An electric pedal and an optimization design method and device thereof

Abstract

The application discloses an electric pedal and an optimization design method and device thereof, and relates to the technical field of electric pedal optimization design. When the technical scheme of the application is used for designing and optimizing the electric pedal driven by the four-bar linkage mechanism, whether the foot pedal of the electric pedal exists inward horizontal displacement in the outward turning process is judged during optimization. When the foot pedal exists inward horizontal displacement, it is indicated that the outward displacement amount of the foot pedal in the horizontal direction cannot be accurately controlled based on the structure of the current four-bar linkage mechanism, and then the hinge point position of the four-bar linkage mechanism is adjusted until the foot pedal is smoothly unfolded outward in the turning process. The technical scheme can optimize the four-bar linkage mechanism of the electric pedal, and improves the accuracy of horizontal displacement control when the electric pedal turns. Meanwhile, the optimization design method can make the turning process of the electric pedal more smooth, and improves the perception quality of the electric pedal.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric pedal optimization design, and in particular to an electric pedal and an optimization design method and device thereof. BACKGROUND

[0002] In the field of automobiles, electric pedals as a kind of accessory to improve the convenience and aesthetics of vehicles have been widely applied to various vehicle models. Traditional electric pedals mostly adopt four-bar linkage retraction and expansion structures, but some defects exist in actual use, such as non-uniform extension length to the outside during the turning process, which may cause a rollback phenomenon when opening to the tail end, affecting the accuracy of electric pedal control. SUMMARY

[0003] To solve the technical problem of improving the accuracy of electric pedal control, the present application provides an electric pedal and an optimization design method and device thereof, which can make the electric pedal optimized and designed to smoothly expand, thereby improving the accuracy of horizontal displacement control of the electric pedal during turning.

[0004] The embodiments of the present application provide the following solutions:

[0005] In a first aspect, the embodiments of the present application provide an optimization design method of an electric pedal, which comprises:

[0006] judging whether the foot pedal of the electric pedal exists inward horizontal displacement during outward turning, wherein the electric pedal is a pedal turned by a four-bar linkage retraction and expansion mechanism;

[0007] when the foot pedal exists inward horizontal displacement, readjusting the hinge point position of the four-bar linkage retraction and expansion mechanism until the foot pedal smoothly expands outward during turning.

[0008] In an optional embodiment, judging whether the foot pedal of the electric pedal exists inward horizontal displacement during outward turning comprises:

[0009] obtaining a target view of the electric pedal, wherein the target view is a plan view representing the connection relationship between the four-bar linkage retraction and expansion mechanism and the foot pedal;

[0010] obtaining a path curve of the foot pedal during turning according to the target view, wherein the path curve is a curve of the horizontal displacement of the foot pedal varying with the turning angle during turning;

[0011] when the path curve exists a monotonous decreasing feature, determining that the foot pedal exists inward horizontal displacement.

[0012] In an optional embodiment, readjusting the hinge point position of the four-bar linkage retraction and expansion mechanism until the foot pedal smoothly expands outward during turning comprises:

[0013] A flip coordinate system is constructed on a target view of the electric pedal, wherein the target view is a plan view representing a connection relationship between the four-bar linkage and the foot pedal;

[0014] A target mapping relationship is obtained according to a change relationship between an adjustment amount of the position of the hinge point in the flip coordinate system and a horizontal displacement when the foot pedal is flipped;

[0015] The position of the hinge point is adjusted according to the target mapping relationship until the horizontal inward displacement of the foot pedal during the flipping process is less than a preset value.

[0016] In an optional embodiment, the position of the hinge point is a first hinge point rotating around a shaft of a driving motor in the four-bar linkage; the target mapping relationship is obtained according to a change relationship between an adjustment amount of the position of the hinge point in the flip coordinate system and a horizontal displacement when the foot pedal is flipped, comprising:

[0017] An optimized central angle of the first hinge point around the shaft of the driving motor before and after adjustment is obtained according to the adjustment amount of the first hinge point;

[0018] A coordinate solving equation of the first hinge point after adjustment is obtained according to a cosine theorem equation, the optimized central angle and lengths of the hinge points in the four-bar linkage;

[0019] A coordinate position of the first hinge point after adjustment is obtained according to the coordinate solving equation;

[0020] The target mapping relationship is obtained according to a corresponding relationship between the coordinate position and a straight-line distance from any point on the foot pedal.

[0021] In an optional embodiment, the position of the hinge point is adjusted according to the target mapping relationship until the horizontal inward displacement of the foot pedal during the flipping process is less than a preset value, comprising:

[0022] Different adjustment amounts of the position of the hinge point are input into the target mapping relationship according to a preset adjustment step distance to obtain a path curve of the foot pedal during the flipping process under different adjustment amounts;

[0023] When a monotonically decreasing change amount of the path curve is less than a preset decreasing threshold, it is determined that the horizontal inward displacement of the foot pedal during the flipping process is less than the preset value.

