable to control the drive motor, posing a significant safety hazard to the vehicle.

[0004] In summary, improving the reliability of control systems is a pressing technical problem that needs to be solved. Summary of the Invention

[0005] This application provides a control system, a sensing system, a sensor, a controller, and a terminal device to improve the reliability of the control system.

[0006] In a first aspect, this application provides a control system comprising a first controller and a second controller. The first controller is connected to a sensor, and the second controller is also connected to the sensor. The sensor includes a first sensing module and a second sensing module. The second controller includes a sampling circuit (e.g., a multi-channel differential sampling circuit). The sampling circuit includes a first channel and a second channel. The first channel is connected to the first sensing module, and the second channel is connected to the second sensing module. The second controller is used to acquire a first signal detected by the first sensing module through the first channel, acquire a second signal detected by the second sensing module through the second channel, and determine a second pedal opening information based on the first and second signals.

[0007] Based on the above scheme, when the first controller fails, the second controller can take over and continue operating, thus avoiding single-point failure and improving the reliability of the control system. Furthermore, the second controller, including both the first and second channels, can prevent single-point failures and improve the accuracy of opening information (such as second opening information) obtained from sensors.

[0008] In one possible implementation, the second controller is also used to send a second control signal to the actuator, wherein the second control signal is obtained based on the second opening information.

[0009] By sending a second control signal to the actuator through a second controller, the actuator can be controlled by the second controller. For example, if the first controller fails, the second controller can take over control, thereby helping to improve the reliability of the control system.

[0010] In one possible implementation, the first controller is used to acquire a first signal detected by the first sensing module and a second signal detected by the second sensing module, determine the first opening information of the pedal based on the first signal and the second signal, and send a first control signal to the actuator. The first control signal is obtained based on the first opening information.

[0011] The actuator can also be controlled by using the first opening information of the pedal determined by the first controller.

[0012] In one possible implementation, the first channel includes a first analog-to-digital converter (ADC), and the second channel includes a second ADC.

[0013] Specifically, the first ADC includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal; the positive input terminal of the first ADC is connected to the first signal output terminal of the first sensing module, and the negative input terminal of the first ADC is connected to the first ground terminal of the first sensing module; the positive input terminal of the second ADC is connected to the second signal output terminal of the second sensing module, and the negative input terminal of the second ADC is connected to the second ground terminal of the second sensing module.

[0014] In one possible implementation, the second controller further includes a first follower and a second follower. The first ADC is connected to the first sensing module via the first follower, and the second ADC is connected to the second sensing module via the second follower.

[0015] Because voltage followers have high input impedance (e.g., several megaohms) and low output impedance (e.g., several ohms), they can buffer and isolate the sensor, thereby helping to improve the sensor's load-carrying capacity and, in turn, improve the accuracy of the second opening information obtained by the second controller from the sensor.

[0016] In one possible implementation, the first controller includes a first power supply, and the second controller includes a second power supply; the first power supply is used to power the first follower and the second follower; or, the second power supply is used to power the first follower and the second follower.

[0017] By powering the first follower and the second follower with the first power supply of the first controller, it can be ensured that the potential of the ground terminal of the first follower and the second follower is consistent with the potential of the ground terminal of the first controller, without introducing an additional potential difference.

[0018] In one possible implementation, the first controller includes a first power supply, and the second controller includes a second power supply and a power detection module; the power detection module is used to detect a fault in the first power supply and switch the second power supply to power the first follower and the second follower.

[0019] The power detection module enables the second power supply of the second controller to continue supplying power to the first and second followers after the first power supply of the first controller fails, thus allowing the first and second followers to operate.

[0020] In one possible implementation, the control system further includes a first combining module and a second combining module, the first controller includes a first power supply, and the second controller includes a second power supply. The first combining module is used to control the first power supply or the second power supply to power the first sensing module; the second combining module is used to control the first power supply or the second power supply to power the second sensing module.

[0021] The first combining module can provide redundant power to the first sensing module, and the second combining module can provide redundant power to the second sensing module. If the first controller fails or the second controller malfunctions, the control system can still supply power to the sensors, thereby further improving the reliability of the control system.

[0022] Specifically, the first combining module includes a first switch and a second switch. The first end of the first switch is connected to a first power source, and the second end of the first switch is connected to the power supply terminal of the first sensing module. The first end of the second switch is connected to a second power source, and the second end of the second switch is connected to the power supply terminal of the first sensing module. And / or, the second combining module includes a third switch and a fourth switch. The first end of the third switch is connected to the first power source, and the second end of the third switch is connected to the power supply terminal of the second sensing module. The first end of the fourth switch is connected to the second power source, and the second end of the fourth switch is connected to the power supply terminal of the second sensing module.

[0023] In one possible implementation, the first switch may include, for example, a first diode or a first chip; and / or, the second switch may include, for example, a second diode or a second chip.

[0024] In one possible implementation, the first chip has reverse protection and combining functions, providing two power supplies for the first sensing module. The second chip also has reverse protection and combining functions, providing two power supplies for the second sensing module.

[0025] In one possible implementation, the first combining module, the second combining module, and the second controller are integrated on the same printed circuit board; or, at least two of the first combining module, the second combining module, and the second controller are integrated on different printed circuit boards; or, the first combining module, the second combining module, and the first controller are integrated on the same printed circuit board; or, at least two of the first combining module, the second combining module, and the first controller are integrated on different printed circuit boards.

[0026] Secondly, this application provides a controller, which includes a sampling circuit. The sampling circuit includes a first channel and a second channel. The first channel is connected to a first sensing module of a sensor, and the second channel is connected to a second sensing module of the sensor. The controller is used to acquire a first signal detected by the first sensing module through the first channel, acquire a second signal detected by the second sensing module through the second channel, and determine the second opening information of the pedal detected by the sensor based on the first signal and the second signal.

[0027] In one possible implementation, the controller is also used to send a second control signal to the actuator, the second control signal being obtained based on the second opening information.

[0028] In one possible implementation, the first channel includes a first ADC, and the second channel includes a second ADC.

[0029] In one possible implementation, the first ADC includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal; the positive input terminal of the first ADC is connected to the first signal output terminal of the first sensing module, and the negative input terminal of the first ADC is connected to the first ground terminal of the first sensing module; the positive input terminal of the second ADC is connected to the second signal output terminal of the second sensing module, and the negative input terminal of the second ADC is connected to the second ground terminal of the second sensing module.

[0030] In one possible implementation, the controller further includes a first follower and a second follower. The first ADC is connected to a first sensing module via the first follower; the second ADC is connected to a second sensing module via the second follower.

[0031] The technical effects that can be achieved by either of the above two aspects can be referred to the description of the beneficial effects in the first aspect above, and will not be repeated here.

[0032] Thirdly, this application provides a control system, which includes a third controller and a fourth controller. The third controller is connected to a sensor, the fourth controller is connected to a sensor, and the third controller, the fourth controller, and the sensor are all connected together and then grounded.

[0033] Based on the above solution, by grounding the third controller, fourth controller, and sensors together, ground bias can be eliminated while maintaining compatibility with the existing controller structure, thereby improving the accuracy and reliability of the control system. Furthermore, grounding the third controller, fourth controller, and sensors together also enhances the flexibility of the vehicle component layout.

[0034] In one possible implementation, the control system further includes a first combining module and a second combining module, a third controller including a third power supply, a fourth controller including a fourth power supply, and sensors including a first sensing module and a second sensing module; the first combining module is used to control the third power supply or the fourth power supply to power the first sensing module; the second combining module is used to control the third power supply or the fourth power supply to power the second sensing module.

[0035] In one possible implementation, the first combining module includes a first switch and a second switch, the first end of the first switch being connected to a third power supply, the second end of the first switch being connected to a power supply terminal of the first sensing module, the first end of the second switch being connected to a fourth power supply, and the second end of the second switch being connected to a power supply terminal of the first sensing module; and / or, the second combining module includes a third switch and a fourth switch, the first end of the third switch being connected to a third power supply, the second end of the third switch being connected to a power supply terminal of the second sensing module, the first end of the fourth switch being connected to a fourth power supply, and the second end of the fourth switch being connected to a power supply terminal of the second sensing module.

[0036] In one possible implementation, the first switch includes a first diode or a first chip; and / or, the second switch includes a second diode or a second chip.

[0037] In one possible implementation, the first chip has reverse protection and combining functions, providing two power supplies for the first sensing module. The second chip also has reverse protection and combining functions, providing two power supplies for the second sensing module.

[0038] In one possible implementation, the first combining module, the second combining module, and the third controller are integrated on the same printed circuit board; or, at least two of the first combining module, the second combining module, and the third controller are integrated on different printed circuit boards; or, the first combining module, the second combining module, and the fourth controller are integrated on the same printed circuit board; or, at least two of the first combining module, the second combining module, and the fourth controller are integrated on different printed circuit boards.

[0039] The technical effects that can be achieved by any of the above three aspects can be referred to the description of the beneficial effects in the first aspect above, and will not be repeated here.

[0040] Fourthly, this application provides a sensor comprising a first sensing module, a second sensing module, and a processing module. A first terminal of the processing module is connected to the first sensing module, a second terminal of the processing module is connected to the second sensing module, and a third and fourth terminal of the processing module are connected to a third controller. The first and second sensing modules are grounded. The processing module is used to process a first signal detected by the first sensing module into a first digital signal or a first input / output (I / O) bus signal, and send the first digital signal or the first I / O bus signal to the third controller through the third terminal of the processing module; and to process a second signal detected by the second sensing module into a second digital signal or a second I / O bus signal, and send the second digital signal or the second I / O bus signal to the third controller through the fourth terminal of the processing module.

[0041] Based on the above scheme, by integrating a processing module into the sensor, the processing module can process the first signal detected by the first sensing module and the second signal detected by the second sensing module, thereby enhancing the anti-interference capability of the sensor's output signal. Furthermore, the processing module facilitates connection between the sensor and different controllers, helping to reduce the number of cables between the sensor and the controller.

