Pedal, control method, electronic equipment, vehicle and storage medium

Abstract

The invention discloses a pedal, a control method, electronic equipment, a vehicle and a storage medium, the pedal comprises a pedal assembly and a first sensor, the pedal assembly comprises a deformation sensing area, the first sensor is arranged in the deformation sensing area, and the first sensor is configured to detect the stress size and / or the stress area of the deformation sensing area; the stress magnitude is used for representing a first control quantity for controlling the speed of the vehicle, and the stress area is used for representing the contact state of the target object and the deformation sensing area. A deformation sensing area is arranged on the surface of a pedal assembly of the pedal, in the vehicle driving process, a driver applies pressure to the deformation sensing area to complete the vehicle driving operation, and a pressure sensor is arranged in the deformation sensing area. The driving action and the operation intention of a driver can be determined by detecting the stress size and the stress area of the deformation induction area. In this way, the problem that in the vehicle driving process, the operation intention of a driver is not accurate is solved.

Description

Technical Field

[0001] The present invention relates to the field of pedal equipment, and more specifically, to a pedal, a control method, an electronic device, a vehicle and a storage medium. Background Art

[0002] In the related art, the accelerator pedal or brake pedal of a car uses a pedal position sensor to detect the position of the pedal after the driver steps on it, and transmits the pedal position signal to the controller, which then controls the vehicle speed. During the driving process, the pedal position signal may not reflect the driver's driving situation due to sensor damage, which may lead to inaccurate operation intention of the driver, making the vehicle speed control inconsistent with the driver's operation intention. Summary of the invention

[0003] Embodiments of the present invention provide a pedal, a control method, an electronic device, a vehicle, and a storage medium.

[0004] A pedal provided in an embodiment of the present invention is applied to a vehicle, and the pedal includes a pedal assembly and a first sensor. The pedal assembly includes a deformation sensing area, and the first sensor is arranged in the deformation sensing area. The first sensor is configured to detect the force magnitude and / or force area of ​​the deformation sensing area, the force magnitude is used to represent a first control quantity for controlling the vehicle speed, and the force area is used to represent the contact state between the target object and the deformation sensing area.

[0005] In some embodiments, the first sensor includes a pressure sensor and / or a deformation sensor.

[0006] In some embodiments, the pedal includes a pedal arm and a position sensor, the pedal arm is connected to the foot pedal assembly, when the deformation sensing area is subjected to force, the foot pedal assembly causes the pedal arm to shift in position, and the position sensor is configured to detect the position offset of the pedal arm, and the position offset is used to represent a second control quantity for controlling the vehicle speed.

[0007] In some embodiments, the pedal includes a brake pedal, the brake pedal includes a brake foot pedal assembly, the brake foot pedal assembly includes a first deformation sensing area, the first sensor includes a first pressure sensor, the first pressure sensor is arranged in the first deformation sensing area, and the first pressure sensor is configured to detect the force magnitude and / or force area of ​​the first deformation sensing area.

[0008] In some embodiments, the pedal includes an accelerator pedal, the accelerator pedal includes an accelerator pedal assembly, the accelerator pedal assembly includes a second deformation sensing area, the first sensor includes a second pressure sensor, the second pressure sensor is arranged in the second deformation sensing area, and the second pressure sensor is configured to detect the force magnitude and / or force area of ​​the second deformation sensing area.

[0009] An embodiment of the present invention provides a control method for controlling a vehicle, wherein the vehicle includes a pedal according to any one of the above embodiments, and the control method includes: controlling the speed of the vehicle according to the force magnitude of the deformation sensing area, and / or determining the contact state between the target object and the deformation sensing area according to the force area of ​​the deformation sensing area.

[0010] In some embodiments, the control method also includes: determining a first control quantity based on the force magnitude of the deformation sensing area, and determining a second control quantity based on the position offset of the pedal arm; when the first control quantity is consistent with the second control quantity, controlling the vehicle speed based on the first control quantity and / or the second control quantity.

[0011] In certain embodiments, the control method further includes: when the first control amount is inconsistent with the second control amount, controlling the vehicle to decelerate and outputting an alarm signal.

[0012] In some embodiments, the control method further includes: outputting an alarm signal when the force-bearing area of ​​the deformation sensing zone is smaller than a preset area.

[0013] In some embodiments, the pedal includes a brake pedal, the brake pedal includes a brake pedal assembly, the brake pedal assembly includes a first deformation sensing area, and the control method further includes: determining whether a target object is in contact with the first deformation sensing area of ​​the brake pedal assembly based on the force magnitude and / or force area of ​​the first deformation sensing area; when the target object is in contact with the first deformation sensing area of ​​the brake pedal assembly, outputting a first prompt signal to the braking system of the vehicle.

[0014] In some embodiments, the pedal includes an accelerator pedal, the accelerator pedal includes an accelerator pedal assembly, the accelerator pedal assembly includes a second deformation sensing area, and the control method further includes: determining whether a target object is in contact with the second deformation sensing area of ​​the accelerator pedal assembly based on the force magnitude and / or force area of ​​the second deformation sensing area; when the target object is in contact with the second deformation sensing area of ​​the accelerator pedal assembly, outputting a second prompt signal to the starting system of the vehicle.

