A pedal control system, an electric loader and a pedal control method

Abstract

The application provides a pedal control system, an electric loader and a pedal control method, the pedal control system comprising a user interaction module, a control module, a mechanical brake module and an electric brake module; the user interaction module is used for switching a single-pedal control mode and a double-pedal control mode of the electric loader; the control module is used for receiving signals of the user interaction module and the electric brake module, processing information and sending control signals to the mechanical brake module and the electric brake module; the mechanical brake module is used for friction braking of the electric loader; and the electric brake module is used for driving and braking of the electric loader. The pedal control system, the electric loader and the pedal control method allow a user to quickly switch different pedal control modes, a user accustomed to a traditional loader can directly perform work through the double-pedal mode, and meanwhile, the user can adapt to the single-pedal control mode by gradually reducing the intervention degree of the brake pedal, so that the learning cost is greatly reduced without affecting the work efficiency.

Description

Technical Field

[0001] This invention relates to the field of electric loaders, and more specifically to a pedal control system, an electric loader, and a pedal control method. Background Technology

[0002] Electric loaders, with their outstanding advantages of energy conservation and environmental protection, are gradually replacing fuel loaders as an important force in production. Compared with traditional fuel loaders, electric loaders have a higher degree of electrification and intelligence, providing more possibilities for their operation modes.

[0003] Electric loaders have a natural advantage in kinetic energy recovery. The travel motor serves as both a drive unit and a generator. Single-pedal control modes can significantly increase the proportion of kinetic energy recovery and reduce the frequency of brake pedal use, thereby extending the loader's range and reducing brake pad wear. However, single-pedal control differs significantly from dual-pedal control. Drivers switching from fuel-powered loaders to electric loaders, due to long-term habit, may subconsciously press the brake pedal when they intend to brake, resulting in energy loss. Furthermore, electric loaders are relatively expensive, and users typically employ 2-3 drivers to keep them running continuously in order to quickly recoup costs and generate profits. Because drivers have unique driving styles, and the adjustment range of existing electric loader operating methods is very limited, drivers can only passively adapt to the operating methods set by the OEM, greatly increasing the learning time cost for drivers. In addition, for single-pedal control systems that only retain one pedal, it is difficult to avoid the phenomenon of drivers accidentally accelerating when they press the pedal too hard when they want to brake in emergency situations. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to provide a pedal control system, an electric loader, and a pedal control method that simultaneously support single-pedal and dual-pedal control modes.

[0005] Technical solution: A pedal control system, comprising: a user interaction module, a control module, a mechanical braking module, and an electric braking module;

[0006] The user interaction module is used for switching between single-pedal and dual-pedal control modes of the electric loader, controlling the electric loader, and sending corresponding signals to the control module.

[0007] The control module is used to receive signals from the user interaction module and the electric braking module, and after processing the signals using an internally configured algorithm or program, send control signals to the mechanical braking module and the electric braking module.

[0008] The mechanical braking module is used to receive control signals sent by the control module and perform friction braking;

[0009] The electric braking module is used to receive control signals sent by the control module, perform driving and braking, and transmit motor status signals to the control module.

[0010] Specifically, the user interaction module includes a touch screen display, an accelerator pedal, a brake pedal, a key switch, a gear shift switch, and a handbrake switch. The touch screen display is used to set the energy recovery intensity and the brake pedal intervention intensity, and sends the corresponding signals to the control module. The accelerator pedal is used for driving operations and sends the motor drive signal to the control module. The brake pedal is used to perform braking operations by connecting to the mechanical braking module through the hydraulic circuit and sends the braking signal to the control module. The key switch is used to send a high-voltage enable signal to the control module. The gear shift switch is used to send the gear signal to the control module. The handbrake switch is used to send the vehicle braking signal to the control module.

[0011] Specifically, the mechanical braking module includes a brake solenoid valve, a brake hydraulic pilot valve, and a brake caliper. The brake solenoid valve is used to receive control signals sent by the control module, thereby controlling the movement of the brake caliper. The brake hydraulic pilot valve is used to receive control signals from the brake pedal hydraulic circuit, thereby controlling the movement of the brake caliper. The brake caliper is used for friction braking.

[0012] Specifically, the electric braking module includes a motor controller, a travel motor, and a battery management system. The motor controller is used to transmit the speed signal of the travel motor to the control module and execute the control commands sent by the control module. The travel motor is used for driving and braking the electric loader. The battery management system is used to send a return current limit signal to the control module.