[0024] In an optional embodiment, before adjusting the position of the hinge point of the four-bar linkage, the method further comprises:

[0025] A displacement amount of the horizontal inward displacement of the foot pedal during the flipping process is obtained;

[0026] When the displacement amount is greater than a preset displacement threshold, it is determined that the adjusted position of the hinge point is a first hinge point and / or a second hinge point away from the foot pedal on the four-bar linkage;

[0027] When the displacement amount is less than or equal to the displacement threshold, the adjusted hinge point position is determined as the third hinge point and / or the fourth hinge point on the four-bar linkage mechanism close to the side of the foot pedal.

[0028] In an alternative embodiment, after the adjustment of the hinge point position of the four-bar linkage mechanism is completed, the method further comprises:

[0029] The flip speed of the electric pedal with the adjusted hinge point position is adjusted until the fluctuation amount of the flip speed of the foot pedal during the flip process is less than a preset value.

[0030] In an alternative embodiment, the flip speed of the electric pedal with the adjusted hinge point position is adjusted until the fluctuation amount of the flip speed of the foot pedal during the flip process is less than a preset value, comprising:

[0031] The electric pedal with the adjusted hinge point position is tested to obtain a flip operation curve, wherein the flip operation curve is a curve of the flip speed of the electric pedal varying with the flip angle;

[0032] According to the fluctuation characteristics of the flip operation curve, a fluctuation compensation is configured for the flip operation curve until the fluctuation amount of the flip speed represented by the compensated flip operation curve is less than a preset value.

[0033] In a second aspect, the embodiments of the present application further provide an optimization design device of an electric pedal, which comprises:

[0034] A judging module is configured to judge whether the foot pedal of the electric pedal has an inward horizontal displacement during the outward flip process, wherein the electric pedal is a pedal flipped by a four-bar linkage mechanism;

[0035] A first adjusting module is configured to re-adjust the hinge point position of the four-bar linkage mechanism when the foot pedal has an inward horizontal displacement until the foot pedal is smoothly unfolded outwardly during the flip process.

[0036] In a third aspect, the embodiments of the present application further provide an electric pedal, which is obtained by the optimization design of any method in the first aspect.

[0037] Compared with the prior art, the electric pedal, the optimization design method and the device of the electric pedal have the following advantages:

[0038] In optimizing the design of an electric pedal driven by a four-bar linkage mechanism, the present invention determines whether the pedal experiences inward horizontal displacement during outward rotation. If inward horizontal displacement is present, it indicates that the outward horizontal displacement of the pedal cannot be accurately controlled based on the current four-bar linkage mechanism structure. Therefore, the hinge point position of the four-bar linkage mechanism is readjusted until the pedal smoothly unfolds outward during rotation. This optimization prevents inward horizontal displacement during rotation, improving the accuracy of horizontal displacement control. Furthermore, this optimization method makes the pedal rotation smoother, enhancing the perceived quality of the electric pedal. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A flowchart illustrating an optimized design method for an electric pedal provided in an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the transverse cross-section of an electric pedal provided in an embodiment of the present invention;

[0042] Figure 3 This is a first schematic diagram of the path curve provided in an embodiment of the present invention;

[0043] Figure 4 This is a second schematic diagram of the path curve provided in an embodiment of the present invention;

[0044] Figure 5 This is a first schematic diagram of the flipping operation curve provided in an embodiment of the present invention;

[0045] Figure 6 A schematic diagram of the speed regulation curve provided in an embodiment of the present invention;

[0046] Figure 7 This is a second schematic diagram of the flipping operation curve provided in an embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of an optimized design device for an electric pedal provided in an embodiment of the present invention.

[0048] Explanation of reference numerals in the attached diagram: 1-Fixed beam, 2-Driving arm, 3-Driven arm, 4-Foot pedal. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the protection scope of the embodiments of the present application.

[0050] Please refer to Figure 1 , Figure 1 A flowchart of an optimal design method of an electric pedal provided by the embodiments of the present application is shown in the figure. The method can be applied to the design terminal of the electric pedal to optimize the design of the electric pedal. The design terminal can be a computer device or a server device, which can run the method and is not specifically limited herein. The method comprises the following steps.

[0051] S11, judging whether the foot pedal of the electric pedal exists inward horizontal displacement in the outward turning process, wherein the electric pedal is a pedal turned by a four-bar linkage mechanism.

[0052] Specifically, the transverse cross-sectional structure of the electric pedal is shown in Figure 2 The electric pedal comprises a fixed beam 1, a driving arm 2, a driven arm 3 and a foot pedal 4. The fixed beam 1 is installed on the vehicle chassis and is installed in parallel to the length direction of the vehicle, at the bottom of the vehicle door. The point A of the driving arm 2 is hinged to the fixed beam 1, and the point B of the driving arm 2 is hinged to the foot pedal 4. A driving motor can be installed at the point A of the driving arm 2 to perform a turning action on the foot pedal 4. The point D of the driven arm 3 is hinged to the fixed beam 1, and the point C of the driven arm 3 is hinged to the foot pedal 4. After the foot pedal 4 is turned and stretched, it can be convenient for the driver and passenger to get on and off the vehicle; during the driving of the vehicle, the foot pedal 4 is retracted and hidden under the vehicle chassis.