[0015] An embodiment of the present invention provides an electronic device, which includes a memory and a processor. The memory is used to store a computer program. When the processor executes the computer program, it implements the control method of any one of the above embodiments.

[0016] An embodiment of the present invention provides a vehicle, comprising a vehicle body and a pedal according to any one of the above embodiments, wherein the pedal is arranged on the vehicle body.

[0017] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program implements the control method of any one of the above embodiments when executed by a processor.

[0018] In the pedal, control method, electronic device, vehicle and storage medium of the embodiments of the present invention, the pedal is applied to a vehicle, and a deformation sensing area is arranged on the surface of the pedal assembly. During the vehicle driving process, the driver completes the vehicle driving operation by applying pressure on the deformation sensing area. The pressure sensor is arranged in the deformation sensing area, and the driver's driving action and operation intention can be determined by detecting the force size and force area of ​​the deformation sensing area.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 is a schematic structural diagram of a pedal according to an embodiment of the present invention;

[0022] Figure 2 is a schematic structural diagram of a brake pedal and an accelerator pedal according to an embodiment of the present invention;

[0023] Figure 3 is a flow chart of a control method according to an embodiment of the present invention;

[0024] Figure 4 It is a flow chart of a control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are described in detail below, and the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0026] In the related technical field, the accelerator pedal or brake pedal of a car uses a pedal position sensor to detect the position of the pedal after the driver steps on it, and transmits the pedal position signal to the controller, which then controls the vehicle speed. In the process of driving a vehicle, due to sensor damage and other reasons, the pedal position signal may not reflect the driver's driving situation, which will lead to inaccurate operation intention of the driver, making the control of the vehicle speed inconsistent with the driver's operation intention.

[0027] The sensors of the above pedals can only obtain the driver's operating intention based on the position of the pedal. When the detected pedal position is inaccurate, the driver's operating intention is inaccurate, which will make the control of the vehicle speed inconsistent with the driver's operating intention. The sensors installed on the pedals cannot sense whether the driver has dangerous driving behavior, which will affect the safety of vehicle driving.

[0028] See also Figure 1 An embodiment of the present invention provides a pedal 100 for a vehicle. The pedal 100 includes a pedal assembly 10. The pedal assembly 10 includes a deformation sensing area 101 and a first sensor 102. The first sensor 102 is arranged in the deformation sensing area 101. The first sensor 102 is configured to detect the force magnitude and / or force area of ​​the deformation sensing area 101. The force magnitude is used to represent a first control amount for controlling the vehicle speed, and the force area is used to represent the contact state between the target object and the deformation sensing area 101.

[0029] Specifically, the pedal 100 is applied to a vehicle, and a deformation sensing area 101 is provided on the surface of the footrest assembly 10 of the pedal 100. During the driving of the vehicle, the driver completes the vehicle driving operation by applying pressure on the deformation sensing area 101 to achieve control of the vehicle. The deformation sensing area 101 can be composed of a strain-sensitive pressure-sensitive material. When the driver applies pressure to the deformation sensing area 101, the deformation sensing area 101 can generate a corresponding deformation amount according to the pressure, and the resistance value changes according to the size of the deformation amount. The changed resistance value brings a changed electrical signal, so that the deformation amount of the deformation sensing area 101 can be converted into a collectable electrical signal. The deformation sensing area 101 can also be provided with other first sensors 102, and the first sensor 102 detects the pressure and force area applied by the driver to the deformation sensing area 101.

[0030] The first sensor 102 can determine the driver's operating intention based on the detected pressure, and the force can be used to represent the driver's first control amount for the vehicle speed. For example, when the driver controls the vehicle to brake, the greater the pressure the driver applies to the deformation sensing area 101, the more urgent the driver's braking is, and the shorter the braking time the driver wants. At this time, the pressure detected by the first sensor 102 can be output to the controller that controls the vehicle speed, and the controller implements the emergency braking of the vehicle. When the driver controls the vehicle to start, the greater the pressure the driver applies to the deformation sensing area 101, the shorter the driver wants the vehicle to start. At this time, the pressure detected by the first sensor 102 can be output to the controller that controls the vehicle speed, and the controller implements the rapid start of the vehicle.

[0031] The target object is an object that contacts the deformation sensing area 101 when the deformation sensing area 101 is subjected to force, and the target object may be the driver. During vehicle driving, the driver controls the vehicle by stepping on the pedal 100 and applying pressure to the deformation sensing area 101 on the surface of the pedal 100. The first sensor 102 can determine the driver's driving condition based on the detected force area, and the force area can be used to indicate the contact state between the target object and the deformation sensing area 101. When the force area of ​​the deformation sensing area 101 is relatively small, it can be considered that the driver is not in sufficient contact with the pedal 101, and at this time the driver is at risk of slipping and stepping on air. When the force area of ​​the deformation sensing area 101 is large enough, it can be considered that the driver is in sufficient contact with the pedal 101.