[0013] Specifically, the energy recovery intensity includes at least four different levels, and the brake pedal intervention intensity includes at least five different levels.

[0014] Specifically, the brake caliper is simultaneously controlled by the brake solenoid valve and the brake hydraulic pilot valve. When the opening degree of either the brake solenoid valve or the brake hydraulic pilot valve reaches the opening threshold or the combined control pressure of the two valves reaches the pressure threshold, the brake caliper locks up and performs friction braking.

[0015] The present invention also provides an electric loader that includes the above-described pedal control system.

[0016] The present invention also provides a pedal control method for an electric loader, comprising the following steps:

[0017] The S1 control module receives signals from the user interaction module and the electric brake module, compares them with the corresponding set values, and detects the operating status of the electric loader.

[0018] If the electric loader is operating normally, S2 can set the energy recovery intensity and brake pedal intervention intensity via the touch screen and send corresponding signals to the control module.

[0019] The S3 control module receives signals of energy recovery intensity and brake pedal intervention intensity, and compares them with the corresponding set values ​​to determine the control mode of the electric loader. If the electric loader is in single-pedal control mode, proceed to step S4; if the electric loader is in dual-pedal control mode, the control module compares the energy recovery intensity with the set value A. If the energy recovery intensity is greater than the set value A, proceed to step S4; otherwise, proceed to step S5.

[0020] The S4 control module receives signals of accelerator pedal opening degree and opening degree growth rate, compares them with corresponding set values, and determines the driver's operation type. If the accelerator pedal opening degree is less than the set value P and the accelerator pedal opening degree growth rate is negative and greater than the set value C, proceed to step S6. If the accelerator pedal opening degree is greater than the set value P and the accelerator pedal opening degree growth rate is less than the set value C, proceed to step S7. If the above set standards are not met, the electric loader is in normal driving state.

[0021] The S5 control module receives signals of the brake pedal opening and the accelerator pedal opening rate, compares them with the set values, and determines the driver's operation type. If the brake pedal opening is greater than the set value Q1 and less than the set value Q2, proceed to step S8. If the brake pedal opening is greater than or equal to the set value Q2, proceed to step S9. If the above set criteria are not met, the electric loader is in normal driving mode.

[0022] When the S6 electric loader enters the coasting braking state, the control module determines the braking torque based on the energy recovery intensity, the speed of the travel motor, and the battery charge. The control module compares the received braking duration, travel motor speed, and current brake pedal opening with the corresponding set values. When in single-pedal control mode, if the braking duration is greater than the set value T1 and the travel motor speed is greater than the set value N, proceed to step S7; if the current brake pedal opening is greater than the set value Q, proceed to step S10. When in dual-pedal control mode, if the current brake pedal opening is greater than the set value Q1, proceed to step S8.

[0023] S7 The brake solenoid valve starts working, controlling the brake caliper to start working. The control module compares the current opening of the brake pedal with the corresponding set value. If the current opening of the brake pedal is greater than the set value Q, proceed to step S10; if the current opening of the brake pedal is less than the set value Q, the opening of the brake solenoid valve increases positively with time, and the opening reaches 100% when the opening time reaches the set value T2.

[0024] When the S8 electric loader enters the electric braking state, the control module compares the current opening of the brake pedal with the corresponding set value. If the current opening of the brake pedal is greater than the set value Q1 and less than the set value Q2, the electric braking torque increases as the current opening of the brake pedal increases, reaching its maximum when the current opening of the brake pedal reaches the set value Q2. If the current opening of the brake pedal is greater than or equal to the set value Q2, proceed to step S9.

[0025] S9 The brake hydraulic pilot valve opens, controlling the brake caliper to start working. The control module compares the received current brake pedal opening with the corresponding set value. If the current brake pedal opening is greater than the set value Q2 and less than the set value Q3, the opening of the hydraulic pilot brake valve increases as the current brake pedal opening increases. When the current brake pedal opening reaches 100%, the hydraulic pilot brake valve opening reaches 100%, and the brake caliper locks. If the current brake pedal opening is greater than or equal to the set value Q3, proceed to step S10.

