Brake-by-wire pedal and vehicle

Abstract

The invention provides a brake-by-wire pedal and a vehicle, and belongs to the technical field of vehicle parts. The pedal mechanism comprises a pedal arm, a connecting rod arm and a swing arm, the pedal arm is hinged to the pedal seat, the swing arm is hinged to the pedal seat, and the two ends of the connecting rod arm are hinged to the pedal arm and the swing arm respectively; one end of the elastic piece is connected with the pedal seat, and the other end of the elastic piece is connected with the swinging arm; the pedal has the advantages that the pedal mechanism of the pedal is arranged to be a four-bar mechanism, the stroke position of the pedal determines the position of the connecting rod arm, the position of the connecting rod arm can influence the lever ratio, and therefore the effect that the lever ratio is gradually reduced along with increase of the stroke of the pedal is achieved; the design is matched with the elastic force of the elastic piece to provide nonlinear pedal force, and the pedal mechanism is simple and ingenious in structure, cannot be clamped or abraded, and has extremely high reliability.

Description

Technical Field

[0001] The invention belongs to the technical field of vehicle parts and relates to a brake-by-wire pedal and a vehicle. Background Art

[0002] Brake-by-wire is a car brake component that controls the operation of the brakes (brake calipers) by sending electronic signals to the ECU. In traditional vehicles, when the brake pedal is pressed, the pedal force is transmitted to the wheel brakes through a mechanical linkage or hydraulic system. In a wire-controlled brake system, the displacement of the brake pedal is detected by a sensor, and this information is converted into electrical signals and transmitted to the electronic control unit (ECU). The ECU then calculates the required braking force based on these signals and controls the motor or other actuators to activate the brakes.

[0003] When a traditional brake pedal is stepped on, the mechanical linkage or hydraulic system will feed back a pedal force (resistance) to the pedal. Since the brake-by-wire pedal eliminates the design of the mechanical linkage or hydraulic system, a pedal force simulator is required to simulate this pedal force. If the pedal force is simulated by a spring, the spring force is proportional to the compression amount (which can also be understood as the pedal stroke), so the pedal force obtained is linear, while the pedal force required by the brake-by-wire pedal is nonlinear. In actual use, it is reflected as follows: the greater the pedal stroke, the greater the increase in pedal force. The traditional spring structure cannot provide this nonlinear pedal force.

[0004] There are currently some structures that can provide nonlinear or variable pedal force, such as a utility model patent with application number CN201820860086.9, entitled "Pedal Assembly and Vehicle Having the Same". The pedal assembly is provided with a crank slider mechanism. When the pedal arm is stepped on, the slider of the crank slider mechanism moves, thereby changing the force arm, thereby achieving a change in the lever ratio.

[0005] Although the above-mentioned pedal assembly can provide nonlinear pedal force by changing the lever ratio, its structure is relatively complex. The change of the lever ratio depends on the sliding of the slider. In the crank slider mechanism, the slider is prone to getting stuck or worn, resulting in failure of the pedal function. Therefore, there is still much room for improvement in the reliability of this type of structure. Summary of the invention

[0006] The purpose of the present invention is to address the above-mentioned problems in the prior art and to provide a brake-by-wire pedal and a vehicle.

[0007] The object of the present invention can be achieved by the following technical solutions: A wire-controlled brake pedal, comprising:

[0008] Pedal seat;

[0009] A pedal mechanism, the pedal mechanism comprising a pedal arm, a connecting rod arm and a swing arm, the pedal arm is hinged to the pedal seat, the swing arm is hinged to the pedal seat, and both ends of the connecting rod arm are respectively hinged to the pedal arm and the swing arm;

[0010] an elastic member, one end of which is connected to the pedal seat and the other end of which is connected to the swing arm;

[0011] The pedal stroke of the pedal arm determines the rotation angle of the pedal arm, the rotation angle of the pedal arm determines the position of the connecting rod arm, and the position of the connecting rod arm determines the lever ratio of the pedal mechanism; when the pedal stroke of the pedal arm increases, the lever ratio of the pedal mechanism decreases, causing the pedal force transmitted to the pedal arm by the elastic member via the swing arm and the connecting rod arm to increase nonlinearly.