[0032] Thus, by setting the deformation sensing area 101 on the pedal assembly 10, the force magnitude and force area of ​​the deformation sensing area 101 can reflect the driver's driving situation and operation intention, thus solving the problem of inaccurate operation intention of the driver during vehicle driving.

[0033] In some embodiments, the first sensor 102 includes a pressure sensor and / or a strain sensor.

[0034] The first sensor 102 can determine the driver's operating intention according to the detected pressure, and the force can be used to represent the first control amount of the driver on the vehicle speed. By setting the deformation sensing area 101 in the pedal assembly 10, the force and force area of ​​the deformation sensing area 101 can reflect the driver's driving situation and operating intention. This solves the problem of inaccurate driver's operating intention during vehicle driving.

[0035] See also Figure 1In some embodiments, the pedal 100 includes a pedal arm 20 and a position sensor 30. The pedal arm 20 is connected to the foot pedal assembly 10. When the deformation sensing area 101 is subjected to force, the foot pedal assembly 10 drives the pedal arm 20 to shift in position. The position sensor 30 is configured to detect the position offset of the pedal arm 20. The position offset is used to represent a second control quantity for controlling the vehicle speed.

[0036] Specifically, the position sensor 30 can obtain the operation intention required by the driver by detecting the position offset of the pedal arm 20, and the position offset can be used to represent the second control amount of the driver on the vehicle speed. When the driver applies pressure to the pedal assembly 10, the pedal arm 20 of the pedal 100 will also produce a corresponding position offset, and the position offset of the pedal arm 20 of the pedal 100 can reflect the force magnitude of the deformation sensing area 101 to reflect the operation intention required by the driver. For example, when the driver controls the vehicle to brake, the greater the force of the deformation sensing area 101, the greater the position offset of the pedal arm 20, it can be considered that the driver's braking is more urgent, and the shorter the braking time the driver wants, at this time, the position detected by the position sensor 30 can be output to the controller that controls the vehicle speed, and the controller implements the emergency braking of the vehicle. When the driver controls the vehicle to start, the greater the force of the deformation sensing area 101, the greater the position offset of the pedal arm 20, it can be considered that the driver wants the vehicle to start the time to be shorter, and the position detected by the position sensor 30 can be output to the controller that controls the vehicle speed, and the controller implements the rapid start of the vehicle.

[0037] The position sensor 30 of the automobile pedal 100 can be specifically of three types: potentiometer type, dual Hall type and electromagnetic induction type. These three types of automobile pedal 100 position sensors 30 are all used to detect the position of the automobile pedal 100, and output different voltages according to the position change of the pedal 100. The working principle of the potentiometer sensor is that two potentiometers output in-phase signals. When the position of the pedal 100 changes, its resistance increases or decreases linearly at the same time, and the resistance value change is converted into a voltage output signal. The working principle of the dual Hall sensor is to use two Hall sensors. When the position of the pedal 100 changes, one Hall sensor is used to detect the position of the pedal 100, and the other Hall sensor is used for error compensation. The two Hall sensors can output voltage to two voltage terminals, and the differential voltage of the two voltage terminals can reflect the position change of the pedal 100. The electromagnetic induction sensor can be composed of an excitation coil and a receiving coil. When the driver steps on the pedal 100, the mechanical components of the pedal 100 convert the lever motion of the pedal 100 into a linear motion of the metal sheet, and the alternating magnetic field formed by the excitation coil acts on the moving metal sheet. Depending on the position of the metal sheet and the receiving coil, the receiving coil generates a corresponding induced voltage. Depending on the position of the pedal 100, the position of the metal sheet is different, the overlap between the metal sheet and the receiving coil is different, and the AC induced voltage is also different. The position sensor 30 can use a sliding resistor sensor, and the sliding contact of the sliding resistor changes with the change of the position of the pedal 100, so that the resistance value changes, and the changed resistance value causes the output voltage to change. According to the size and change rate of the output voltage, the size and change rate of the output voltage can reflect the size of the position offset of the pedal arm 20 and the position change rate of the pedal arm 20.

[0038] In this way, by providing the position sensor 30 to detect the position of the pedal arm 20 , the position offset of the pedal arm 20 can reflect the force magnitude of the deformation sensing area 101 , so as to reflect the operation intention required by the driver.

[0039] See also Figure 2 In some embodiments, the brake pedal includes a brake pedal assembly 11, the brake pedal assembly 11 includes a first deformation sensing area 111, the first sensor 102 includes a first pressure sensor 112, the first pressure sensor 112 is arranged in the first deformation sensing area 111, and the first pressure sensor 112 is configured to detect the force magnitude and / or force area of ​​the first deformation sensing area 111.