[0026] The S10 brake solenoid valve starts working. The control module controls the brake solenoid valve according to the current control mode. When in single-pedal control mode, triggering an emergency stop, the brake solenoid valve opens to 100%, and the brake caliper locks. When in dual-pedal control mode, the brake solenoid valve opening increases as the brake pedal opening increases. At this time, the control module compares the brake pedal intervention intensity with the corresponding set value. If the brake pedal intervention intensity is less than the set value B1, the brake solenoid valve does not open. If the brake pedal intervention intensity is greater than the set value B1 and less than the set value B2, the maximum opening of the brake solenoid valve is positively correlated with the brake pedal intervention intensity. If the brake pedal intervention intensity is greater than or equal to the set value B2, the maximum opening of the brake solenoid valve is 100%.

[0027] Specifically, the driver operation types include acceleration, cruise control, coasting, braking, and emergency braking.

[0028] Preferably, in step S6 above, the braking duration is greater than or equal to 1.5s when the electric loader speed is greater than or equal to 10km / h.

[0029] Beneficial Effects: Compared with the prior art, the significant advantages of this invention are: by designing a pedal control system that combines single-pedal and dual-pedal control modes, users can quickly set different pedal control modes via a touch screen. They can also quickly switch between modes using shortcut buttons by pre-setting different user parameter configurations. This allows first-time users of electric loaders to operate directly in dual-pedal mode, while gradually adapting to single-pedal control mode by reducing the intervention of the brake pedal. This helps users master single-pedal control mode without affecting work efficiency or consuming significant initial learning and break-in time. Furthermore, the pre-programmed control module effectively predicts the user's operation type in different control modes, assisting in operation while considering driving experience, energy recovery, and braking performance. In single-pedal mode, the brake pedal can act as an emergency brake switch, effectively ensuring user safety. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the pedal control system of the present invention.

[0031] Figure 2 This is a flowchart of the pedal control method of the present invention.

[0032] Figure 3 This is a flowchart of the single-pedal control mode braking process of the present invention.

[0033] Figure 4 This is a flowchart of the dual-pedal control mode braking process of the present invention. Detailed Implementation

[0034] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0035] Example 1

[0036] Please see Figure 1 As shown, this embodiment provides a pedal control system, including: a user interaction module, a control module, a mechanical braking module, and an electric braking module; the user interaction module includes a touch screen, an accelerator pedal, a brake pedal, a key switch, a gear switch, and a handbrake switch; the control module is a vehicle controller; the mechanical braking module includes a brake solenoid valve, a brake hydraulic pilot valve, and a brake caliper; the electric braking module includes a motor controller, a drive motor, and a battery management system.

[0037] The touchscreen display allows users to quickly switch between parameters and operating modes via touch operation on the main interface. This includes setting the energy recovery intensity (a) and the brake pedal intervention intensity (b), switching between different user-preset operating modes using a quick-switch, and sending corresponding signals to the vehicle controller. The accelerator pedal is used for driving operations and sends corresponding signals to the vehicle controller. The brake pedal is connected to the rear hydraulic circuit of the brake hydraulic pilot valve via an oil circuit for braking operations and sends braking signals to the control module. The key switch sends a high-voltage enable signal to the vehicle controller via its operation. The gear switch sends a gear signal to the vehicle controller via its operation. The handbrake switch sends a vehicle braking signal to the vehicle controller via its operation.

[0038] The brake solenoid valve is used to receive control signals sent by the vehicle controller and perform linear switching, thereby controlling the action of the brake caliper. The brake hydraulic pilot valve is used to receive control from the brake pedal oil circuit and perform linear switching, thereby controlling the action of the brake caliper. The brake caliper simultaneously receives flow control from the oil circuits at the rear ends of the brake solenoid valve and the brake hydraulic pilot valve. When the opening degree of any oil circuit valve reaches 100% or the combined control pressure of the two circuits reaches the pressure threshold, the brake caliper locks up, realizing friction braking of the electric loader.

[0039] The motor controller is used to transmit the speed signal of the travel motor to the vehicle controller and execute the control commands sent by the vehicle controller. The travel motor provides driving force and electric braking for the electric loader. The battery management system is connected to the power battery and sends a return current limit signal to the vehicle controller.

[0040] The energy recovery intensity 'a' includes four different levels: strong mode, comfort mode, gentle mode, and free mode. The brake pedal intervention intensity 'b' is set from 0 to 100 with a resolution of 1.