[0042] In one possible implementation, the processing module includes a third ADC or a fifth MCU.

[0043] In one possible implementation, the third and fourth ends of the processing module are also connected to a fourth controller.

[0044] By connecting the processing module to the third and fourth controllers respectively, the reliability of the signals transmitted to the control system can be improved.

[0045] In one possible implementation, the first sensing module is connected to the first and second switches of the first combining module, and the second sensing module is connected to the third and fourth switches of the second combining module.

[0046] The first combining module can provide redundant power to the first sensing module, and the second combining module can provide redundant power to the second sensing module. If the first controller fails or the second controller malfunctions, the control system can still supply power to the sensors, thereby further improving the reliability of the control system.

[0047] In one possible implementation, the sensor further includes a first combining module and / or a second combining module, wherein the first combining module is used to control the third power supply of the third controller or the fourth power supply of the fourth controller to power the first sensing module; and the second combining module is used to control the third power supply or the fourth power supply to power the second sensing module.

[0048] Specifically, the first combining module includes a first switch and a second switch. The first end of the first switch is connected to a third power source, and the second end of the first switch is connected to the power supply terminal of the first sensing module. The first end of the second switch is connected to a fourth power source, and the second end of the second switch is connected to the power supply terminal of the first sensing module. And / or, the second combining module includes a third switch and a fourth switch. The first end of the third switch is connected to the third power source, and the second end of the third switch is connected to the power supply terminal of the second sensing module. The first end of the fourth switch is connected to the fourth power source, and the second end of the fourth switch is connected to the power supply terminal of the second sensing module.

[0049] In one possible implementation, the first switch includes a first diode or a first chip; and / or, the second switch includes a second diode or a second chip.

[0050] In one possible implementation, the first chip has reverse protection and combining functions, providing two power supplies for the first sensing module. The second chip also has reverse protection and combining functions, providing two power supplies for the second sensing module.

[0051] Fifthly, this application provides a sensor comprising a first sensing module, a second sensing module, a first combining module, and a second combining module. The first combining module is connected to the first sensing module, and the second combining module is connected to the second sensing module. The first combining module is also connected to a first controller and a second controller, and the second combining module is also connected to both the first and second controllers. The first combining module controls a first power supply of the first controller or a second power supply of the second controller to power the first sensing module, and the second combining module controls the first power supply or the second power supply to power the second sensing module. Alternatively, the first combining module is also connected to a third controller and a fourth controller, and the second combining module is also connected to both the third and fourth controllers. The first combining module controls a third power supply of the third controller or a fourth power supply of the fourth controller to power the first sensing module, and the second combining module controls the third power supply or the fourth power supply to power the second sensing module.

[0052] The first combining module can provide redundant power to the first sensing module, and the second combining module can provide redundant power to the second sensing module. If the first controller fails or the second controller malfunctions, the control system can still supply power to the sensor, thus ensuring the reliability of the power supply to the sensor.

[0053] In one possible implementation, the first combining module includes a first switch and a second switch, wherein a first end of the first switch is connected to a first power supply, a second end of the first switch is connected to a power supply terminal of the first sensing module, a first end of the second switch is connected to a second power supply, and a second end of the second switch is connected to a power supply terminal of the first sensing module; and / or, the second combining module includes a third switch and a fourth switch, wherein a first end of the third switch is connected to the first power supply, a second end of the third switch is connected to a power supply terminal of the second sensing module, a first end of the fourth switch is connected to the second power supply, and a second end of the fourth switch is connected to a power supply terminal of the second sensing module.

[0054] In one possible implementation, the first switch includes a first diode or a first chip; and / or, the second switch includes a second diode or a second chip.

[0055] In one possible implementation, the first chip has reverse protection and combining functions, and can provide two power supplies for the first sensing module. The second chip also has reverse protection and combining functions, and can provide two power supplies for the second sensing module.

[0056] In a sixth aspect, this application provides a control system including a third controller connected to a third and a fourth terminal of a sensor processing module; the third controller is configured to receive a first digital signal from the third terminal of the processing module and a second digital signal from the fourth terminal of the processing module, and send a second control signal to an actuator, the second control signal being determined based on the first and second digital signals; or, the third controller is configured to receive a first I / O bus signal from the third terminal of the processing module and a second I / O bus signal from the fourth terminal of the processing module, and send a third control signal to an actuator, the third control signal being determined based on the first and second I / O bus signals.

[0057] In one possible implementation, the control system further includes a fourth controller connected to the third and fourth terminals of the processing module; in the event of a failure of the third controller, the fourth controller is configured to receive a first digital signal from the third terminal of the processing module and a second digital signal from the fourth terminal of the processing module, and send a third control signal to the actuator, the third control signal being determined based on the first and second digital signals; or, the fourth controller is configured to receive a first I / O bus signal from the third terminal of the processing module and a second I / O bus signal from the fourth terminal of the processing module, and send a third control signal to the actuator, the third control signal being determined based on the first and second I / O bus signals.

[0058] The technical effects that can be achieved by any of the sixth aspects mentioned above can be referred to the description of the beneficial effects in the fifth aspect mentioned above, and will not be repeated here.

[0059] In a seventh aspect, this application provides a control system comprising a first combining module and a second combining module. The first combining module is connected to a first sensing module of a sensor, and the second combining module is connected to a second sensing module of the sensor. The first combining module is also connected to a first controller and a second controller, and the second combining module is also connected to the first controller and the second controller. The first combining module is used to control a first power supply of the first controller or a second power supply of the second controller to supply power to the first sensing module, and the second combining module is used to control the first power supply or the second power supply to supply power to the second sensing module. Alternatively, the first combining module is also connected to a third controller and a fourth controller, and the second combining module is also connected to the third controller and the fourth controller. The first combining module is used to control a third power supply of the third controller or a fourth power supply of the fourth controller to supply power to the first sensing module, and the second combining module is used to control the third power supply or the fourth power supply to supply power to the second sensing module.

[0060] Based on the above scheme, redundant power supply to the first sensing module can be achieved through the first combining module, and redundant power supply to the second sensing module can be achieved through the second combining module. If the first controller fails or the second controller malfunctions, the control system can still supply power to the sensor, thereby further improving the reliability of the control system.

[0061] In one possible implementation, the first combining module includes a first switch and a second switch, wherein a first end of the first switch is connected to a first power supply, a second end of the first switch is connected to a power supply terminal of the first sensing module, a first end of the second switch is connected to a second power supply, and a second end of the second switch is connected to a power supply terminal of the first sensing module; and / or, the second combining module includes a third switch and a fourth switch, wherein a first end of the third switch is connected to the first power supply, a second end of the third switch is connected to a power supply terminal of the second sensing module, a first end of the fourth switch is connected to the second power supply, and a second end of the fourth switch is connected to a power supply terminal of the second sensing module.

[0062] In one possible implementation, the first switch includes a first diode or a first chip; and / or, the second switch includes a second diode or a second chip.

[0063] In one possible implementation, the first chip has reverse protection and combining functions, providing two power supplies for the first sensing module. The second chip also has reverse protection and combining functions, providing two power supplies for the second sensing module.

[0064] Eighthly, this application provides a sensing system, the control system including a first sensor and a second sensor. The first sensor includes a first sensing module and a second sensing module, and the second sensor includes a third sensing module and a fourth sensing module. Both the first and second sensing modules are connected to a third controller, and both the third and fourth sensing modules are connected to a fourth controller. The first sensing module is used to detect a pedal, obtain a first signal, and send the first signal to the third controller. The second sensing module is used to detect a pedal, obtain a second signal, and send the second signal to the third controller. The third sensing module is used to detect a pedal, obtain a third signal, and send the third signal to the fourth controller. The fourth sensing module is used to detect a pedal, obtain a fourth signal, and send the fourth signal to the fourth controller.

[0065] Based on the above scheme, the sensing system integrates two independent sets of sensors, which can be independently connected to different controllers. Specifically, the first sensor is connected to the first controller, and the second sensor is connected to the second controller. A redundancy mechanism is formed through the dual connection of the first controller (a traditional vehicle control component) and the second controller (a controller for advanced autonomous driving). This ensures that even if the first controller malfunctions, the second controller still possesses control functions (such as acceleration control). This control system, in conjunction with braking and other functional modules, can integrate driver support functionality, and its sampling is unaffected by ground bias, allowing for more flexible layout of vehicle components.

[0066] A ninth aspect is a control system comprising a third controller and a fourth controller, the third controller being connected to a first sensing module and a second sensing module of a first sensor, and the fourth controller being connected to a third sensing module and a fourth sensing module of the second sensor; the third controller is configured to receive a first signal from the first sensing module and a second signal from the second sensing module, and to send a third control signal to an actuator, the third control signal being generated based on the first and second signals; or, the fourth controller is configured to receive a third signal from the third sensing module and a fourth signal from the fourth sensing module, and to send a fourth control signal to an actuator, the fourth control signal being generated based on the third and fourth signals.

[0067] In one possible implementation, the third controller includes a third power supply and a fifth power supply, and the fourth controller includes a fourth power supply and a sixth power supply; the third power supply is used to power the first sensing module; the fifth power supply is used to power the second sensing module; the fourth power supply is used to power the third sensing module; and the sixth power supply is used to power the fourth sensing module.

[0068] The technical effects that can be achieved by any of the above nine aspects can be referred to the description of the beneficial effects in the eighth aspect above, and will not be repeated here.

[0069] In a tenth aspect, this application provides a terminal device, which includes a vehicle frame and a control system of the first aspect or any one of the first aspects, or any one of the third aspect or any one of the third aspects, or any one of the sixth aspect or any one of the sixth aspects, or any one of the seventh aspect or any one of the seventh aspects, wherein the control system is fixed to the vehicle frame.