[0040] Specifically, during driving, the driver can brake the vehicle by applying pressure to the first deformation sensing area 111. When the driver touches the brake pedal, the first pressure sensor 112 will collect information about the force with which the driver touches the pedal 100 and the size of the touched area to obtain the driver's operating intention. The pressure detected by the first pressure sensor 112 can be used as a judgment of the driver's braking intensity. When the first pressure sensor 112 detects that the force on the first deformation sensing area 111 becomes larger, it can be considered that the driver needs to increase the braking intensity of the vehicle. When the first pressure sensor 112 detects that the force on the first deformation sensing area 111 becomes smaller, it can be considered that the driver needs to reduce the braking intensity of the vehicle.

[0041] The first pressure sensor 112 can determine the driver's driving condition based on the detected force area, and the force area can be used to indicate the contact state between the driver and the brake pedal. When the force area of ​​the deformation sensing area 101 is relatively small, it can be considered that the driver is not in sufficient contact with the brake pedal, and the driver is at risk of slipping and stepping on empty air. When the force area of ​​the deformation sensing area 101 is large enough, it can be considered that the driver is in sufficient contact with the brake pedal.

[0042] When the driver touches the first deformation sensing area 111 of the brake pedal but does not step on the pedal 100, the first pressure sensor 112 detects that the pressure is relatively small, and it can be considered that the driver is ready to operate the brake pedal to control the vehicle. At this time, the first pressure sensor 112 can send the detected pressure signal to the braking system of the vehicle, and the braking system is prepared to implement the braking work in advance. When the driver steps on the pedal 100, the braking system can immediately implement the braking function. For example, the driver can always keep in contact with the brake pedal during driving, providing the braking system of the vehicle with a braking judgment basis, so that the braking system is ready for braking. When encountering an emergency, the driver steps on the brake pedal. Since the braking system of the vehicle is ready for braking, the braking system can immediately react and implement the braking of the vehicle, thereby reducing the reaction time of the vehicle braking and improving driving safety.

[0043] In this way, by providing the first deformation sensing area 111 on the brake pedal, the force magnitude and force area of ​​the first deformation sensing area 111 can reflect the driving condition and operation intention of the driver on the brake pedal.

[0044] See also Figure 2In some embodiments, the brake pedal also includes a brake pedal arm 21 and a first position sensor 31. The brake pedal arm 21 is connected to the brake pedal assembly 11. When the first deformation sensing area 111 is subjected to force, the brake pedal assembly 11 drives the brake pedal arm 21 to shift in position. The first position sensor 31 is configured to detect the position offset of the brake pedal arm 21.

[0045] Specifically, the first position sensor 31 can obtain the operation intention required by the driver by detecting the position offset of the brake pedal arm 21. When the driver applies pressure to the first deformation sensing area 111, the brake pedal arm 21 will also produce a corresponding position offset. The position offset of the brake pedal arm 21 can reflect the force applied to the first deformation sensing area 111, thereby reflecting the operation intention required by the driver.

[0046] See also Figure 2 In some embodiments, the accelerator pedal includes an accelerator pedal assembly 12, the accelerator pedal assembly 12 includes a second deformation sensing area 121, the first sensor 102 includes a second pressure sensor 122, the second pressure sensor 122 is arranged in the second deformation sensing area 121, and the second pressure sensor 122 is configured to detect the force magnitude and / or force area of ​​the second deformation sensing area 121.

[0047] Specifically, during driving, the driver can accelerate the vehicle by applying pressure to the second deformation sensing area 121. When the driver touches the accelerator pedal, the second pressure sensor 122 will collect information about the force with which the driver touches the pedal 100 and the size of the touch area to obtain the driver's operating intention. The pressure detected by the second pressure sensor 122 can be used as a judgment of the driver's acceleration intensity. When the second pressure sensor 122 detects that the force on the second deformation sensing area 121 becomes larger, it can be considered that the driver needs to increase the acceleration intensity of the vehicle. When the second pressure sensor 122 detects that the force on the second deformation sensing area 121 becomes smaller, it can be considered that the driver needs to reduce the acceleration intensity of the vehicle or control the vehicle to decelerate.

[0048] The second pressure sensor 122 can determine the driver's driving condition based on the detected force area, and the force area can be used to indicate the contact state between the driver and the accelerator pedal. When the force area of ​​the deformation sensing area 101 is relatively small, it can be considered that the driver is not in sufficient contact with the accelerator pedal, and the driver is at risk of slipping and stepping on empty air. When the force area of ​​the deformation sensing area 101 is large enough, it can be considered that the driver is in sufficient contact with the accelerator pedal.

[0049] When the driver touches the second deformation sensing area 121 of the accelerator pedal but does not step on the pedal 100, the second pressure sensor 122 just begins to detect pressure, and it can be considered that the driver is ready to operate the accelerator pedal to control the vehicle. At this time, the second pressure sensor 122 can send the detected pressure signal to the vehicle's starting system, and the starting system is prepared to achieve acceleration in advance. When the driver steps on the accelerator pedal, the starting system can immediately achieve the acceleration function. For example, the driver can always keep in contact with the accelerator pedal during driving, providing the vehicle's starting system with a judgment basis for acceleration, so that the starting system is ready to start or accelerate. When the driver steps on the accelerator pedal, since the vehicle's starting system is ready to start or accelerate, the starting system can immediately respond and implement the vehicle's start or acceleration, thereby reducing the vehicle's start or acceleration time.