[0041] Example 2

[0042] This embodiment provides an electric loader that, by adapting to the pedal control system described in Embodiment 1, simultaneously features both single-pedal and dual-pedal control modes. Different users can complete parameter settings and save their personal plans through the touch screen interface, and switch between control modes that suit their individual driving styles via quick-switch buttons. This allows users with different skill levels and driving styles to seamlessly use the same electric loader. The retained brake pedal is converted into an emergency brake switch in the single-pedal control mode, providing users with sufficient emergency braking safety and helping them transition from dual-pedal to single-pedal operation modes.

[0043] Example 3

[0044] Please see Figure 2-4 As shown, this embodiment provides a pedal control method for an electric loader as described in Embodiment 2, including the following steps:

[0045] Step 1: The vehicle controller receives signals from the user interaction module and the electric braking module, compares them with the corresponding set values, and detects the operating status of the electric loader;

[0046] Step 2: If the electric loader is operating normally, set the energy recovery intensity a and the brake pedal intervention intensity b through the touch screen, and send the corresponding signals to the vehicle controller.

[0047] Step 3: The vehicle controller receives the signals of energy recovery intensity 'a' and brake pedal intervention intensity 'b', and compares them with the corresponding set values ​​to determine the control mode of the electric loader. If the electric loader is in single-pedal control mode, proceed to step 4; if the electric loader is in dual-pedal control mode, the vehicle controller compares the energy recovery intensity 'a' with the set value 'A'. If the energy recovery intensity 'a' is greater than the set value 'A', proceed to step 4; otherwise, proceed to step 5.

[0048] Step 4: The vehicle controller receives signals of accelerator pedal opening degree and opening degree growth rate, compares them with the corresponding set values, and determines the driver's operation type. If the accelerator pedal opening degree p is less than the set value P, and the accelerator pedal opening degree growth rate c is negative and greater than the set value C, proceed to step 6. If the accelerator pedal opening degree p is greater than the set value P, and the accelerator pedal opening degree growth rate c is less than the set value C, proceed to step 7. If the above setting standards are not met, the electric loader is in normal driving state.

[0049] Step 5: The vehicle controller receives signals of the brake pedal opening and accelerator pedal opening growth rate, compares them with the set values, determines the driver's operation type, and assists in control. The driver's operation type includes acceleration operation, cruise control operation, coasting operation, braking operation, and emergency braking operation. If the brake pedal opening q is greater than the set value Q1 and less than the set value Q2, proceed to step 8; if the brake pedal opening q is greater than or equal to the set value Q2, proceed to step 9; if the above set criteria are not met, the electric loader is in normal driving state.

[0050] Step 6: The electric loader enters the coasting braking state. The vehicle controller determines the braking torque based on the energy recovery intensity 'a', the speed of the travel motor, and the power battery charge. The vehicle controller compares the received braking duration 't1', travel motor speed, and current brake pedal opening 'q' with the corresponding set values. When in single-pedal control mode, if the braking duration 't1' is greater than the set value 'T1' and the travel motor speed is greater than the set value 'N', proceed to step S7. If the current brake pedal opening 'q' is greater than the set value 'Q', proceed to step 10. When in dual-pedal control mode, if the current brake pedal opening 'q' is greater than the set value 'Q1', proceed to step 8.

[0051] Step 7: The brake solenoid valve starts working, controlling the brake caliper to start working. The vehicle controller compares the current brake pedal opening with the corresponding set value. If the current brake pedal opening q is greater than the set value Q, proceed to step 10; if the current brake pedal opening q is less than the set value Q, the brake solenoid valve opening increases positively with time, and the opening reaches 100% when the opening time t2 reaches the set value T2.

[0052] Step 8: The electric loader enters the electric braking state. The vehicle controller compares the current brake pedal opening received with the corresponding set value. If the current brake pedal opening q is greater than the set value Q1 and less than the set value Q2, the electric braking torque increases as the current brake pedal opening increases, reaching its maximum when the current brake pedal opening q reaches the set value Q2. If the current brake pedal opening q is greater than or equal to the set value Q2, proceed to step 9.

[0053] Step 9: The brake hydraulic pilot valve opens, controlling the brake caliper to start working. The vehicle controller compares the received current brake pedal opening with the corresponding set value. If the current brake pedal opening q is greater than the set value Q2 and less than the set value Q3, the opening of the hydraulic pilot brake valve increases as the current brake pedal opening increases. When the current brake pedal opening reaches 100%, the hydraulic pilot brake valve opening reaches 100%, and the brake caliper locks. If the current brake pedal opening q is greater than or equal to the set value Q3, proceed to step 10.