[0070] In one possible implementation, the terminal device further includes the aforementioned sensor, which includes a first sensing module and a second sensing module. Attached Figure Description

[0071] Figure 1 This is a schematic diagram of a system for controlling the accelerator pedal in the prior art;

[0072] Figure 2 An exemplary schematic diagram of a specific application scenario of a control system is shown;

[0073] Figure 3 A circuit diagram of a control system provided in this application;

[0074] Figure 4 A schematic diagram of the structure of a control system provided in this application;

[0075] Figure 5a A schematic diagram of the structure of a second controller provided in this application;

[0076] Figure 5b A schematic diagram of another second controller provided in this application;

[0077] Figure 5c A schematic diagram of another second controller provided in this application;

[0078] Figure 5d A schematic diagram of another second controller provided in this application;

[0079] Figure 6 A schematic diagram of the structure of a first controller provided in this application;

[0080] Figure 7a A schematic diagram of the structure of a first combining module provided in this application;

[0081] Figure 7b A schematic diagram of another first combining module provided in this application;

[0082] Figure 8 A schematic diagram of a redundant design sensor provided in this application;

[0083] Figure 9a A schematic diagram of the structure of a control system provided in this application;

[0084] Figure 9b A schematic diagram of the structure of a control system provided in this application;

[0085] Figure 10 A schematic diagram of a follower provided in this application;

[0086] Figure 11 A schematic diagram of another control system provided in this application;

[0087] Figure 12 A schematic diagram of another control system provided in this application;

[0088] Figure 13 A schematic diagram of the structure of yet another sensor provided in this application;

[0089] Figure 14a A schematic diagram of another control system provided in this application;

[0090] Figure 14b A schematic diagram of another control system provided in this application;

[0091] Figure 15 A schematic diagram of another control system provided in this application;

[0092] Figure 16a A schematic diagram of another control system provided in this application;

[0093] Figure 16b A schematic diagram of another control system provided in this application;

[0094] Figure 17 A schematic diagram of the structure of a control system provided in this application;

[0095] Figure 18 A schematic diagram of the structure of a sensing system provided in this application;

[0096] Figure 19 A schematic diagram of another control system provided in this application;

[0097] Figure 20a A schematic diagram of another control system provided in this application;

[0098] Figure 20b A schematic diagram of another control system provided in this application;

[0099] Figure 21 This application provides a schematic diagram of the structure of a sensor;

[0100] Figure 22An exemplary functional block diagram of a vehicle provided in this application. Detailed Implementation

[0101] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0102] The following describes the possible application scenarios for this application.

[0103] In one possible application scenario, the control system of this application can be integrated into a vehicle. The vehicle includes, but is not limited to, a vehicle, such as an autonomous vehicle, a smart vehicle, an electric vehicle, or a digital vehicle. Specifically, the control system can be a pedal control system within the vehicle, etc. The pedal control system can be used to control the vehicle's speed. The above application scenario can be applied to fields such as autonomous driving, automatic driving, assisted driving, intelligent driving, or connected vehicles.

[0104] Figure 2 An exemplary schematic diagram of a specific application scenario for a control system is shown. In this scenario, the pedal sensor is connected to a first controller and a second controller, which are two distinct components. The first controller is primarily used for manual driving, while the second controller is primarily used for autonomous driving. Signals detected by the pedal sensor are synchronously input into both the first and second controllers, and the control authority of the first and second controllers can be negotiated and controlled in different scenarios. For example, if the first controller malfunctions, the second controller takes over. It is understood that the application scenario given above is merely an example, and the control system provided in this application can also be applied to other possible scenarios, and is not limited to the scenario illustrated above.

[0105] The above Figure 2 For the detailed circuit diagram, please refer to Figure 3 Because there is a potential difference ΔV between the ground terminal (GND)1 of the first controller and the ground terminal GND2 of the second controller, which can be called ground bias, with a maximum of ±1V, directly connecting the pedal sensor to the first and second controllers is equivalent to directly shorting the ground terminals GND1 and GND2 of the first and second controllers together. This results in a dynamic voltage difference ΔV between the ground terminals GND1 and GND2 of the first and second controllers. Most of the voltage drop will fall on the low-impedance ground wire, leading to V... 12 V 34 V 56 The voltage difference between them causes the first and second controllers to be unable to accurately obtain the signal detected by the pedal sensor.

[0106] In view of the above problems, this application proposes a control system. This control system can achieve high reliability through relatively simple circuitry.

[0107] Based on the above, the control system proposed in this application will be described in detail below with reference to the accompanying drawings.

[0108] Example 1

[0109] like Figure 4 The diagram shown is a structural schematic of a control system provided in this application. The control system may include a first controller and a second controller. The first controller is connected to a sensor, and the second controller is also connected to a sensor. The sensor includes a first sensing module and a second sensing module. The second controller includes a sampling circuit (e.g., a multi-channel differential sampling circuit). The sampling circuit includes a first channel and a second channel. The first channel is connected to the first sensing module, and the second channel is connected to the second sensing module. The second controller is used to acquire a first signal detected by the first sensing module through the first channel, acquire a second signal detected by the second sensing module through the second channel, and determine the second pedal opening information based on the first and second signals.

[0110] In one possible implementation, the second controller is further configured to send a second control signal to the actuator to control the actuator to perform a corresponding operation, the second control signal being obtained based on the second opening information.

[0111] In one possible implementation, the first controller is used to acquire a first signal detected by the first sensing module and a second signal detected by the second sensing module, determine the first opening information of the pedal based on the first signal and the second signal, and send a first control signal to the actuator to control the actuator to perform the corresponding operation. The first control signal is obtained based on the first opening information.

[0112] Based on the above control system, when the first controller fails, the second controller can take over and continue operating, avoiding single points of failure and thus improving the reliability of the control system. Furthermore, the second controller, including its first and second channels, avoids single points of failure and also solves the problem of inaccurate second opening information obtained from sensors due to ground misalignment between the first and second controllers.

[0113] The following is about Figure 4 Each functional structure shown will be described in detail to provide an exemplary implementation scheme.

[0114] I. Second Controller

[0115] Please see Figure 5aThis is a schematic diagram of a second controller provided in this application. The second controller includes a second control unit, which includes a sampling circuit. In this example, the sampling circuit is a dual-connected differential sampling circuit. Specifically, the sampling circuit includes a first channel and a second channel. The first channel is used to connect to a first sensing module, and the second channel is used to connect to a second sensing module. Further, optionally, the second controller may also include a second power supply for powering the second control unit. The first channel includes a first ADC, and the second channel includes a second ADC. Further, the first ADC includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal.

[0116] In one possible implementation, the second control unit may include, but is not limited to, a microcontroller unit (MCU) (or single-chip microcomputer), a field-programmable gate array (FPGA), or a system-on-chip (SOC) with an integrated image signal processor (ISP).

[0117] In one possible implementation, the second power supply may include, but is not limited to, a low-dropout regulator (LDO). An LDO can provide a stable DC voltage, and it can operate with a small output-input voltage difference, which helps improve the detection accuracy of the input signal.

[0118] Please see Figure 5b This is a schematic diagram of another second controller provided in this application. The second controller includes a second control unit, a first follower, and a second follower. The second control unit includes a first ADC and a second ADC. The first ADC includes a positive input terminal and a negative input terminal, and the second ADC also includes a positive input terminal and a negative input terminal. The two input terminals of the first follower are respectively connected to a first signal terminal and a first ground terminal of the first sensing module. The output terminal of the first follower is connected to the positive input terminal of the first ADC, and the negative input terminal of the first ADC is connected to the first ground terminal of the first sensing module. The two input terminals of the second follower are respectively connected to a second signal terminal and a second ground terminal of the second sensing module. The output terminal of the second follower is connected to the positive input terminal of the second ADC, and the negative input terminal of the second ADC is connected to the second ground terminal of the second sensing module.

[0119] Please see Figure 5cThis is a schematic diagram of another second controller provided in this application. The second controller includes a second control unit, a first follower, a second follower, a first resistor network, a second resistor network, a third resistor network, and a fourth resistor network. The first resistor network includes three resistors connected in series and parallel (i.e., resistors R1, R2, and R3), and the second resistor network includes three resistors connected in series and parallel. The first signal output terminal 1 of the first sensing module is connected to the positive input terminal of the first ADC via the first resistor network; the first ground terminal 5 of the first sensing module is connected to the negative input terminal of the first ADC via the third resistor network; the second signal output terminal 4 of the second sensing module is connected to the positive input terminal of the second ADC via the second resistor network; and the second ground terminal 6 of the second sensing module is connected to the negative input terminal of the second ADC via the fourth resistor network. The remaining connections are as described above. Figure 5b The details of the above will not be repeated here. The first resistor network is used to boost the first signal from the first sensing module, and the second resistor network is used to boost the second signal from the second sensing module. The third resistor network is used to boost the first ground signal from the first sensing module, and the fourth resistor network is used to boost the second ground signal from the second sensing module.

[0120] It should be noted that the first, second, third, and fourth resistor networks can be four identical resistor networks. Identical resistor networks include both the same structure and the same resistance values. Specifically, the first, second, and third resistor networks have identical structures. Furthermore, the resistors R1 in the first, second, third, and fourth resistor networks are all identical; the resistors R2 in the first, second, third, and fourth resistor networks are all identical; and the resistors R3 in the first, second, third, and fourth resistor networks are all identical. Additionally, the resistor network structures given above are only one possible example; other resistor network structures can be found elsewhere. Figure 5d Specifically, the above can be considered as follows: Figure 5c The resistor R2 in the circuit is replaced with a current source.

[0121] II. First Controller

[0122] Please see Figure 6This is a schematic diagram of a first controller provided in this application. The first controller includes a first control unit and a first power supply, the first power supply being used to power the first control unit. The possible structures of the first control unit can be found in the above description of the second control unit, and will not be repeated here. The first power supply may include, but is not limited to, an LDO. It is understood that the first controller may include two or more first power supplies, and this application does not limit this.

[0123] In this application, the control system may also include a combining module, as detailed below.