[0050] When the second pressure sensor 122 detects that the pressure is large enough, the second pressure sensor 122 can output a corresponding prompt signal to the driver, indicating that the acceleration amplitude is too large and there may be unsafe driving during driving. When the pressure detected by the second pressure sensor 122 is used to represent the first control amount of the vehicle speed, the first control amount has an upper limit, and the amplitude of the vehicle speed acceleration will not increase indefinitely due to the pressure detected by the second pressure sensor 122. This can avoid the problem of unsafe vehicle driving due to excessive vehicle acceleration.

[0051] In this way, by providing the second deformation sensing area 121 on the accelerator pedal, the force magnitude and force area of ​​the second deformation sensing area 121 can reflect the driving condition and operation intention of the driver on the accelerator pedal.

[0052] See also Figure 2 In some embodiments, the accelerator pedal also includes an accelerator pedal arm 22 and a second position sensor 32. The accelerator pedal arm 22 is connected to the accelerator pedal assembly 12. When the second deformation sensing area 121 is subjected to force, the accelerator pedal assembly 12 drives the accelerator pedal arm 22 to shift in position. The second position sensor 32 is configured to detect the position offset of the accelerator pedal arm 22.

[0053] Specifically, the second position sensor 32 can obtain the operation intention required by the driver by detecting the position offset of the accelerator pedal arm 22. When the driver applies pressure to the second deformation sensing area 121, the accelerator pedal arm 22 will also produce a corresponding position offset. The position offset of the accelerator pedal arm 22 can reflect the force applied to the second deformation sensing area 121, thereby reflecting the operation intention required by the driver.

[0054] The accelerator pedal is also provided with an accelerator pedal stopper 40, which is used to limit the amplitude of the accelerator pedal being depressed. When the pressure applied by the driver in the second deformation sensing area 121 is large enough, the accelerator pedal stopper 40 is used to prevent the accelerator pedal from shifting position without limit, so as to avoid the position shift detected by the second position sensor 32 being too large and the amplitude of the vehicle acceleration being too large. In this way, the problem of unsafe driving of the vehicle due to the excessive acceleration amplitude of the vehicle can be avoided.

[0055] An embodiment of the present invention provides a control method for controlling a vehicle, the vehicle including the pedal 100 of any one of the above embodiments, the control method including: controlling the speed of the vehicle according to the force magnitude of the deformation sensing area 101, and / or determining the contact state between the target object and the deformation sensing area 101 according to the force area of ​​the deformation sensing area 101.

[0056] Specifically, the first sensor 102 can determine the driver's operating intention based on the detected pressure, and the controller controls the vehicle speed according to the driver's operating intention. For example, the controller can control the vehicle braking based on the pressure detected by the first sensor 102 on the brake pedal. The greater the pressure detected by the first sensor 102, the more it can be considered that the driver needs to increase the braking intensity of the vehicle, so that the vehicle can be decelerated quickly, so that the vehicle can be decelerated immediately to complete the braking. The controller can also control the vehicle to start according to the pressure detected by the first sensor 102 on the accelerator pedal. The greater the pressure detected by the first sensor 102, the more it can be considered that the driver wants the vehicle to start or accelerate immediately, so that the vehicle can reach a higher speed in a short time.

[0057] The target object is an object that contacts the deformation sensing area 101 when the deformation sensing area 101 is subjected to force. For the deformation sensing area 101 disposed on the surface of the pedal 100, the target object may be a driver. The first sensor 102 may determine the contact state between the driver and the deformation sensing area 101 according to the detected force area. When the driver and the deformation sensing area 101 are not in sufficient contact, it may be considered that the driver and the pedal 100 are not in sufficient contact.

[0058] In this way, the force magnitude and force area of ​​the deformation sensing area 101 can reflect the driver's operating intention, and the controller can control the vehicle speed according to the force magnitude of the deformation sensing area 101, so that the vehicle speed can be accurately controlled according to the driver's operating intention. At the same time, when the driver and the deformation sensing area 101 are not in sufficient contact, the driver is promptly reminded, so that the driver's operation is safer and more standardized.

[0059] Reference Figure 3 as well as Figure 4In some embodiments, the control method further includes: determining a first control quantity according to the force magnitude of the deformation sensing area 101, and determining a second control quantity according to the position offset of the pedal arm 20; and when the first control quantity is consistent with the second control quantity, controlling the vehicle speed according to the first control quantity and / or the second control quantity.

[0060] Specifically, the position sensor 30 can obtain the operation intention required by the driver by detecting the position offset of the pedal arm 20. When the pedal 100 is working normally, when the driver applies pressure to the footrest assembly 10, the pedal arm 20 of the pedal 100 will also produce a corresponding position offset, and the position offset of the pedal arm 20 of the pedal 100 can reflect the force magnitude of the deformation sensing area 101, so as to reflect the operation intention required by the driver.