[0054] Step 10: The brake solenoid valve starts working. The vehicle controller controls the brake solenoid valve according to the current control mode. When in single-pedal control mode, triggering an emergency stop, the brake solenoid valve opens to 100%, and the brake caliper locks. When in dual-pedal control mode, the brake solenoid valve opening increases as the current brake pedal opening increases. At this time, the vehicle controller compares the brake pedal intervention intensity with the corresponding set value. If the brake pedal intervention intensity b is less than the set value B1, the brake solenoid valve does not open. If the brake pedal intervention intensity b is greater than the set value B1 and less than the set value B2, the maximum opening of the brake solenoid valve is positively correlated with the brake pedal intervention intensity b. If the brake pedal intervention intensity b is greater than or equal to the set value B2, the maximum opening of the brake solenoid valve is 100%.

[0055] In step 6 above, the braking duration is greater than or equal to 1.5 seconds when the electric loader speed is greater than or equal to 10 km / h, in order to ensure the braking effect.

Claims

1. A pedal control system characterized by, The user interaction module, the control module, the mechanical brake module, and the electric brake module are included. The user interaction module is used for single-pedal control mode switching, double-pedal control mode switching, electric loader control operation, and sending corresponding signals to the control module. The control module is used for receiving signals of the user interaction module and the electric brake module, processing the signals, and sending control signals to the mechanical brake module and the electric brake module. The mechanical brake module is used for receiving control signals sent by the control module and performing friction braking. The electric brake module is used for receiving control signals sent by the control module, driving and braking, and sending motor state signals to the control module. The user interaction module includes a touch display screen, an accelerator pedal, and a brake pedal. The touch display screen is used for setting energy recovery intensity and brake pedal intervention intensity, and sending corresponding signals to the control module. The accelerator pedal is used for driving operation and sending corresponding signals to the control module. The brake pedal is used for brake operation through an oil circuit connected to the mechanical brake module and sending brake signals to the control module. The mechanical brake module includes a brake electromagnetic valve, a brake hydraulic pilot valve, and a brake caliper. The brake electromagnetic valve is used for receiving control signals sent by the control module to control the brake caliper. The brake hydraulic pilot valve is used for receiving brake pedal oil circuit control to control the brake caliper. The brake caliper is used for friction braking. The brake caliper receives control from the brake electromagnetic valve and the brake hydraulic pilot valve. When the brake electromagnetic valve or the brake hydraulic pilot valve reaches an opening threshold or the control pressure of the two valves reaches a pressure threshold, the brake caliper is locked. The control module is configured to determine the control mode of the electric loader as single-pedal control mode or double-pedal control mode according to the energy recovery intensity and the brake pedal intervention intensity. In the single-pedal control mode, the driver operation type is determined according to the accelerator pedal opening and the accelerator pedal opening rate, and the electric brake module and the mechanical brake module are controlled to perform corresponding brake operations. In the double-pedal control mode, the driver operation type is determined according to the brake pedal opening and the accelerator pedal opening rate, and the electric brake module and the mechanical brake module are controlled to perform corresponding brake operations.

2. The pedal control system of claim 1, wherein: The user interaction module further includes a key switch, a gear switch, and a hand brake switch. The key switch is used for sending a high-voltage enable signal to the control module. The gear switch is used for sending a gear signal to the control module. The hand brake switch is used for sending a vehicle brake signal to the control module.

3. The pedal control system of claim 1, wherein: The electric brake module includes a motor controller, a walking motor, and a battery management system. The motor controller is used for transmitting the rotating speed signal of the walking motor to the control module and executing control instructions sent by the control module. The walking motor is used for driving and braking the electric loader. The battery management system is used for sending a charging current limit signal to the control module.

4. The pedal control system of claim 1, wherein: The energy recovery intensity includes at least four different gears, and the brake pedal intervention intensity includes at least five different gears.