[0124] III. Combining Module

[0125] In one possible implementation, the control system further includes a first combining module and a second combining module. The first combining module controls a first power supply or a second power supply to power the first sensing module; the second combining module controls the first power supply or the second power supply to power the second sensing module. Further, the power supplies simultaneously powering the first and second sensing modules belong to the same controller. For example, the first controller includes two first power supplies, namely first power supply A and first power supply B, where first power supply A powers the first sensing module and first power supply B powers the second sensing module; first power supply A and first power supply B are two independent power supplies for the first controller. As another example, the second controller includes two second power supplies, namely second power supply A and second power supply B, where second power supply A powers the first sensing module and second power supply B powers the second sensing module; second power supply A and second power supply B are two independent power supplies. The first combining module enables redundant power supply to the first sensing module, and the second combining module enables redundant power supply to the second sensing module, thereby further improving the reliability of the control system.

[0126] Specifically, by default, the first power supply of the first controller powers both the first and second sensing modules. If the first MCU in the first controller detects a first power supply failure, it sends an indication message to the second MCU in the second controller. Upon receiving this indication message, the second MCU in the second controller controls the second power supply to power both the first and second sensing modules. Alternatively, by default, the first power supply of the first controller powers both the first and second sensing modules. The second controller also includes a power detection module (see [link]). Figure 9b The power detection module is used to detect whether the first power supply is faulty. If the first power supply is detected to be faulty, the power detection module sends an indication message to the second MCU. The second MCU switches to powering the first and second sensing modules by the second power supply according to the indication message.

[0127] It should be noted that the first power supply for the first sensing module and the second sensing module can be two independent first power supplies in the first controller, or the second power supply for the first sensing module and the second sensing module can be two independent second power supplies in the second controller.

[0128] For example, the first combining module includes a first switch and a second switch. The first switch includes, for example, a first diode, a first metal-oxide-semiconductor field-effect transistor (MOSFET) (which can be simply referred to as a MOS transistor), or a first chip. The first chip can also be called a first combining chip. The first chip has reverse protection and combining functions. The combining function of the first chip means that the first chip can provide two power supplies to the first sensing module. The reverse protection function of the first chip prevents current from flowing from the sensor to the first controller. The second switch includes a second diode, a second MOSFET, or a second chip. The second chip can also be called a second combining chip. The second chip has reverse protection and combining functions. The combining function of the second chip means that the second chip can provide two power supplies to the second sensing module. The reverse protection function of the second chip prevents current from flowing from the sensor to the second controller. The second combining module includes a third switch and a fourth switch. The third switch can be referred to in the above description of the first switch, and the fourth switch can be referred to in the above description of the second switch; they will not be repeated here. It should be understood that the structures of the first combining module and the second combining module can be the same or different.

[0129] Please see Figure 7a Taking a first combining module including a first diode and a second diode as an example, a schematic diagram of the structure of a first combining module is shown. If the first diode is turned on, the first power supply of the first controller can power the first sensing module; if the second diode is turned on, the second power supply of the second controller can power the first sensing module. The first diode and the second diode can be the same or different, and this application does not limit this.

[0130] Please see Figure 7b Taking the first combining module, which includes a first MOSFET and a second MOSFET, as an example, if the first MOSFET is turned on, the first power supply of the first controller can supply power to the first sensing module; if the second MOSFET is turned on, the second power supply of the second controller can supply power to the first sensing module.

[0131] It is understandable that the above Figure 7a and Figure 7b The given structure of the first combining module is merely an example. The specific structure of the first combining module in this application may also be other modules that can power the first sensing module and the second sensing module. This application does not limit this.

[0132] In one possible implementation, the first combining module, the second combining module, and the second controller are integrated on the same printed circuit board.

[0133] Alternatively, at least two of the first combining module, the second combining module, and the second controller may be integrated on different printed circuit boards. For example, the first combining module and the second combining module may be integrated on the same printed circuit board, referred to as the first printed circuit board; the second controller may be integrated on the second printed circuit board. Another example is that the first combining module and the second controller may be integrated on the same printed circuit board, referred to as the third printed circuit board, with the second combining module on a fourth printed circuit board. Yet another example is that the second combining module and the second controller may be integrated on the same printed circuit board, referred to as the fifth printed circuit board, with the first combining module on a sixth printed circuit board.

[0134] Alternatively, the first combining module, the second combining module, and the second controller can be integrated on three different printed circuit boards.

[0135] Alternatively, the first combining module, the second combining module, and the first controller can be integrated on the same printed circuit board.

[0136] Alternatively, at least two of the first combining module, the second combining module, and the first controller may be integrated on different printed circuit boards. For example, the first combining module and the second combining module may be integrated on the same printed circuit board, referred to as the seventh printed circuit board; the first controller may be integrated on the eighth printed circuit board. Another example is that the first combining module and the first controller may be integrated on the same printed circuit board, referred to as the ninth printed circuit board, with the second combining module on the tenth printed circuit board. Yet another example is that the second combining module and the first controller may be integrated on the same printed circuit board, referred to as the eleventh printed circuit board, with the first combining module on the twelfth printed circuit board.

[0137] To facilitate the explanation of how the control system connects to the sensors, we will first introduce the sensors.

[0138] To prevent sensor malfunctions from failing to detect pedal signals in a timely manner, a redundant design can be employed. Redundancy refers to the repeated configuration of some critical components or functions for safety and reliability considerations. When some components fail, the redundant components can act as backups, promptly taking over the functions of the failed component, thereby reducing downtime. In one possible implementation, the sensor includes a variable resistance sensor employing a variable resistance potentiometer, or a Hall effect sensor employing a Hall effect non-contact potentiometer. Variable resistance pedal position sensors are typically used to detect the opening information of contact pedals, while Hall effect sensors are typically used to detect the opening information of non-contact pedals.

[0139] Please see Figure 8 This is a schematic diagram of a redundant sensor design provided in this application. The sensor in this example uses a variable resistor potentiometer. The sensor includes a first sensing module and a second sensing module. To ensure the reliability of the sensor output signal, the circuits of the first and second sensing modules are independent. Specifically, the first sensing module includes a variable resistor potentiometer 1, and power lines, signal lines, and ground lines connected to the variable resistor potentiometer 1. Grounding is used to provide a stable reference potential for the first sensing module. The first sensing module provides three terminals: a first signal output terminal 1, a first ground terminal 5, and a first power supply terminal 2. The second sensing module includes a variable resistor potentiometer 2, and power lines, signal lines, and ground lines connected to the variable resistor potentiometer 2. The second sensing module provides three terminals: a second signal output terminal 4, a second ground terminal 6, and a second power supply terminal 3. The variable resistor potentiometer 1 and the variable resistor potentiometer 2 have different resistance values. When the pedal position changes, the first sensing module can detect the first pedal opening information and convert the first opening information into a first electrical signal. The second sensing module detects the second opening information of the pedal and converts the second opening information into a second electrical signal.

[0140] It should be noted that the sensor used to detect non-contact pedals can perform the above-mentioned... Figure 8 The variable resistance potentiometer uses a non-contact potentiometer (see below). Figure 11 )replace.

[0141] Based on the above, the following describes the different scenarios of the pedal detection sensor being contact-type or non-contact-type. A contact-type sensor is one that includes a contact potentiometer, such as a variable resistor potentiometer. A non-contact-type sensor is one that includes a non-contact potentiometer, such as a Hall effect non-contact potentiometer. In the following description, the first control unit is taken as the first MCU, and the second control unit as the second MCU. It should be noted that the first power supply in the first controller supplying power to the first and second sensing modules can be two independent first power supplies, and the second power supply in the second controller supplying power to the first and second sensing modules can be two independent second power supplies. For ease of explanation, the power supplies in the first controller in the following embodiments can be collectively referred to as the first power supply, and the power supplies in the second controller can be collectively referred to as the second power supply.

[0142] In scenario one, the sensor for detecting the pedal is a contact type.

[0143] Please see Figure 9a This is a schematic diagram of a control system provided in this application. The control system in this example includes a first controller, a second controller, a first combining module, and a second combining module. The first controller includes a first power supply and a first MCU. The second controller includes a second power supply, a second MCU, a first follower, and a second follower. The second MCU includes a first ADC and a second ADC; the first ADC includes a positive input terminal and a negative input terminal, and both the first and second ADCs include positive and negative input terminals. In this example, the first sensing module of the sensor includes a first signal output terminal 1, a first ground terminal 5, and a first power supply terminal 2; the second sensing module of the sensor includes a second signal output terminal 4, a second ground terminal 6, and a second power supply terminal 3.

[0144] The first combining module controls either the first power supply or the second power supply to power the first sensing module. Specifically, the first combining module includes a first switch and a second switch. The first terminal of the first switch is connected to the first power supply, and the second terminal of the first switch is connected to the first power supply terminal 2 of the first sensing module. The first terminal of the second switch is connected to the second power supply, and the second terminal of the second switch is connected to the first power supply terminal 2 of the first sensing module. The second combining module controls either the first power supply or the second power supply to power the second sensing module. Specifically, the second combining module includes a third switch and a fourth switch. The first terminal of the third switch is connected to the first power supply, and the second terminal of the third switch is connected to the second power supply terminal 3 of the second sensing module. The first terminal of the fourth switch is connected to the second power supply, and the second terminal of the fourth switch is connected to the second power supply terminal 3 of the second sensing module.

[0145] The first signal output terminal 1 of the first sensing module is connected to the first MCU, and the first ground terminal 5 of the first sensing module is also connected to the first MCU. The first signal output terminal 1 of the first sensing module is connected to the positive input terminal of the first ADC through the first input terminal of the first follower, and the first ground terminal 5 of the first sensing module is connected to the second input terminal of the first follower and the negative input terminal of the first ADC. The second signal output terminal 4 of the second sensing module is connected to the first MCU, and the second ground terminal 6 of the second sensing module is also connected to the first MCU. The second signal output terminal 4 of the second sensing module is connected to the positive input terminal of the second ADC through the first input terminal of the second follower, and the second ground terminal 6 of the second sensing module is connected to the second input terminal of the second follower and the negative input terminal of the second ADC.