[0053] The four-bar linkage mechanism composed of the fixed beam 1, the driving arm 2, the driven arm 3 and the foot pedal 4 has high strength, but is limited by the characteristics of the four-bar linkage structure. If the hinge point position is not reasonably designed, the foot pedal 4 will exist inward horizontal displacement in the outward turning process, which will result in the failure to accurately control the horizontal position and affect the perception quality in the use process. The data of the horizontal displacement of the foot pedal in the turning process can be obtained through software simulation. Based on the data, it is judged whether the foot pedal exists inward horizontal displacement in the turning process. If the data continuously increases with the increase of the turning angle, and the two are in a proportional relationship, it means that there is no inward horizontal displacement. Otherwise, it means that there is inward horizontal displacement. Please refer to Figure 2 The K1 direction in the figure is the outward direction of the foot pedal in the turning process, i.e. the outside of the vehicle; and the K2 direction is the inward direction of the foot pedal in the turning process, i.e. the inside of the vehicle.

[0054] Exemplary, step S11 includes sub-steps S11-1 to S11-3, which are specifically described as follows:

[0055] S11-1, obtaining a target view of the electric pedal. The target view is a plan view representing the connection relationship between the four-bar linkage mechanism and the foot pedal, Figure 2 The target view is shown, and through the target view, the structure of the electric pedal before optimization can be obtained.

[0056] S11-2, obtaining a path curve of the foot pedal in the flipping process according to the target view, wherein the path curve is a curve of the horizontal displacement of the foot pedal with respect to the flipping angle in the flipping process. Please refer to Figure 3 , Figure 3 The first schematic diagram of the path curve is shown, which represents the path curve of the foot pedal in the flipping process before optimization. The horizontal coordinate represents the flipping angle of the driving arm, and the vertical coordinate represents the horizontal displacement of point E on the foot pedal. Point E is an arbitrary point on the foot pedal, which is represented as horizontal coordinate data Ey.

[0057] S11-3, when the path curve has a monotonically decreasing feature, it is determined that the foot pedal has an inward horizontal displacement. Please continue to refer to Figure 3 From the figure, the running track of point E can be seen. The horizontal coordinate represents the flipping angle (or rotation angle), and the vertical coordinate represents the horizontal coordinate of point E. When the driving shaft rotates 0-80°, Ey increases; between 80-85°, Ey decreases, the path curve shows a monotonically decreasing feature, indicating that the foot pedal has a retraction in the horizontal direction, affecting the perception quality of the customer during use. Therefore, the structure of the four-bar linkage mechanism needs to be optimized.

[0058] S12, when the foot pedal has an inward horizontal displacement, the position of the hinge point of the four-bar linkage mechanism is adjusted until the foot pedal is smoothly unfolded outward during the flipping process.

[0059] Specifically, the existence of the inward horizontal displacement of the foot pedal during the flipping process indicates that the position of the hinge point of the four-bar linkage mechanism is not reasonable, resulting in the retraction of the foot pedal in the horizontal direction. The position of the hinge point of the four-bar linkage mechanism can be adjusted, and one or more hinge points can be adjusted. After adjustment, the electric pedal is simulated or tested again to determine whether there is still retraction until the foot pedal is smoothly unfolded outward during the flipping process.

[0060] It should be noted that when adjusting the position of the hinge point, the adjustment amount can be set according to the experience of the technician, or it can be determined through calibration experiments. The inward horizontal displacement of the foot pedal can be gradually adjusted to be eliminated, and detailed description is not given here.

[0061] In practical applications, the change range produced by adjustment of different hinge points is different. If adjustment is implemented in a trial-and-error manner without distinction, more adjustment time and effort are required. Based on this, in a specific embodiment, before adjusting the positions of the hinge points of the four-bar linkage folding and unfolding mechanism, the method further comprises:

[0062] The displacement amount of the footrest in the inward horizontal displacement during the turning process is obtained. The displacement amount represents the offset distance of the footrest in the inward direction during the turning process. When the displacement amount is greater than a preset displacement threshold, it indicates that the displacement amount is large and a large adjustment range is required. Therefore, the adjusted hinge point position is determined to be the first hinge point and / or the second hinge point on the side of the four-bar linkage folding and unfolding mechanism far from the footrest. Please refer to Figure 2 , Figure 2 In the first hinge point is point B and the second hinge point is point A. Since the first hinge point and the second hinge point are far from the footrest, the displacement amount after adjustment has a large adjustment range. Conversely, when the displacement amount is less than or equal to the displacement threshold, it indicates that the displacement amount is small, and the adjusted hinge point position is determined to be the third hinge point and / or the fourth hinge point on the side of the four-bar linkage folding and unfolding mechanism close to the footrest, Figure 2 In the third hinge point is point C and the fourth hinge point is point D. Since the third hinge point and the fourth hinge point are close to the footrest, the displacement amount after adjustment has a small adjustment range, and accurate adjustment can be implemented.