[0061] When the first control quantity represented by the pressure size and the second control quantity represented by the position offset are consistent, it can be considered that the pedal arm 20 of the pedal 100 has produced a corresponding offset according to the pressure applied by the foot pedal assembly 10, and the pedal 100 is in a normal working state. The controller believes that the first control quantity and the second control quantity are both valid signals, and the vehicle speed can be controlled according to the first control quantity or the second control quantity.

[0062] In some embodiments, the control method further includes: when the first control amount is inconsistent with the second control amount, controlling the vehicle to decelerate and outputting an alarm signal.

[0063] Specifically, when the pedal 100 works abnormally, when the driver applies pressure to the footrest assembly 10, if the pedal arm 20 of the pedal 100 does not produce a corresponding position offset, the position offset of the pedal arm 20 of the pedal 100 cannot reflect the force magnitude of the deformation sensing area 101. When there is a problem with the operation of the first sensor 102 or the position sensor 30, when the pressure magnitude detected by the first sensor 102 or the offset position detected by the position sensor 30 is inaccurate, the first control quantity represented by the pressure magnitude and the second control quantity represented by the position offset are inconsistent, and the controller considers that the first control quantity and the second control quantity are both invalid signals. At this time, the vehicle is controlled to decelerate to avoid the situation where the vehicle continues to travel when the pedal 100 works abnormally, resulting in unsafe driving, and a corresponding alarm signal is output to prompt the driver.

[0064] The information of the first control amount and the second control amount can indicate whether the vehicle is accelerated or decelerated, and the amplitude of the vehicle acceleration or deceleration. If both the first control amount and the second control amount indicate the control of vehicle acceleration, or both the first control amount and the second control amount indicate the control of vehicle deceleration, and the amplitude of the vehicle acceleration or deceleration indicated by the first control amount and the second control amount is consistent or slightly different, it can be considered that the first control amount and the second control amount are consistent. If the first control amount indicates the control of vehicle acceleration and the second control amount controls vehicle deceleration, it can be considered that the first control amount and the second control amount are inconsistent. If the amplitude of the vehicle acceleration or deceleration indicated by the first control amount and the second control amount differs greatly, it can also be considered that the first control amount and the second control amount are inconsistent. For example, the first control amount indicates the acceleration of the vehicle V1, and the second control amount indicates the deceleration of the vehicle V2. Since the first control amount controls the acceleration of the vehicle and the second control amount controls the deceleration of the vehicle, the first control amount and the second control amount are inconsistent. The first control quantity represents the vehicle acceleration V1, and the second control quantity represents the vehicle acceleration V2. If the difference between V1 and V2 is less than the threshold value V0, it can be considered that the difference is relatively small, and the first control quantity and the second control quantity are consistent. If the difference between V1 and V2 is greater than the threshold value V0, it can be considered that the difference is relatively large, and the first control quantity and the second control quantity are inconsistent.

[0065] The pedal 100 of the vehicle includes a brake pedal and an accelerator pedal. The brake pedal is provided with a first pressure sensor 112 and a first position sensor 31 , and the accelerator pedal is provided with a second pressure sensor 122 and a second position sensor 32 .

[0066] The first control amount of the brake pedal is determined according to the pressure detected by the first pressure sensor 112, and the second control amount of the brake pedal is determined according to the position offset detected by the first position sensor 31. The first control amount of the accelerator pedal is determined according to the pressure detected by the second pressure sensor 122, and the second control amount of the accelerator pedal is determined according to the position offset detected by the second position sensor 32. The first control amount of the brake pedal and the second control amount of the brake pedal are compared by signal, and the first control amount of the accelerator pedal and the second control amount of the accelerator pedal are compared by signal, and the vehicle speed is controlled according to the result of the signal comparison.

[0067] In this way, the working state of the pedal 100 is determined by the first control amount and the second control amount. When the first control amount and the second control amount are consistent, it can be considered that the pedal 100 is working normally, and the controller can control the vehicle speed according to the first control amount or the second control amount. When the first control amount and the second control amount are inconsistent, it can be considered that the pedal 100 is working abnormally. At this time, the vehicle is controlled to slow down to avoid the situation where the vehicle continues to drive when the pedal 100 is working abnormally, resulting in unsafe driving, and a corresponding alarm signal is output to prompt the driver.

[0068] In some embodiments, the control method further includes: outputting an alarm signal when the force-bearing area of ​​the deformation sensing area 101 is smaller than a preset area.

[0069] The force-bearing area can be used to indicate the contact state between the target object and the deformation sensing area 101. When the force-bearing area of ​​the deformation sensing area 101 is larger than the preset area, it can be considered that the force-bearing area is large enough, and the driver is in full contact with the pedal 100. When the force-bearing area of ​​the deformation sensing area 101 is smaller than the preset area, it can be considered that the force-bearing area is small enough, and the driver is not in full contact with the pedal 100. At this time, the driver is at risk of slipping and stepping on air, and an alarm signal is output to prompt the driver.

[0070] In this way, when the driver is not in sufficient contact with the deformation sensing area 101 , the driver is promptly reminded, allowing the driver's operation to be safer and more standardized.