[0146] Please see Figure 10This application provides a circuit diagram of a first follower. The output voltage of the first follower is the same as the input voltage, and it has the characteristics of high input impedance (e.g., several megaohms) and low output impedance (e.g., several ohms). Therefore, the first follower can buffer and isolate the sensor, helping to improve the sensor's load-carrying capacity. The first follower includes an output terminal, an operational amplifier U, a first resistor R11, a second resistor R12, and a first capacitor C11. The first resistor R11 and the first capacitor C1 form an RC circuit. The output terminal of the first follower is used to connect to the first channel of the second controller. The first resistor R11 is connected between the first signal output terminal 1 of the first sensing module of the sensor and the positive terminal of the operational amplifier U. The second resistor R12 is connected between the negative terminal and the output terminal of the operational amplifier U. The first capacitor C1 is connected between the ground terminal 5 of the first sensing module and the positive terminal of the operational amplifier U. Alternatively, the first follower can be understood as providing at least two ports to the sensor, namely port J11 and port J12. Port J11 of the first follower is used to connect to the first signal output terminal 1 of the first sensor, and port J12 of the first follower is used to connect to the ground terminal 5 of the sensor. For example, R11 = 20kΩ, R12 = 10kΩ, and C11 = 10uF. The structure of the second follower can be the same as that of the first follower; please refer to the description of the first follower for details, which will not be repeated here.

[0147] In one possible implementation, the first follower and the second follower can be powered by a first power supply in the first controller, or they can be powered by a second power supply in the second controller. (Combined with the above...) Figure 10 The operational amplifier U of the first follower also includes two pins, which can be represented as V+ and V-. Pin V+ is used to connect to the power supply (such as a first power supply or a second power supply) that powers the first follower, and pin V- is connected to port J12 of the follower.

[0148] In another possible implementation, the second controller also includes a power detection module; see [link to relevant documentation]. Figure 9b The power detection module is used to detect whether the first power supply is faulty. If the first power supply is detected to be faulty, the power detection module sends an indication message to the second MCU. The second MCU switches to powering the first follower and the second follower by the second power supply according to the indication message.

[0149] In another possible implementation, the first power supply of the first controller powers the first follower and the second follower by default. The first MCU in the first controller detects the first power supply. If the first power supply is found to be faulty, the first MCU sends an indication message to the second MCU in the second controller. Upon receiving the indication message, the second MCU in the second controller controls the second power supply to power the first follower and the second follower.

[0150] In another possible implementation, the first follower and the second follower are powered by the second power supply of the second controller by default. The second MCU in the second controller detects the second power supply. If the second power supply is found to be faulty, the second MCU sends an indication message to the first MCU in the first controller. The first MCU in the first controller receives the indication message and controls the first power supply to power the first follower and the second follower.

[0151] In another possible implementation, the first power supply of the first controller and the second power supply of the second controller can simultaneously power the first follower and the second follower.

[0152] It should be noted that the above Figure 9a and Figure 9b Both examples involve the first and second combining modules being independently integrated onto a single printed circuit board.

[0153] Scenario 2: The sensor that detects the pedal is non-contact.

[0154] Please see Figure 11 This is a schematic diagram of another control system provided in this application. In this example, the control system includes a first controller, a second controller, a first combining module, and a second combining module. The first controller includes a first power supply and a first MCU. The second controller includes a second power supply and a second MCU. The second MCU includes a first ADC and a second ADC. The first ADC includes a positive input terminal and a negative input terminal, and the second ADC also includes a positive input terminal and a negative input terminal. In this example, the first sensing module of the sensor includes a first signal output terminal 1, a first ground terminal 5, and a first power supply terminal 2; the second sensing module of the sensor includes a second signal output terminal 4, a second ground terminal 6, and a second power supply terminal 3. The first combining module includes a first switch and a second switch, and the second combining module includes a third switch and a fourth switch.

[0155] The first signal output terminal 1 of the first sensing module is connected to the first MCU, and the first ground terminal 5 of the first sensing module is also connected to the first MCU. The first signal output terminal 1 of the first sensing module is connected to the positive input terminal of the first ADC via a first resistor network, and also to the first input terminal of the first follower. The first ground terminal 5 of the first sensing module is connected to the negative input terminal of the first ADC via a third resistor network, and also to the second input terminal of the first follower. The second signal output terminal 4 of the second sensing module is connected to the first MCU, and the second ground terminal 6 of the second sensing module is also connected to the first MCU. The second signal output terminal 4 of the second sensing module is connected to the positive input terminal of the second ADC via a second resistor network, and the second signal output terminal 1 of the second sensing module is connected to the first input terminal of the second follower. The second ground terminal 6 of the second sensing module is connected to the negative input terminal of the second ADC via a fourth resistor network. The functions of the first and second combining modules can be found in the above descriptions and will not be repeated here.

[0156] like Figure 12 As shown, based on the structure of this control system, the first signal detected by the first sensing module is boosted through a first resistor network, and the boosted first signal is input to the positive input terminal of the first ADC. The first ground signal detected by the first sensing module is boosted through a third resistor network, and the boosted first ground signal is input to the negative input terminal of the ADC. Subtraction between the boosted first signal and the boosted first ground signal determines the first actual pedal opening information. The second signal detected by the second sensing module is boosted through a second resistor network, and the boosted second signal is input to the positive input terminal of the second ADC. The second ground signal detected by the second sensing module is boosted through a fourth resistor network, and the boosted second ground signal is input to the negative input terminal of the ADC. Subtraction between the boosted second signal and the boosted second ground signal determines the second actual pedal opening information. This example uses the same first, second, third, and fourth resistor networks. For a detailed description of the first, second, third, and fourth resistor networks, please refer to the aforementioned related introduction, which will not be repeated here. It is understood that the first ADC and the second ADC can sample simultaneously. If the difference between the first actual opening information and the second actual opening information does not match the standard, it indicates that the sensor is faulty. Initiate the failure protection mode and control the sensor by pressing the "no pedal pressed" button.

[0157] The output voltage 1 (Vout_1) after being boosted by the first resistor network can be represented by the following formula 1, and the output voltage 2 (Vout_2) after being boosted by the third resistor network can be represented by the following formula 2.

[0158] Vout_1=Vcc·(R1 / / R3) / (R2+R1 / / R3)+Vs1·(R2 / / R3) / (R1+R2 / / R3) Formula 1

[0159] Vout_2=Vcc·(R1 / / R3) / (R2+R1 / / R3)+GND1·(R2 / / R3) / (R1+R2 / / R3) Formula 2

[0160] Where Vcc represents the voltage of the power supply, R1, R2, and R3 represent the resistances in the first resistor network (and the second resistor network), Vs1 represents the voltage of the first signal, and GND1 represents the voltage of the ground signal.

[0161] Based on Formulas 1 and 2 above, by changing the resistance values ​​of resistors R1, R2 and R3, the output voltages (Vout_1 and Vout_2) can be changed, thereby eliminating ground bias.

[0162] For example, by configuring R1 = 20KΩ, R2 = 100KΩ, and R3 = 100KΩ, the input-output relationship can be obtained as shown in Formula 3.

[0163] Y = 0.714286X + 0.142857 × V CC Formula 3

[0164] Where Y represents Vout_1 or Vout_2 after being boosted by the resistor network, and X represents the voltage of the first input signal or the voltage of the first ground signal.

[0165] Based on Formula 3 above, if the input voltage is -1V, the output voltage is 0; if the input voltage is 6V, the output voltage is 5V, both of which meet the ±1V ground offset requirement.

[0166] It should be noted that the first ADC in this application can also be an existing ADC. Specifically, it can be an existing ADC that performs subtraction operations based on software to obtain the first actual opening information. The second ADC can also be an existing ADC that performs subtraction operations based on an existing ADC to obtain the second opening information.

[0167] Example 2

[0168] like Figure 13The diagram shown illustrates the structure of another sensor provided in this application. The sensor includes a first sensing module, a second sensing module, and a processing module. The first and second sensing modules are grounded. A first terminal of the processing module is connected to the first sensing module, a second terminal of the processing module is connected to the second sensing module, a third terminal of the processing module is connected to a third controller, and a fourth terminal of the processing module is also connected to the third controller. Specifically, the third terminal of the processing module can be connected to the third controller via a first digital signal line or a first I / O bus, and the fourth terminal of the processing module can be connected to the fourth controller via a second digital signal line or a second I / O bus. The first sensing module includes a signal output terminal 1, a ground terminal 5, and a power supply terminal 2. The second sensing module includes a signal output terminal 4, a ground terminal 6, and a power supply terminal 3. The signal output terminal 1 of the first sensing module is connected to the first terminal of the processing module, and the signal output terminal 4 of the second sensing module is connected to the second terminal of the processing module. The ground terminals 5 and 6 of the first and second sensing modules are directly grounded. The power supply terminals 2 and 3 of the first and second sensing modules are used to connect to a power supply. The potentiometer in this example can be a Hall effect non-contact potentiometer or a variable resistance potentiometer.

[0169] The processing module is configured to process the first signal detected by the first sensing module into a first digital signal or a first I / O bus signal, and send the first digital signal or the first I / O bus signal to the third controller; and to process the second signal detected by the second sensing module into a second digital signal or a second I / O bus signal, and send the second digital signal or the second I / O bus signal to the third controller.

[0170] The processing module included in the sensor can first verify the two signals detected by the first sensing module and the second sensing module, thereby eliminating ground bias in the sensor.

[0171] In one possible implementation, the processing module may include, but is not limited to, a third ADC or a fifth MCU. The fifth MCU may be the same as the first MCU mentioned above. For specific implementation details, please refer to the introduction of the first MCU mentioned above. It will not be repeated here.