5. An electrically powered loader characterized by The pedal control system of any one of claims 1-4.

6. A method of pedal control of an electric loader as claimed in claim 5, characterized in that, The method comprises the following steps: S1 The control module receives signals sent by the user interaction module and the electric brake module, compares them with corresponding set values, and detects the running state of the electric loader; S2 If the electric loader is running normally, the energy recovery intensity and the brake pedal intervention intensity are set through the touch display screen, and corresponding signals are sent to the control module; S3 The control module receives signals of the energy recovery intensity and the brake pedal intervention intensity, compares them with corresponding set values, determines the control mode of the electric loader, and if the electric loader is in single-pedal control mode, step S4 is entered; if the electric loader is in double-pedal control mode, the control module compares the energy recovery intensity with set value A, if the energy recovery intensity is greater than set value A, step S4 is entered, otherwise step S5 is entered; S4 The control module receives signals of the throttle pedal opening and the opening growth rate, compares them with corresponding set values, and judges the driver's operation type; If the throttle pedal opening is less than set value P and the throttle pedal opening growth rate is negative and greater than set value C, step S6 is entered; if the throttle pedal opening is greater than set value P and the throttle pedal opening growth rate is less than set value C, step S7 is entered; if the above set standards are not met, the electric loader is in normal driving state; S5 The control module receives signals of the brake pedal opening and the throttle pedal opening growth rate, compares them with set values, and judges the driver's operation type; if the brake pedal opening is greater than set value Q1 and less than set value Q2, step S8 is entered; if the brake pedal opening is greater than or equal to set value Q2, step S9 is entered; if the above set standards are not met, the electric loader is in normal driving state; S6 The electric loader enters the coasting brake state, the control module determines the brake torque according to the energy recovery intensity, the speed of the traveling motor and the battery capacity; the control module compares the received brake duration, the speed of the traveling motor and the current opening of the brake pedal with corresponding set values, when in single-pedal control mode, if the brake duration is greater than set value T1 and the speed of the traveling motor is greater than set value N, step S7 is entered, if the current opening of the brake pedal is greater than set value Q, step S10 is entered; when in double-pedal control mode, if the current opening of the brake pedal is greater than set value Q1, step S8 is entered; S7 The brake electromagnetic valve starts to work, the brake caliper starts to work, the control module compares the received current opening of the brake pedal with corresponding set values, if the current opening of the brake pedal is greater than set value Q, step S10 is entered; if the current opening of the brake pedal is less than set value Q, the brake electromagnetic valve opening positively increases with time, and when the opening time reaches set value T2, the opening reaches 100%; S8 The electric loader enters the electric brake state, the control module compares the received current opening of the brake pedal with corresponding set values, if the current opening of the brake pedal is greater than set value Q1 and less than set value Q2, the electric brake torque increases with the increase of the current opening of the brake pedal, and when the current opening of the brake pedal reaches set value Q2, the electric brake torque is maximum; if the current opening of the brake pedal is greater than or equal to set value Q2, step S9 is entered; S9 brake hydraulic pilot valve opens, control brake caliper to start working, control module will receive the current brake pedal opening and the corresponding set value comparison, if the current brake pedal opening is greater than the set value Q2 and less than the set value Q3, hydraulic pilot brake valve opening increases with the increase of the current brake pedal opening, when the current brake pedal opening reaches 100%, hydraulic pilot brake valve opening reaches 100%, brake caliper dead; S10 brake solenoid valve starts working, control module according to the current control mode control brake solenoid valve, when in single pedal control mode, trigger emergency stop state, brake solenoid valve opening 100%, brake caliper dead; When in double pedal control mode, brake solenoid valve opening increases with the increase of the current brake pedal opening, at this time control module will brake pedal intervention intensity and the corresponding set value comparison, if the brake pedal intervention intensity is less than the set value B1, brake solenoid valve does not open, if the brake pedal intervention intensity is greater than the set value B1 and less than the set value B2, brake solenoid valve maximum opening and brake pedal intervention intensity positive correlation, if the brake pedal intervention intensity is greater than or equal to the set value B2, brake solenoid valve maximum opening is 100%.

7. The pedal control method of claim 6, wherein: The driver operation type includes acceleration operation, cruise control operation, coasting operation, braking operation and emergency braking operation.

8. The pedal control method of claim 6, wherein: In step S6, the brake duration is greater than or equal to 1.5 s when the electric loader speed is greater than or equal to 10 km / h. In step S6, the brake duration is greater than or equal to 1.5 s when the electric loader speed is greater than or equal to 10 km / h.

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