[0071] In some embodiments, the pedal 100 includes a brake pedal, the brake pedal includes a brake pedal assembly 11, the brake pedal assembly 11 includes a first deformation sensing area 111, and the control method further includes: determining whether a target object is in contact with the first deformation sensing area 111 of the brake pedal assembly 11 based on the force magnitude and / or force area of ​​the first deformation sensing area 111; when the target object is in contact with the first deformation sensing area 111 of the brake pedal assembly 11, outputting a first prompt signal to the vehicle's braking system.

[0072] In some embodiments, the pedal 100 includes an accelerator pedal, the accelerator pedal includes an accelerator pedal assembly 12, the accelerator pedal assembly 12 includes a second deformation sensing area 121, and the control method further includes: determining whether the target object is in contact with the second deformation sensing area 121 of the accelerator pedal assembly 12 based on the force magnitude and / or force area of ​​the second deformation sensing area 121; when the target object is in contact with the second deformation sensing area 121 of the accelerator pedal assembly 12, outputting a second prompt signal to the vehicle's starting system.

[0073] Specifically, when the driver does not step on the pedal 100, a judgment can be made as to whether the driver is in contact with the accelerator pedal or the brake pedal, and a judgment basis can be provided to the vehicle's starting system and braking system based on the judgment result, so that the system can respond more quickly.

[0074] When the driver touches the first deformation sensing area 111 of the brake pedal but does not step on the pedal 100, the first pressure sensor 112 detects that the pressure is relatively small, or the first pressure sensor 112 detects that the force area is relatively large. At this time, the first pressure sensor 112 can send a first prompt signal to the vehicle's braking system. The first prompt signal can be a signal to wake up the braking system to work, to wake up the braking system to work, and the first prompt signal can also be a signal to let the braking system start the braking mode, so that the braking system is prepared to implement the braking work in advance. When encountering an emergency, the driver steps on the brake pedal. Since the vehicle's braking system is ready for braking, the corresponding vehicle anti-collision alarm system and emergency braking system respond immediately, which reduces the vehicle's braking reaction time and improves driving safety.

[0075] When the driver touches the second deformation sensing area 121 of the accelerator pedal but does not step on the pedal 100, the second pressure sensor 122 detects that the pressure is relatively small, or the second pressure sensor 122 detects that the force-bearing area is relatively large. At this time, the second pressure sensor 122 can send a second prompt signal to the vehicle's starting system. The second prompt signal can be a signal to wake up the starting system to prepare for the vehicle to accelerate or start in advance. When the driver steps on the accelerator pedal, since the vehicle's starting system is ready to start or accelerate, the starting system can respond immediately and implement the vehicle's start or acceleration, thereby reducing the vehicle's start or acceleration time.

[0076] In this way, the vehicle's starting system and braking system can be provided with judgment basis according to whether the driver is in contact with the accelerator pedal or the brake pedal, so that the system can respond faster, which is conducive to the vehicle's rapid start, and also conducive to the vehicle's anti-collision alarm and emergency braking, thereby improving the safety of vehicle driving.

[0077] An embodiment of the present invention provides an electronic device, which includes a memory and a processor. The memory is used to store a computer program. When the processor executes the computer program, the control method of any one of the above embodiments is implemented.

[0078] Specifically, the processor may be composed of chips or circuits with data processing functions such as CPLD (complex programmable logic device), FPGA (field programmable gate array), MCU (microcontroller unit), PLC (programmable logic controller) and CPU (central processing unit). The memory may be one or more of ROM (read-only memory), RAM (random access memory), magnetic disk or optical disk.

[0079] An embodiment of the present invention provides a vehicle, the vehicle comprising a vehicle body and a pedal according to any one of the above embodiments, wherein the pedal is arranged on the vehicle body.

[0080] Specifically, the sensor on the pedal of the vehicle can reflect the driver's driving situation and operation intention. During the vehicle driving process, the driver can accurately control the vehicle according to the operation intention, so that the control of the vehicle speed and the driver's operation intention are consistent. Figure 1 Therefore, the safety of vehicle driving is improved.

[0081] In some embodiments, a vehicle includes a vehicle body, a pedal according to any one of the above embodiments, and an electronic device according to any one of the above embodiments, wherein the pedal and the electronic device are disposed on the vehicle body.

[0082] The electronic device can be an ECU (electronic control unit) in a car, or a domain controller integrated by multiple ECUs. The vehicle can be controlled by one domain controller or by multiple domain controllers. The electronic device can also be a control device that communicates with the outside of the vehicle. During the driving of the vehicle, the electronic device obtains the detection signal output by the sensor on the pedal 100 in real time, and controls the vehicle according to the detection signal output by the sensor on the pedal 100. The electronic device can control the vehicle's starting system and braking system to control the vehicle's speed. The electronic device can also control the vehicle's alarm system to work and remind the driver when the vehicle is in an unsafe driving situation.

[0083] An embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium is used to store a computer program. When the computer program is executed by a processor, the control method of any one of the above embodiments is implemented.