[0063] It can be understood that when adjusting the positions of the first hinge point and the second hinge point, the first hinge point B can be adjusted first to prevent the position of the driving motor from being adjusted and interfering with other components or other adverse consequences. In practical applications, if the displacement amount is large, the first hinge point can be adjusted first to implement coarse adjustment of the displacement amount. After the displacement amount is reduced, fine adjustment is further implemented through position adjustment of the third hinge point and the fourth hinge point until there is no horizontal inward displacement of the footrest during the outward turning process.

[0064] For example, step S12 includes sub-steps S12-1 to S12-3, which are described as follows:

[0065] S12-1, a turning coordinate system is constructed on the target view of the electric pedal, wherein the target view is a plan view representing the connection relationship between the four-bar linkage folding and unfolding mechanism and the footrest. Please continue to refer to Figure 2 The turning coordinate system can be established based on the view. The horizontal coordinate is denoted as y, representing the coordinate value of the hinge point in the horizontal direction. The vertical coordinate is denoted as z, representing the coordinate value of the hinge point in the vertical direction. The x direction is the length direction of the electric pedal and does not represent any meaning in the plan view. Through the turning coordinate system, the coordinate change of the first hinge point B and the coordinate change of any point E on the footrest during the turning process of the electric pedal can be measured.

[0066] S12-2, obtain a target mapping relationship according to the change relationship between the adjustment amount of the hinge point position in the flipped coordinate system and the horizontal displacement when the foot pedal is flipped. Based on the target mapping relationship, the corresponding change amount of the horizontal displacement of the foot pedal in the outward flipping process after the adjustment amount changes can be obtained. The target mapping relationship can be a data model. After the adjustment amount is input into the data model, the change amount of the horizontal displacement of the E point is obtained based on the output result of the data model.

[0067] In actual application, due to the complex change relationship of the four-bar linkage mechanism in the movement process, the target mapping relationship cannot be accurately obtained by the conventional method. Based on this, in a specific embodiment, the hinge point position is configured as the first hinge point rotating around the driving motor shaft in the four-bar linkage mechanism, that is, the B point in the following formula: Figure 2

[0068] Firstly, the optimized central angle of the first hinge point rotating around the driving motor shaft before and after adjustment is obtained according to the adjustment amount of the first hinge point. Figure 2 The A point is the center of the electric pedal driving shaft, the B point is the other rotation shaft center of the driving arm (or rocker) connected with the A point, the C point is the other rotation shaft center of the connecting rod connected with the B point, the foot pedal is connected with the connecting rod, and the D point is the other rotation shaft center of the driven arm (or connecting rod) connected with the C point. The adjustment amount of the first hinge point can be set based on the initial position of the B point, for example, moving 1mm in any direction of the circumference thereof; or based on the A point as the center and the AB as the radius to draw an arc line to obtain a curve BB', and the adjustment amount is any point on the curve BB'. After rotation, the position of the B point is B', and the optimized central angle is ∠BAB', denoted as α.

[0069] Secondly, the coordinate solving equation of the first hinge point after adjustment is obtained according to the cosine theorem equation, the optimized central angle and the lengths of the hinge points in the four-bar linkage mechanism. Taking the first hinge point after adjustment located on the curve BB' as an example, the coordinates of the A point are defined as (Ax, Ay, Az), the coordinates of the B point are defined as (Bx, By, Bz), the coordinates of the B' point are defined as (B'x, B'y, B'z), the coordinates of the C point are defined as (Cx, Cy, Cz), the coordinates of the D point are defined as (Dx, Dy, Dz), and the coordinates of the E point are defined as (Ex, Ey, Ez). Since the B point rotates around the A point, after the B point rotates around the A point to B', AB = AB', that is, the following relationship exists:

[0070]

[0071] BAD = arccos((AD 2 + AB 2 -BD 2 ) / (2*AB*AD)) ​

[0072] The distance to BB′ in △ABB′ can be calculated using the Law of Cosines equation:

[0073]

[0074] Solve the equation using coordinates:

[0075] (B′x-Bx) 2 +(B′y-By) 2 )+(B′z-Bz) 2 =BB′ 2

[0076] (B′x-Ax) 2 +(B′y-Ay) 2 )+(B′z-Az) 2 =AB′ 2

[0077] (B′x-Dx) 2 +(B′y-Dy) 2 )+(B′z-Dz) 2 =DB′ 2

[0078] The distance to DB′ in △ADB′ can be calculated using the Law of Cosines equation:

[0079]

[0080] Solving the coordinate equation is the same as solving the equation for point B′, that is:

[0081] B′x=Bx;