[0172] Based on the above, such as Figure 14a The diagram shown is a structural schematic of another control system provided in this application. This control system includes a third controller. The third controller includes a third power supply and a third control unit; in this example, the third control unit includes a third MCU. The sensor includes a first sensor module, a second sensor module, and a processing module. For a description of the first and second sensor modules, please refer to the above. Figure 13The details are omitted here. The signal output terminal 1 of the first sensing module is connected to the first terminal of the processing module, the signal output terminal 4 of the second sensing module is connected to the second terminal of the processing module, the third terminal of the processing module is connected to the third control unit of the third controller, and the fourth terminal of the processing module is connected to the third control unit of the third controller. Alternatively, the processing module and the third controller are dual-connected. The third controller receives a first digital signal from the third terminal of the processing module and a second digital signal from the fourth terminal of the processing module, and sends a second control signal to the actuator. The second control signal is determined based on the first and second digital signals. Alternatively, the third controller receives a first I / O bus signal from the third terminal of the processing module and a second I / O bus signal from the fourth terminal of the processing module, and sends a third control signal to the actuator to control the actuator to perform corresponding processing. The third control signal is determined based on the first and second I / O bus signals.

[0173] It should be noted that the above Figure 14a Therefore, the processing module and the third controller are illustrated in a dual-connection example. That is, the processing module can send a first digital signal or a first I / O bus signal through one channel and a second digital signal or a second I / O bus signal through another channel. The first channel can be, for example, a first I / O bus or a first digital signal line, and the second channel can be, for example, a second I / O bus or a second digital signal line. It should be understood that there can also be a single path between the processing module and the third controller, meaning that the first digital signal or first I / O bus signal and the second digital signal or second I / O bus signal can be transmitted to the third controller through the same channel. Please refer to [link to relevant documentation]. Figure 14b .

[0174] like Figure 15 The diagram shown is a structural schematic of another control system provided in this application. This control system includes a third controller and a fourth controller. The third controller includes a third power supply and a third control unit. The fourth controller includes a fourth power supply and a fourth control unit. The sensor includes a first sensor module, a second sensor module, and a processing module. For a description of the first and second sensor modules, please refer to the above. Figure 13 This will not be elaborated further here. The connection method between the third controller and the sensor can be found above. Figure 14a The details of the above will not be repeated here. The connection method between the fourth controller and the sensor is the same as that between the third controller and the sensor, and will not be repeated here. Alternatively, it can be understood that the processing module is connected in pairs to both the third and fourth controllers.

[0175] In one possible implementation, if the third controller fails, the fourth controller is used to receive a first digital signal from the third terminal of the processing module and a second digital signal from the fourth terminal of the processing module, and to send a third control signal to the actuator, the third control signal being determined based on the first and second digital signals.

[0176] Alternatively, the fourth controller is used to receive a first I / O bus signal from the third terminal of the processing module and a second I / O bus signal from the fourth terminal of the processing module, and to send a third control signal to the actuator, the third control signal being determined based on the first I / O bus signal and the second I / O bus signal.

[0177] In one possible implementation, the power supply terminal 2 of the first sensing module and the power supply terminal 3 of the second sensing module are connected to the third power supply of the third controller, as shown in the figure above. Figure 15 This can also be understood as the third power supply of the third controller providing power to the first and second sensing modules.

[0178] Alternatively, the power supply terminal 2 of the first sensing module and the power supply terminal 3 of the second sensing module can be connected to the fourth power supply of the fourth controller. Please refer to [link / reference]. Figure 16a This can also be understood as the fourth power source of the fourth controller supplying power to the first and second sensing modules.

[0179] Alternatively, the control system may also include a first combining module and a second combining module; please refer to [link to relevant documentation]. Figure 16b The first combining module controls either the first power supply or the second power supply to power the first sensing module. Specifically, the first combining module includes a first switch and a second switch. The first terminal of the first switch is connected to the first power supply, and the second terminal of the first switch is connected to the first power supply terminal 2 of the first sensing module. The first terminal of the second switch is connected to the second power supply, and the second terminal of the second switch is connected to the first power supply terminal 2 of the first sensing module. The second combining module controls either the first power supply or the second power supply to power the second sensing module. Specifically, the second combining module includes a third switch and a fourth switch. The first terminal of the third switch is connected to the first power supply, and the second terminal of the third switch is connected to the second power supply terminal 3 of the second sensing module. The first terminal of the fourth switch is connected to the second power supply, and the second terminal of the fourth switch is connected to the second power supply terminal 3 of the second sensing module. For a more detailed description of the first and second combining modules, please refer to the aforementioned related descriptions, which will not be repeated here.

[0180] Furthermore, optionally, the first combining module, the second combining module, and the third controller can be integrated on the same printed circuit board. Alternatively, at least two of the first combining module, the second combining module, and the third controller can be integrated on different printed circuit boards. Alternatively, the first combining module, the second combining module, and the fourth controller can be integrated on the same printed circuit board. Alternatively, at least two of the first combining module, the second combining module, and the fourth controller can be integrated on different printed circuit boards.

[0181] It is understandable that the above embodiments are all described using the sensor to detect non-contact pedals as an example.

[0182] Example 3

[0183] like Figure 17 The diagram shown is a structural schematic of a control system provided in this application. The control system may include a third controller and a fourth controller. The third controller is connected to a sensor, and the fourth controller is also connected to the sensor. Specifically, the third controller is connected to the first and second sensing modules of the sensor, and the fourth controller is also connected to the first and second sensing modules of the sensor. The third controller, the fourth controller, and the sensor are all connected together and then grounded. Alternatively, it can be understood that the third controller, the fourth controller, and the sensor are first connected via cables and then grounded.

[0184] By connecting the third controller, fourth controller, and sensor via cables before grounding, ground bias can be effectively eliminated.

[0185] The third controller includes a third power supply and a third control unit, and the fourth controller includes a fourth power supply and a fourth control unit. It is understood that the third controller can be the same as the fourth controller, and vice versa. Therefore, the third and fourth controllers are compatible with existing controller structures. For details on the third and fourth controllers, please refer to the description of the first controller above; further details will not be provided here.

[0186] Furthermore, the control system may also include a first combining module and a second combining module. For details regarding the first combining module and the second combining module, please refer to the foregoing descriptions; they will not be repeated here. Furthermore, the integration relationship between the first combining module, the second combining module, the third controller, and the fourth controller can be found in the description of Embodiment 2 above; they will not be repeated here.

[0187] Example 4

[0188] Please see Figure 18This is a schematic diagram of a sensing system provided in this application. The sensing system includes a first sensor and a second sensor. The first sensor includes a first sensing module and a second sensing module, and the second sensor includes a third sensing module and a fourth sensing module. The third sensing module includes a variable resistor potentiometer 3, a power supply line, a signal line, and a ground line connected to the variable resistor potentiometer 3. The third sensing module provides three terminals: a third signal output terminal 7, a third ground terminal 11, and a third power supply terminal 8. The fourth sensing module includes a variable resistor potentiometer 4, a power supply line, a signal line, and a ground line connected to the variable resistor potentiometer 4. The third sensing module provides three terminals: a third signal output terminal 10, a third ground terminal 12, and a third power supply terminal 9. For details regarding the first and second sensing modules, please refer to the foregoing descriptions; they will not be repeated here. It is understood that... Figure 18 All variable resistor potentiometers in the above can be replaced with non-contact potentiometers. Figure 18 This is just one possible example.

[0189] When the pedal position changes, the first sensor module detects the pedal, obtains a first signal, and sends the first signal to the third controller; the second sensor module detects the pedal, obtains a second signal, and sends the second signal to the third controller. Alternatively, the third controller can receive both the first signal from the first sensor module and the second signal from the second sensor module. The third sensor module detects the pedal, obtains a third signal, and sends the third signal to the fourth controller; the fourth sensor module detects the pedal, obtains a fourth signal, and sends the fourth signal to the fourth controller. Alternatively, the fourth controller can receive both the third signal from the third sensor module and the fourth signal from the fourth sensor module.

[0190] In one possible implementation, the first sensor can be the same as the second sensor. Specifically, the first sensing module is the same as the third sensing module, and the second sensing module is the same as the fourth sensing module. Alternatively, it can be understood that the variable resistor potentiometer 3 is the same as the variable resistor potentiometer 1, and the variable resistor potentiometer 4 is the same as the variable resistor potentiometer 2.

[0191] By integrating two independent sets of sensors within the sensing system, each sensor can be independently connected to different controllers. Specifically, the first sensor connects to the first controller, and the second sensor connects to the second controller. This dual connection between the first controller (a traditional vehicle control component) and the second controller (a controller for advanced autonomous driving) creates a redundancy mechanism. This ensures that even if the first controller malfunctions, the second controller can still maintain control functions (such as acceleration control). This control system, in conjunction with braking and other functional modules, can integrate driver assistance features, and its sampling is unaffected by ground bias, allowing for more flexible layout of vehicle components.

[0192] Please see Figure 19 This is a schematic diagram of another control system provided in this application. The control system includes a third controller and a fourth controller. Furthermore, the control system also includes a sensing system. The variable resistive potentiometers of each sensing module in the sensor can be replaced with non-contact potentiometers. Figure 19 The sensing system described is merely one possible example. The third controller includes a third MCU and a third power supply. The fourth controller includes a fourth power supply and a fourth MCU. The third controller is connected to the first and second sensing modules of the first sensor. Specifically, the first signal output terminal 1 of the first sensing module is connected to the third MCU, and the first ground terminal 5 of the first sensing module is connected to the third MCU. The second signal output terminal 4 of the second sensing module is connected to the third MCU, and the second ground terminal 6 of the second sensing module is connected to the third MCU. The fourth controller is connected to the third and fourth sensing modules of the second sensor. Specifically, the third signal output terminal 7 of the third sensing module is connected to the fourth MCU, and the first ground terminal 11 of the third sensing module is connected to the fourth MCU. The fourth signal output terminal 10 of the fourth sensing module is connected to the fourth MCU, and the fourth ground terminal 12 of the fourth sensing module is connected to the fourth MCU. The third controller receives a first signal from the first sensing module and a second signal from the second sensing module, and sends a third control signal to the actuator, which is generated based on the first and second signals. Alternatively, the fourth controller is used to receive the third signal from the third sensing module and the fourth signal from the fourth sensing module, and to send a fourth control signal to the actuator, the fourth control signal being generated based on the third signal and the fourth signal.