[0084] Specifically, the storage medium may be any medium that can store a computer program, such as a ROM (read-only memory), a RAM (random access memory), a magnetic disk or an optical disk.

[0085] In the pedal 100, control method, electronic device, vehicle and storage medium of the embodiment of the present invention, the pedal 100 is applied to a vehicle, a deformation sensing area 101 is arranged on the surface of the footrest assembly 10 of the pedal 100, during the driving process of the vehicle, the driver completes the vehicle driving operation by applying pressure on the deformation sensing area 101, the first sensor 102 is arranged in the deformation sensing area 101, and the driving action and operation intention of the driver can be determined by detecting the force magnitude and force area of ​​the deformation sensing area 101, and the vehicle is controlled according to the driving action and operation intention of the driver, so that the control of the vehicle speed and the operation intention of the driver are consistent. Figure 1 To.

[0086] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0087] In addition, the term "connection" should be understood in a broad sense, for example, it can include fixed connection, detachable connection, or integral connection; it can include direct connection, indirect connection through an intermediate medium, and internal communication between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0088] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0089] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0090] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A pedal, applied to a vehicle, characterized in that: The pedal comprises: A pedal assembly, the pedal assembly comprising a deformation sensing area; A first sensor, wherein the first sensor is disposed in the deformation sensing area, and the first sensor is configured to detect a force magnitude and / or a force area in the deformation sensing area, wherein the force magnitude is used to represent a first control quantity for controlling the vehicle speed, and the force area is used to represent a contact state between a target object and the deformation sensing area. 2 . The pedal according to claim 1 , wherein the first sensor comprises a pressure sensor and / or a deformation sensor.

3. The pedal according to claim 1, characterized in that: The pedal comprises: A pedal arm, the pedal arm is connected to the pedal assembly, and when the deformation sensing area is subjected to force, the pedal assembly drives the pedal arm to shift in position; A position sensor is configured to detect a position offset of the pedal arm, wherein the position offset is used to represent a second control variable for controlling a vehicle speed of the vehicle.

4. The pedal according to claim 1, characterized in that: The pedal includes a brake pedal, the brake pedal includes a brake pedal assembly, the brake pedal assembly includes a first deformation sensing area, the first sensor includes a first pressure sensor, the first pressure sensor is arranged in the first deformation sensing area, and the first pressure sensor is configured to detect the force magnitude and / or force area of ​​the first deformation sensing area.

5. The pedal according to claim 1, characterized in that: The pedal includes an accelerator pedal, the accelerator pedal includes an accelerator pedal assembly, the accelerator pedal assembly includes a second deformation sensing area, the first sensor includes a second pressure sensor, the second pressure sensor is arranged in the second deformation sensing area, and the second pressure sensor is configured to detect the force magnitude and / or force area of ​​the second deformation sensing area.

6. A control method for controlling a vehicle, characterized in that: The vehicle comprises the pedal according to any one of claims 1 to 5, and the control method comprises: The speed of the vehicle is controlled according to the force magnitude of the deformation sensing area, and / or the contact state between the target object and the deformation sensing area is determined according to the force area of ​​the deformation sensing area.

7. The control method according to claim 6, characterized in that: The control method further comprises: Determine a first control amount according to the force magnitude of the deformation sensing area, and determine a second control amount according to the position offset of the pedal arm; When the first control amount is consistent with the second control amount, the vehicle speed is controlled according to the first control amount and / or the second control amount.

8. The control method according to claim 7, characterized in that: The control method further comprises: When the first control amount is inconsistent with the second control amount, the vehicle is controlled to decelerate and an alarm signal is output.

9. The control method according to claim 6, characterized in that: The control method further comprises: When the force-bearing area of ​​the deformation sensing zone is smaller than a preset area, an alarm signal is output.

10. The control method according to claim 6, characterized in that: The pedal includes a brake pedal, the brake pedal includes a brake pedal assembly, the brake pedal assembly includes a first deformation sensing area, and the control method further includes: determining whether the target object is in contact with the first deformation sensing area of ​​the brake pedal assembly according to the force magnitude and / or force area of ​​the first deformation sensing area; When a target object contacts the first deformation sensing area of ​​the brake pedal assembly, a first prompt signal is output to a brake system of the vehicle.

11. The control method according to claim 6, characterized in that: The pedal includes an accelerator pedal, the accelerator pedal includes an accelerator pedal assembly, the accelerator pedal assembly includes a second deformation sensing area, and the control method further includes: determining whether the target object is in contact with the second deformation sensing area of ​​the accelerator pedal assembly according to the force magnitude and / or force receiving area of ​​the second deformation sensing area; When the target object contacts the second deformation sensing area of ​​the accelerator pedal assembly, a second prompt signal is output to the starting system of the vehicle.

12. A vehicle, characterized in that: The vehicle comprises a vehicle body and a pedal according to any one of claims 1 to 5, wherein the pedal is arranged on the vehicle body.

13. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor implements the control method described in any one of claims 6 to 11 when executing the computer program.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program implements the control method according to any one of claims 6 to 11 when executed by a processor.

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