[0082] B′y=(((B′D 2 -BA 2 )-(Dy 2 -Ay 2 )-(Dz 2 -Az 2 ))×(-2×Ay+2×By)-((BA 2 -BB′ 2 )-(Ay 2 -By 2 )-(Az 2 -Bz 2 ))×(-2×Dy+2×Ay)) / ((-2×Ay+2×By)×(-2×Dz+2×Az)-(-2×Dy+2×Ay)×(-2×Az+2×Bz));

[0083] B′z=(((B′D 2 -BA 2 )-(Dy2 - Ay 2 ) - (Dz 2 - Az 2 )) x (-2 x Az + 2 x Bz) - ((BA 2 - BB' 2 ) - (Ay 2 - By 2 ) - (Az 2 - Bz 2 )) x (-2 x Dz + 2 x Az)) / ((-2 x Az + 2 x Bz) x (-2 x Dy + 2 x Ay) - (-2 x Dz + 2 x Az) x (-2 x Ay + 2 x By)).

[0084] Thirdly, the first hinge point in the adjusted coordinate position is obtained according to the coordinate solving equation. The first hinge point in the adjusted coordinate position is the B' point coordinate (B'x, B'y, B'z). In the above coordinate solving equation, since the target view is a planar view, there is no displacement change in the x direction, and the first hinge point in the adjusted coordinate position can also be represented by (B'y, B'z).

[0085] Fourthly, the target mapping relationship is obtained according to the corresponding relationship between the coordinate position and the straight line distance from any point on the footboard. Any point on the footboard is the E point, as shown in the following formula: Figure 2 The outermost point of the footboard can be recorded as the E point, the distance B'E from the B' point to the E point is constant, and the motion trajectory of the E point changes during the footboard turning process when the B point is adjusted to B'. In order to represent the target mapping relationship, the above formula is written into an EXCEL table, and the B' point coordinate corresponding to any turning angle a can be obtained. Similarly, the E point coordinate is sequentially solved. It should be noted that when the target mapping relationship is represented by the EXCEL table, the coordinate positions of the A, B, C and E points, the B point adjustment amount, and the BE length are input items. After inputting them into the EXCEL table, the trajectory of the E point during the footboard turning process can be solved. Thus, the target mapping relationship of the adjustment amount with the horizontal displacement during the footboard turning process has been obtained.

[0086] S12-3, adjusting the hinge point position according to the target mapping relationship until the horizontal displacement of the footboard inward during the turning process is less than a preset value. By inputting different adjustment amounts into the target mapping relationship, the horizontal displacement of the E point can be obtained. When the horizontal displacement of the footboard inward during the turning process is less than the preset value, it indicates that the footboard has no obvious inward movement, and the B point adjustment has met the optimization goal of the electric pedal. The structure to be completed is determined as the target structure of the electric pedal.

[0087] For example, the sub-step S12-3 includes the following implementation steps:

[0088] In a first step, different adjustment amounts of the hinge point position are input into the target mapping relationship according to a preset adjustment step distance, so as to obtain a path curve of the foot pedal in the flipping process under different adjustment amounts. The adjustment amount can be transformed based on the B point coordinates according to a 1mm step, and the horizontal displacement of the foot pedal in the flipping process under different adjustment amounts is obtained based on the target mapping relationship. The path curve of the foot pedal is obtained based on different flipping angles and corresponding horizontal displacements, that is Figure 3 The curve shown in the figure.

[0089] In a second step, when the monotonically decreasing amount of the path curve is less than a preset decreasing threshold, it is determined that the foot pedal does not have a large inward displacement in the flipping process, and the horizontal inward displacement of the foot pedal in the flipping process is less than a preset value. Please refer to Figure 4 , Figure 4 The path curve after the adjustment of the hinge point position. As can be seen from the figure, as the flipping angle increases, the foot pedal does not have a significant inward displacement in the horizontal direction, which indicates that the optimization has reached the target.

[0090] In actual application, the same is limited by the characteristics of the four-bar linkage mechanism, and when the driving motor drives the four-bar linkage mechanism to implement the flipping of the foot pedal, it exhibits variable speed motion, that is, the expansion speed in the horizontal direction is fast in the middle, and slow in the opening stage and the stopping stage. Please refer to Figure 5 , Figure 5 The flipping speed of E point in the horizontal direction during the flipping process of the foot pedal, the horizontal coordinate is the flipping angle, and the vertical coordinate is the flipping speed. This kind of motion state cannot be judged by the user whether the electric pedal is damaged, which affects the perception quality. Based on this, in a specific embodiment, after the adjustment of the hinge point position of the four-bar linkage mechanism is completed, the method further comprises:

[0091] S13, adjusting the flipping speed of the electric pedal after the adjustment of the hinge point position is completed, until the fluctuation amount of the flipping speed of the foot pedal in the flipping process is less than a preset value.