[0193] Furthermore, the third controller also includes a fifth power supply, and the fourth controller also includes a sixth power supply. Specifically, the third power supply of the third controller powers the first sensing module, the fifth power supply of the third controller powers the second sensing module, the fourth power supply of the fourth controller powers the third sensing module, and the sixth power supply of the fourth controller powers the fourth sensing module.

[0194] Example 5

[0195] Please see Figure 20aThis is a schematic diagram of another control system provided in this application. The control system includes a first combining module and a second combining module. The first combining module is connected to a first sensing module of a sensor, and the second combining module is connected to a second sensing module of the sensor. The first combining module is also connected to a first controller and a second controller, and the second combining module is also connected to both the first controller and the second controller. The first combining module controls the first power supply of the first controller or the second power supply of the second controller to power the first sensing module, and the second combining module controls the first power supply or the second power supply to power the second sensing module. For a more detailed description of the first combining module and the second combining module, please refer to the foregoing related descriptions, which will not be repeated here. For the connection relationships between the first combining module, the second combining module, the first controller, the second controller, and the sensor, please refer to the above descriptions. Figure 11 The details of that will not be repeated here.

[0196] Please see Figure 20b This is a schematic diagram of another control system provided in this application. The control system includes a first combining module and a second combining module. The first combining module is connected to the first sensing module of the sensor, and the second combining module is connected to the second sensing module of the sensor. The first combining module is also connected to a third controller and a fourth controller, and the second combining module is also connected to the third controller and the fourth controller. The first combining module is used to control the third power supply of the third controller or the fourth power supply of the fourth controller to power the first sensing module, and the second combining module is used to control the third power supply or the fourth power supply to power the second sensing module. For details on the connections between the first combining module, the second combining module, the first controller, the second controller, and the sensor, please refer to the foregoing descriptions; they will not be repeated here.

[0197] Example 6

[0198] Please see Figure 21 This is a schematic diagram of the structure of a sensor provided in this application. The sensor includes a first sensing module, a second sensing module, a first combining module, and a second combining module. For details regarding the first combining module, the second combining module, and the connections between the first sensing module and the second sensing module, please refer to the foregoing description; further details will not be repeated here.

[0199] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0200] It should be noted that the third or fourth controller in the above embodiments may also include a follower. The above embodiments are examples of the third or fourth controller not including a follower, and this application does not limit this.

[0201] Based on the architecture and functional principles of the control system described above, this application can also provide a terminal device. This terminal device may include a frame and the control system from any of the above embodiments. The frame is used to fix the control system from any of the above embodiments. For a detailed description of the control system, please refer to the foregoing related descriptions; it will not be repeated here.

[0202] It should be noted that the terminal device may also include other possible functional structures, such as pedals, etc., which are not limited in this application.

[0203] For example, the terminal device may be a vehicle (e.g., driverless car, smart car, electric car, or digital car), robot, surveying equipment, drone, smart home device (e.g., television, robot vacuum cleaner, smart lamp, audio system, smart lighting system, electrical control system, home background music, home theater system, intercom system, or video surveillance), smart manufacturing equipment (e.g., industrial equipment), smart transportation equipment (e.g., AGV, driverless transport vehicle, or truck), or smart terminal (mobile phone, computer, tablet, PDA, desktop computer, headphones, audio equipment, wearable device, in-vehicle device, virtual reality device, augmented reality device, etc.).

[0204] Please see Figure 22 Taking a vehicle as an example of a terminal device, the present application provides an exemplary functional block diagram of a vehicle. Components coupled to or included in the vehicle 220 may include a sensor system 2201 and a control system 2202. It is understood that... Figure 22The given vehicle functional framework is merely an example. In other examples, vehicle 220 may include more, fewer, or different systems, and each system may include more, fewer, or different components. Furthermore, the systems and components shown can be combined or divided in any manner, and this application does not impose any specific limitations on this. For example, the vehicle may also include a power supply 2203, a propulsion system 2204, a user interface 2205, and peripheral devices 2206, etc. In some embodiments, peripheral device 2206 provides a means for a user of vehicle 220 to interact with user interface 2205. For example, a touchscreen may provide information to a user of vehicle 220, such as displaying autonomous and manual driving modes for the driver to select. User interface 2205 may also operate the touchscreen to receive user input, such as inputting or selecting autonomous or manual driving modes. In other cases, peripheral device 2206 may provide a means for vehicle 220 to communicate with other devices located within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from a user of vehicle 220. Similarly, a speaker may output audio to a user of vehicle 220. The components of vehicle 220 can be configured to operate in a manner that interconnects with each other and / or with other components coupled to various systems. For example, power supply 2203 can provide power to all components of vehicle 220. Control system 2202 can be configured to receive data from sensor system 2201 and peripheral devices 2206 and control them.

[0205] Sensor system 2201 may include several sensors for sensing information about the environment in which vehicle 220 is located. Exemplarily, the sensors of sensor system 2201 may include, but are not limited to, millimeter-wave radar and / or lidar and / or vision devices; the functions of millimeter-wave radar, lidar, and vision devices are described in the foregoing related descriptions and will not be repeated here. Further, sensor system 2201 may also include a Global Positioning System (GPS), an Inertial Measurement Unit (IMU), and actuators for modifying the position and / or orientation of the sensors. In some embodiments, GPS may be any sensor used to estimate the geographic location of vehicle 220. For this purpose, GPS may include a transceiver that estimates the position of vehicle 220 relative to the Earth based on satellite positioning data. In some examples, control system 2202 may use GPS in conjunction with map data to estimate the road on which vehicle 220 is traveling. IMU may be used to sense changes in the position and orientation of vehicle 220 based on inertial acceleration and any combination thereof. In some examples, the combination of sensors in IMU may include, for example, accelerometers and gyroscopes. Other combinations of sensors in IMU are also possible.

[0206] It is understood that the sensor system 2201 may also include sensors from the internal systems of the monitored vehicle 220 (e.g., an in-vehicle air quality monitor, fuel gauge, oil temperature gauge, pedal position sensor, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). This detection and identification is a key function for the safe operation of the vehicle 220. The sensor system 2201 may also include other sensors. This application does not specifically limit this.

[0207] Some or all of the functions of vehicle 220 are controlled by control system 2202. Control system 2202 may include at least one processor 22021, and further, control system 2202 may also include interface circuitry 22022. Processor 22021 executes instructions stored in a non-transitory computer-readable medium such as memory 22023. Control system 2202 may also be multiple computing devices that control individual components or subsystems of vehicle 220 in a distributed manner.

[0208] Processor 22021 can be a circuit with signal (or data) processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits, where the logical relationships of the hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the above units. In addition, it can also be hardware circuits designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. It can also be an application processor (AP), image signal processor (ISP), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof.

[0209] The propulsion system 2204 can provide power for the movement of the vehicle 220. The propulsion system 2204 may include an engine, energy source, transmission, and wheels / tires, etc. It is understood that the propulsion system 2204 may additionally or alternatively include other possible components, which are not specifically limited in this application.

[0210] although Figure 22The processor, memory, and other components of the control system 2202 within the same block are functionally illustrated; however, those skilled in the art will understand that the processor and memory may actually be multiple processors or memories not housed in the same physical enclosure. For example, the memory may be a hard disk drive or other storage media located in an enclosure different from that of the control system 2202. Furthermore, the processor may be located remotely to the vehicle but may be able to communicate wirelessly with it.

[0211] In some embodiments, memory 22023 may contain instructions (e.g., program logic) that can be read by processor 22021 to perform various functions of vehicle 220, including those described above. Memory 22023 may also contain additional instructions, including instructions for sending data to, receiving data from, interacting with, and / or controlling one or more of the sensor system 2201, control system 2204, and peripheral devices 2206. In addition to instructions, memory 22023 may also store data such as road maps, route information, sensor-detected data, vehicle position, direction, speed, and other such vehicle data, as well as other information. This information can be used by vehicle 220 and control system 2202 in autonomous, semi-autonomous, and / or manual modes.

[0212] The memory may be, for example, random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. One exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. In another example, the storage medium may also be a component of the processor. The processor and storage medium may reside in an ASIC. Alternatively, the ASIC may reside in a control system. Of course, the processor and storage medium may also exist as discrete components in the control system.

[0213] The control system 2202 can control the functions of the vehicle 220 based on inputs received from various subsystems (e.g., sensor system 2201, etc.) and from the user interface 2205. For example, the control system 2202 can utilize inputs from the sensor system 2201 to control the vehicle's acceleration or deceleration to avoid obstacles detected by an obstacle avoidance system. In some embodiments, the control system 2202 is operable to provide control over many aspects of the vehicle 220 and its subsystems.

[0214] Optionally, one or more of these components may be installed separately from or associated with vehicle 220. For example, memory 22023 may exist partially or completely separately from vehicle 220. The components may be communicatively coupled together in a wired and / or wireless manner.

[0215] It should be noted that the embodiments of this application are not limited in this respect.

[0216] In this application, "connection" can refer to a direct connection. Optionally, in other possible cases, it may not be a direct connection but rather a connection through some elements. "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple. In the textual description of this application, the character " / " generally indicates that the related objects before and after are in an "or" relationship. In the formulas of this application, the character " / " indicates that the related objects before and after are in a "division" relationship. Furthermore, in this application, the term "exemplary" is used to mean as an example, illustration, or description. Any embodiment or design described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Alternatively, it can be understood that the use of the term "example" is intended to present concepts in a specific manner and does not constitute a limitation of this application.

[0217] It is understood that the various numerical designations used in this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and inherent logic. Terms such as "first," "second," and similar expressions are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, such as including a series of steps or units. A method, system, product, or device is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0218] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control system, characterized in that, include: A first controller and a second controller, wherein the first controller is connected to a sensor and the second controller is connected to the sensor, the sensor includes a first sensing module and a second sensing module, and the second controller includes a sampling circuit, the sampling circuit including a first channel and a second channel, the first channel being connected to the first sensing module and the second channel being connected to the second sensing module; The second controller is configured to acquire a first signal detected by the first sensing module through the first channel, acquire a second signal detected by the second sensing module through the second channel, and determine the second opening information of the pedal based on the first signal and the second signal; The control system further includes a first combining module and a second combining module, the first controller includes a first power supply, and the second controller includes a second power supply; The first combining module is used to control the first power supply or the second power supply to power the first sensing module; The second combining module is used to control the first power supply or the second power supply to power the second sensing module.