[0092] Specifically, a damping mechanism can be added to limit the motion of the four-bar linkage mechanism, for example, a spring or other elastic component is added to limit the flipping motion of the foot pedal, or a separate damping motor can be added to limit the flipping motion. The fluctuation amount of the flipping speed can be reduced to less than a preset value. Since the fluctuation amount of the flipping speed is small, the foot pedal can run at a nearly constant speed during the flipping process, thereby further improving the perception quality of the electric pedal and improving the accuracy of the motion control of the electric pedal.

[0093] For example, step S13 includes S13-1 to S13-2, which are specifically described as follows:

[0094] S13-1, test the electric pedal whose hinge point position is adjusted to obtain a flip operation curve, wherein the flip operation curve is a curve of flip speed of the electric pedal varying with flip angle. By testing the electric pedal, the flip speed at different flip angles can be obtained, and the flip operation curve is obtained based on the variation relationship between the two, that is Figure 5 the curve shown in the figure.

[0095] S13-2, configure a fluctuation compensation according to the fluctuation characteristics presented by the flip operation curve until the fluctuation amount of the flip speed represented by the flip operation curve after the compensation is completed is less than a preset value. The fluctuation compensation is a compensation amount applied to make the flip speed more uniform, and a compensation curve (or speed regulation curve) representing the fluctuation compensation can be determined based on the fluctuation characteristics presented by the flip operation curve. Please refer to Figure 6 , Figure 6 the schematic diagram of the compensation curve. The variation characteristics presented by the compensation curve are opposite to the variation characteristics presented by the flip operation curve, and the flip speed of the foot pedal at different flip angles can be made more uniform after the compensation based on the compensation curve. When the compensation is implemented, the relationship between the flip angle and the flip speed represented by the compensation curve is written into the control program to realize the speed control of the driving motor. Please refer to Figure 7 , Figure 7 the flip operation curve after the compensation is completed. It can be seen that the flip speed is uniform at different flip angles. The optimization strategy is to slow down the driving motor in the middle stage of the flip, and the constant flip speed of E point in the entire flip process is realized through the speed control of the entire process.

[0096] Based on the same technical concept as the optimization design method, the embodiments of the present application also provide an optimization design device of an electric pedal. Please refer to Figure 8 , Figure 8 the structural schematic diagram of the design device. The design device comprises:

[0097] a judgment module 801 for judging whether the foot pedal of the electric pedal has a horizontal inward displacement during the outward flip, wherein the electric pedal is a pedal driven to flip by a four-bar linkage mechanism;

[0098] a first adjustment module 802 for re-adjusting the hinge point position of the four-bar linkage mechanism when the foot pedal has a horizontal inward displacement, until the foot pedal is smoothly unfolded outward during the flip.

[0099] In an alternative embodiment, the judgment module comprises:

[0100] an acquisition sub-module for acquiring a target view of the electric pedal, wherein the target view is a plan view representing the connection relationship between the four-bar linkage mechanism and the foot pedal;

[0101] The first obtaining sub-module is configured to obtain a path curve of the foot pedal in the turning process according to a target view, wherein the path curve is a curve of horizontal displacement of the foot pedal changing with a turning angle in the turning process.

[0102] The first determining sub-module is configured to determine that the foot pedal has the inward horizontal displacement when the path curve has a monotonous decreasing feature.

[0103] In an optional embodiment, the first adjusting module comprises:

[0104] The constructing sub-module is configured to construct a turning coordinate system on the target view of the electric pedal, wherein the target view is a plan view representing a connection relationship between the four-bar linkage mechanism and the foot pedal.

[0105] The second obtaining sub-module is configured to obtain a target mapping relationship according to a change relationship between an adjustment amount of the position of the hinge point and the horizontal displacement of the foot pedal in the turning process in the turning coordinate system.

[0106] The adjusting sub-module is configured to adjust the position of the hinge point according to the target mapping relationship until the inward horizontal displacement of the foot pedal in the turning process is less than a preset value.

[0107] In an optional embodiment, the position of the hinge point is a first hinge point rotating around a shaft of the driving motor in the four-bar linkage mechanism; and the second obtaining sub-module comprises:

[0108] The first obtaining unit is configured to obtain an optimized central angle of the first hinge point around the shaft of the driving motor before and after the adjustment according to the adjustment amount of the first hinge point.

[0109] The second obtaining unit is configured to obtain a coordinate solving equation of the first hinge point after the adjustment according to a cosine theorem equation, the optimized central angle and lengths of the hinge points in the four-bar linkage mechanism.

[0110] The third obtaining unit is configured to obtain the coordinate position of the first hinge point after the adjustment according to the coordinate solving equation.

[0111] The fourth obtaining unit is configured to obtain the target mapping relationship according to a corresponding relationship between the coordinate position and a straight-line distance from the foot pedal.

[0112] In an optional embodiment, the adjusting sub-module comprises:

[0113] The fifth obtaining unit is configured to input different adjustment amounts of the position of the hinge point into the target mapping relationship according to a preset adjustment step to obtain path curves of the foot pedal in the turning process under different adjustment amounts.

[0114] The determining unit is configured to determine that the horizontal inward displacement of the foot pedal during the turning process is less than a preset value when the monotonically decreasing change amount of the path curve is less than a preset decreasing threshold.

[0115] In an alternative embodiment, the design device further comprises:

[0116] The obtaining module is configured to obtain a displacement amount of the horizontal inward displacement of the foot pedal during the turning process.

[0117] The first determining module is configured to determine that the adjusted hinge point position is a first hinge point and / or a second hinge point on the four-bar linkage retraction mechanism away from the side of the foot pedal when the displacement amount is greater than a preset displacement threshold.

[0118] The second determining module is configured to determine that the adjusted hinge point position is a third hinge point and / or a fourth hinge point on the four-bar linkage retraction mechanism close to the side of the foot pedal when the displacement amount is less than or equal to the displacement threshold.

[0119] In an alternative embodiment, the design device further comprises:

[0120] The second adjusting module is configured to adjust the turning speed of the electric pedal after the hinge point position adjustment is completed until the fluctuation amount of the turning speed of the foot pedal during the turning process is less than a preset value.

[0121] In an alternative embodiment, the second adjusting module comprises:

[0122] The third obtaining submodule is configured to test the electric pedal after the hinge point position adjustment is completed to obtain a turning operation curve, wherein the turning operation curve is a curve of the turning speed of the electric pedal changing with the turning angle.

[0123] The configuration submodule is configured to configure fluctuation compensation according to the fluctuation characteristics presented by the turning operation curve until the fluctuation amount of the turning speed represented by the compensated turning operation curve is less than a preset value.

[0124] Based on the same technical concept as the optimization design method, the embodiments of the present application also provide an electric pedal, which is obtained by optimization design by any of the optimization design methods.

[0125] The technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0126] When the four-bar linkage retracting and expanding mechanism driven flip-over electric pedal is designed and optimized, whether the horizontal displacement of the foot pedal towards the inside exists in the outward flip-over process of the electric pedal is judged, when the horizontal displacement of the foot pedal towards the inside exists, it is indicated that the horizontal outward displacement of the foot pedal cannot be accurately controlled based on the structure of the current four-bar linkage retracting and expanding mechanism, then the hinge point position of the four-bar linkage retracting and expanding mechanism is adjusted again until the foot pedal is smoothly unfolded outward in the flip-over process. The technical scheme can optimize the four-bar linkage retracting and expanding mechanism of the electric pedal, so that the horizontal displacement towards the inside does not occur in the flip-over process, and the accuracy of the horizontal displacement control of the electric pedal in the flip-over process is improved. Meanwhile, the optimization design method can make the flip-over process of the electric pedal more smooth, and improve the perception quality of the electric pedal.

[0127] Those skilled in the art will appreciate that embodiments of the application can be supplied as methods, systems, or computer program products. Accordingly, the application can be embodied in the form of complete hardware embodiments, complete software embodiments, or embodiments combining software and hardware aspects. Furthermore, the application can be embodied in the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage media, etc.) having computer usable program code embodied thereon.

[0128] The application is described with reference to flowcharts and / or block diagrams of methods, apparatus (modules, systems), and computer program products according to embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, a special purpose computer, an embedded computer, or other programmable data processing apparatus to produce a machine, so that the instructions, which are executed via the processor of the computer or other programmable data processing apparatus, generate an apparatus that implements the flow Figure 1 The flow or flows and / or blocks in a flowchart and / or a combination of flows and / or blocks in a flowchart can be implemented by computer program instructions. Figure 1 An apparatus with a processor can be configured to perform the functions specified in a flow or multiple flows and / or blocks in a flowchart and / or a combination of flows and / or blocks in a flowchart.

[0129] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction apparatus, which implements the flow Figure 1 The flow or flows and / or blocks in a flowchart and / or a combination of flows and / or blocks in a flowchart can be implemented by computer program instructions. Figure 1 An apparatus with a processor can be configured to perform the functions specified in a flow or multiple flows and / or blocks in a flowchart and / or a combination of flows and / or blocks in a flowchart.

[0130] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The flowchart blocks Figure 1 Figure 1 The flowchart blocks

[0131] Although preferred embodiments of the application have been described herein, it will be apparent to those skilled in the art that various modifications and changes can be made to the embodiments without departing from the spirit and scope of the application. Accordingly, it is intended that all such modifications and changes be included within the scope of the application as set forth in the following claims and their equivalents.

[0132] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described herein.

Claims

1. An optimized design method for an electric pedal, characterized in that, The method includes: Determine whether there is an inward horizontal displacement of the foot pedal during the outward flipping process of the electric pedal, wherein the electric pedal is a pedal driven to flip by a four-bar linkage mechanism. When the foot pedal has an inward horizontal displacement, the hinge point position of the four-bar linkage is readjusted until the foot pedal smoothly unfolds outward during the flipping process; Before adjusting the hinge point position of the four-bar linkage, the method further includes: Obtain the amount of inward horizontal displacement of the foot pedal during the flipping process; When the displacement is greater than a preset displacement threshold, the adjusted hinge point position is determined to be the first hinge point and / or the second hinge point on the side of the four-bar linkage that is away from the foot pedal. When the displacement is less than or equal to the displacement threshold, the adjusted hinge point position is determined to be the third hinge point and / or the fourth hinge point on the side of the four-bar linkage closer to the foot pedal.