2. The system as described in claim 1, characterized in that, The second controller is further configured to send a second control signal to the actuator, the second control signal being obtained based on the second opening information.

3. The system as described in claim 1, characterized in that, The first controller is used for: The system acquires a first signal detected by the first sensing module and a second signal detected by the second sensing module, determines the first opening information of the pedal based on the first signal and the second signal, and sends a first control signal to the actuator. The first control signal is obtained based on the first opening information.

4. The system according to any one of claims 1 to 3, characterized in that, The first channel includes a first analog-to-digital converter (ADC), and the second channel includes a second ADC.

5. The system as described in claim 4, characterized in that, The first ADC includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal; The positive input terminal of the first ADC is connected to the first signal output terminal of the first sensing module, and the negative input terminal of the first ADC is connected to the first ground terminal of the first sensing module. The positive input terminal of the second ADC is connected to the second signal output terminal of the second sensing module, and the negative input terminal of the second ADC is connected to the second ground terminal of the second sensing module.

6. The system as described in claim 4 or 5, characterized in that, The second controller also includes a first follower and a second follower; The first ADC is connected to the first sensing module via the first follower; The second ADC is connected to the second sensing module via the second follower.

7. The system as described in claim 6, characterized in that, The first controller includes a first power supply, and the second controller includes a second power supply; The first power source is used to power the first follower and the second follower; or, The second power source is used to power the first follower and the second follower.

8. The system as described in claim 6, characterized in that, The first controller includes a first power supply, and the second controller includes a second power supply and a power detection module; The power detection module is used to detect a fault in the first power supply and switch the second power supply to power both the first follower and the second follower.

9. The system as described in any one of claims 1 to 8, characterized in that, The first combining module includes a first switch and a second switch. A first terminal of the first switch is connected to the first power source, and a second terminal of the first switch is connected to the power supply terminal of the first sensing module. A first terminal of the second switch is connected to the second power source, and a second terminal of the second switch is connected to the power supply terminal of the first sensing module; and / or, The second combining module includes a third switch and a fourth switch. The first end of the third switch is connected to the first power source, and the second end of the third switch is connected to the power supply terminal of the second sensing module. The first end of the fourth switch is connected to the second power source, and the second end of the fourth switch is connected to the power supply terminal of the second sensing module.

10. The system as described in claim 9, characterized in that, The first switch includes a first diode or a first chip; and / or, the second switch includes a second diode or a second chip.

11. The system according to any one of claims 1 to 10, characterized in that, The first combining module, the second combining module, and the second controller are integrated on the same printed circuit board; or, At least two of the first combining module, the second combining module, and the second controller are integrated on different printed circuit boards; or, The first combining module, the second combining module, and the first controller are integrated on the same printed circuit board; or, At least two of the first combining module, the second combining module, and the first controller are integrated on different printed circuit boards.

12. A controller, characterized in that, include: A sampling circuit, comprising a first channel and a second channel, wherein the first channel is connected to a first sensing module of the sensor, and the second channel is connected to a second sensing module of the sensor; The controller is configured to acquire a first signal detected by the first sensing module through the first channel, acquire a second signal detected by the second sensing module through the second channel, and determine the second opening information of the pedal detected by the sensor based on the first signal and the second signal. The first channel includes a first analog-to-digital converter (ADC), and the second channel includes a second ADC. The controller also includes a first follower and a second follower; The first ADC is connected to the first sensing module via the first follower; The second ADC is connected to the second sensing module via the second follower.

13. The controller as claimed in claim 12, characterized in that, The controller is further configured to send a second control signal to the actuator, the second control signal being obtained based on the second opening information.

14. The controller as claimed in claim 12 or 13, characterized in that, The first ADC includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal; The positive input terminal of the first ADC is connected to the first signal output terminal of the first sensing module, and the negative input terminal of the first ADC is connected to the first ground terminal of the first sensing module. The positive input terminal of the second ADC is connected to the second signal output terminal of the second sensing module, and the negative input terminal of the second ADC is connected to the second ground terminal of the second sensing module.

15. A control system, characterized in that, include: A third controller and a fourth controller, wherein the third controller is connected to the sensor, the fourth controller is connected to the sensor, and the third controller, the fourth controller, and the sensor are all connected together and then grounded; The control system further includes a first combining module and a second combining module, the third controller includes a third power supply, the fourth controller includes a fourth power supply, and the sensor includes a first sensing module and a second sensing module. The first combining module is used to control the third power supply or the fourth power supply to power the first sensing module; The second combining module is used to control the third power supply or the fourth power supply to power the second sensing module.

16. The system as described in claim 15, characterized in that, The first combining module includes a first switch and a second switch. A first terminal of the first switch is connected to the third power source, and a second terminal of the first switch is connected to the power supply terminal of the first sensing module. A first terminal of the second switch is connected to the fourth power source, and a second terminal of the second switch is connected to the power supply terminal of the first sensing module; and / or, The second combining module includes a third switch and a fourth switch. The first end of the third switch is connected to the third power supply, and the second end of the third switch is connected to the power supply terminal of the second sensing module. The first end of the fourth switch is connected to the fourth power supply, and the second end of the fourth switch is connected to the power supply terminal of the second sensing module.

17. The system as claimed in claim 16, characterized in that, The first switch includes a first diode or a first chip; and / or, the second switch includes a second diode or a second chip.

18. The system according to any one of claims 15 to 17, characterized in that, The first combining module, the second combining module, and the third controller are integrated on the same printed circuit board; or, At least two of the first combining module, the second combining module, and the third controller are integrated on different printed circuit boards; or, The first combining module, the second combining module, and the fourth controller are integrated on the same printed circuit board; or, At least two of the first combining module, the second combining module, and the fourth controller are integrated on different printed circuit boards.

19. A sensor, characterized in that, It includes a first sensing module, a second sensing module, and a processing module. The first end of the processing module is connected to the first sensing module, the second end of the processing module is connected to the second sensing module, and the third and fourth ends of the processing module are connected to a third controller. The first sensing module and the second sensing module are grounded. The processing module is configured to process the first signal detected by the first sensing module into a first digital signal or a first I / O bus signal, and send the first digital signal or the first I / O bus signal to the third controller through the third terminal of the processing module; and to process the second signal detected by the second sensing module into a second digital signal or a second I / O bus signal, and send the second digital signal or the second I / O bus signal to the third controller through the fourth terminal of the processing module. The third and fourth terminals of the processing module are also connected to the fourth controller.

20. The sensor as claimed in claim 19, characterized in that, The processing module includes a third analog-to-digital converter (ADC) or a fifth MCU.

21. The sensor as claimed in claim 19 or 20, characterized in that, The first sensing module is connected to the first and second switches of the first combining module, and the second sensing module is connected to the third and fourth switches of the second combining module.

22. A control system, characterized in that, It includes a third controller, which is connected to the third and fourth terminals of the sensor's processing module; The third controller is configured to receive a first digital signal from a third terminal of the processing module and a second digital signal from a fourth terminal of the processing module, and to send a second control signal to the actuator, wherein the second control signal is determined based on the first digital signal and the second digital signal; or, The third controller is configured to receive a first I / O bus signal from a third terminal of the processing module and a second I / O bus signal from a fourth terminal of the processing module, and send a third control signal to the actuator. The third control signal is determined based on the first I / O bus signal and the second I / O bus signal. The system further includes a fourth controller, which is connected to the third and fourth terminals of the processing module. If the third controller malfunctions, the fourth controller is configured to receive a first digital signal from the third terminal of the processing module and a second digital signal from the fourth terminal of the processing module, and send a third control signal to the actuator, the third control signal being determined based on the first digital signal and the second digital signal; or, The fourth controller is configured to receive a first I / O bus signal from the third terminal of the processing module and a second I / O bus signal from the fourth terminal of the processing module, and send a third control signal to the actuator, wherein the third control signal is determined based on the first I / O bus signal and the second I / O bus signal.

23. A control system, characterized in that, It includes a first combining module and a second combining module, wherein the first combining module is connected to the first sensing module of the sensor, and the second combining module is connected to the second sensing module of the sensor; The first combining module is also connected to the first controller and the second controller, and the second combining module is also connected to both the first controller and the second controller. The first combining module is used to control the first power supply of the first controller or the second power supply of the second controller to supply power to the first sensing module, and the second combining module is used to control the first power supply or the second power supply to supply power to the second sensing module; or... The first combining module is also connected to the third controller and the fourth controller, and the second combining module is also connected to the third controller and the fourth controller. The first combining module is used to control the third power supply of the third controller or the fourth power supply of the fourth controller to supply power to the first sensing module, and the second combining module is used to control the third power supply or the fourth power supply to supply power to the second sensing module.

24. The system as described in claim 23, characterized in that, The first combining module includes a first switch and a second switch. A first terminal of the first switch is connected to the first power source, and a second terminal of the first switch is connected to the power supply terminal of the first sensing module. A first terminal of the second switch is connected to the second power source, and a second terminal of the second switch is connected to the power supply terminal of the first sensing module; and / or, The second combining module includes a third switch and a fourth switch. The first end of the third switch is connected to the first power source, and the second end of the third switch is connected to the power supply terminal of the second sensing module. The first end of the fourth switch is connected to the second power source, and the second end of the fourth switch is connected to the power supply terminal of the second sensing module.

25. The system as described in claim 24, characterized in that, The first switch includes a first diode or a first chip; and / or, the second switch includes a second diode or a second chip.

26. A terminal device, characterized in that, It includes a frame and a control system as described in any one of claims 1 to 11, 15 to 18, 22, or 23 to 25, wherein the control system is fixed to the frame.

27. The terminal device as described in claim 26, characterized in that, The terminal device also includes the sensor, which includes a first sensing module and a second sensing module.

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