2. The optimized design method for the electric pedal according to claim 1, characterized in that, The determination of whether the foot pedal has an inward horizontal displacement during the outward flipping process of the electric pedal includes: Obtain a target view of the electric pedal, wherein the target view is a plan view characterizing the connection relationship between the four-bar linkage and the foot pedal; The path curve of the foot pedal during the flipping process is obtained based on the target view, wherein the path curve is the curve of the horizontal displacement of the foot pedal changing with the flipping angle during the flipping process; When the path curve exhibits a monotonically decreasing characteristic, it is determined that the foot pedal has an inward horizontal displacement.

3. The optimized design method for the electric pedal according to claim 1, characterized in that, The step of readjusting the hinge point position of the four-bar linkage until the foot pedal smoothly unfolds outward during the flipping process includes: A flip coordinate system is constructed on the target view of the electric pedal, wherein the target view is a plan view characterizing the connection relationship between the four-bar linkage and the foot pedal; The target mapping relationship is obtained based on the relationship between the adjustment amount of the hinge point position in the flipped coordinate system and the change of the horizontal displacement when the foot pedal is flipped. The position of the hinge point is adjusted according to the target mapping relationship until the inward horizontal displacement of the foot pedal during the flipping process is less than a preset value.

4. The optimized design method for the electric pedal according to claim 3, characterized in that, The hinge point is the first hinge point in the four-bar linkage mechanism that rotates around the drive motor shaft; obtaining the target mapping relationship based on the adjustment amount of the hinge point position in the flip coordinate system with the change of horizontal displacement when the foot pedal flips includes: Based on the adjustment amount of the first hinge point, the optimized central angle of the first hinge point around the drive motor shaft before and after the adjustment is obtained; Based on the cosine theorem equation, the optimized central angle, and the lengths of each hinge point in the four-bar linkage, the equation for solving the coordinates of the first hinge point after adjustment is obtained. The adjusted coordinate position of the first hinge point is obtained by solving the equation based on the coordinates. The target mapping relationship is obtained based on the correspondence between the coordinate positions and their straight-line distances from any point on the foot pedal.

5. The optimized design method for the electric pedal according to claim 3, characterized in that, The step of adjusting the hinge point position according to the target mapping relationship until the inward horizontal displacement of the foot pedal during the flipping process is less than a preset value includes: The different adjustment amounts of the hinge point position are input into the target mapping relationship according to the preset adjustment step distance to obtain the path curve of the foot pedal during the flipping process under different adjustment amounts; When the monotonically decreasing change of the path curve is less than a preset decreasing threshold, it is determined that the inward horizontal displacement of the foot pedal during the flipping process is less than a preset value.

6. The optimized design method for the electric pedal according to claim 1, characterized in that, After the hinge point position of the four-bar linkage is adjusted, the method further includes: The flipping speed of the electric pedal, after the hinge point position has been adjusted, is adjusted until the fluctuation of the flipping speed of the pedal during the flipping process is less than a preset value.

7. The optimized design method for electric pedals according to claim 6, characterized in that, The step of adjusting the flipping speed of the electric pedal after the hinge point position adjustment is completed, until the fluctuation of the flipping speed of the pedal during the flipping process is less than a preset value, includes: The electric pedal with the hinge point position adjusted is tested to obtain the flipping operation curve, wherein the flipping operation curve is the curve of the electric pedal's flipping speed changing with the flipping angle. Based on the fluctuation characteristics presented by the flipping operation curve, fluctuation compensation is configured until the fluctuation amount of the flipping speed represented by the compensated flipping operation curve is less than a preset value.

8. An optimized design device for an electric pedal, characterized in that, The device includes: The judgment module is used to determine whether there is an inward horizontal displacement of the foot pedal during the outward flipping process of the electric pedal, wherein the electric pedal is a pedal driven to flip by a four-bar linkage mechanism. The first adjustment module is used to readjust the hinge point position of the four-bar linkage when the foot pedal has an inward horizontal displacement, until the foot pedal smoothly unfolds outward during the flipping process; The device further includes: The acquisition module is used to acquire the amount of inward horizontal displacement of the foot pedal during the flipping process; The first determining module is used to determine the adjusted hinge point position as the first hinge point and / or the second hinge point on the side away from the foot pedal on the four-bar linkage when the displacement is greater than the preset displacement threshold. The second determining module is used to determine the adjusted hinge point position as the third and / or fourth hinge point on the side of the four-bar linkage closer to the foot pedal when the displacement is less than or equal to the displacement threshold.

9. An electric pedal, characterized in that, The electric pedal is obtained by optimizing the design using the method described in any one of claims 1-7.

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