[0012] Preferably, the force-bearing part of the pedal arm when stepped on is set as point A, the hinge point between the pedal arm and the pedal seat is set as point B, the hinge point between the pedal arm and the connecting rod arm is set as point C, the hinge point between the swing arm and the connecting rod arm is set as point D, the hinge point between the swing arm and the pedal seat is set as point E, and the straight line passing through points C and D is set as straight line CD;

[0013] When the pedal stroke of the pedal arm increases, the vertical distance between point B and straight line CD increases, and the vertical distance between point E and straight line CD decreases, resulting in a decrease in the lever ratio of the pedal mechanism.

[0014] Preferably, the contact point between the elastic member and the pedal seat is set as point F, and the contact point between the elastic member and the swing arm is set as point H; when the pedal stroke of the pedal arm increases, the swing arm swings and forces the elastic member to compress, and the distance between point F and point H decreases.

[0015] Preferably, the pedal mechanism is configured as a four-bar linkage; when point A of the pedal arm is subjected to pressure, point A and point C of the pedal arm rotate together around point B, point D and point H of the swing arm rotate together around point E, and the rotation direction of the pedal arm is opposite to that of the swing arm.

[0016] Preferably, the leverage ratio is defined as: ratio = L AB ×L E->CD / (L B->CD ×L E->FH ), ratio is the leverage ratio, L AB is the distance between point A and point B, L E->CD is the vertical distance between point E and line CD, L B->CD is the vertical distance between point B and line CD, L E->FHis the vertical distance from point E to line FH;

[0017] The pedal force is defined as: F pedal =F spring / ratio,F pedal is the pedal force, F spring is the elastic force of the elastic member.

[0018] Preferably, point B of the pedal arm and point E of the swing arm are located on opposite sides, point C of the pedal arm is close to the side where point E is located, and point D of the swing arm is close to the side where point B is located.

[0019] Preferably, point A, point B and point C of the pedal arm form a triangular structure, and point A, point B and point C are respectively the three vertices of one triangular structure, and point D, point H and point E of the swing arm form another triangular structure, and point D, point H and point E are respectively the three vertices of another triangular structure.

[0020] Preferably, the pedal seat includes a shell portion and a base portion, the base portion is located at the bottom of the shell portion, the pedal arm and the shell portion are hinged by a pedal shaft, the swing arm and the base portion are hinged by a swing shaft, one end of the elastic member is connected to the base portion and the other end is connected to the swing arm, the connecting rod arm and the pedal arm are hinged by a first connecting rod shaft, and the connecting rod arm and the swing arm are hinged by a second connecting rod shaft.

[0021] Preferably, the housing portion is mounted with a circuit board, the circuit board is provided with a Hall sensor, the pedal shaft is mounted with a magnet, and the Hall sensor is aligned with the magnet.

[0022] A vehicle comprises the brake-by-wire pedal, an electronic control unit and a brake caliper, wherein the circuit board of the brake-by-wire pedal is electrically connected to the electronic control unit, and the brake caliper is electrically connected to the electronic control unit.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The pedal mechanism of this pedal is set as a four-bar linkage. The stroke position of the pedal determines the position of the connecting rod arm, and the position of the connecting rod arm can affect the lever ratio, thereby achieving the effect of gradually reducing the lever ratio as the pedal stroke increases. This design, combined with the elastic force of the elastic part, can provide nonlinear pedal force, and the structure of the pedal mechanism is simple and ingenious, and will not get stuck or wear, and has extremely high reliability.

[0025] 2. During the pedaling process, since point B and point E are both hinge points, their positions remain unchanged during the entire pedaling process, while the position of the connecting rod arm changes, which causes the vertical distance between point B and line CD and the vertical distance between point E and line CD to change. The definition formula of the lever ratio is ratio = L AB ×L E->CD / (L B->CD ×L E->FH ), from this formula, we can see that the lever ratio is determined by the length of the lever arm between the pedal arm and the connecting rod arm, and the length of the lever arm between the swing arm and the connecting rod arm. That is, when the vertical distance between point B and straight line CD and the vertical distance between point E and straight line CD change, the lever ratio will naturally change.

[0026] 3. As the pedal arm stroke increases, the rate of change of the swing arm's rotation angle gradually increases, causing the compression of the elastic part to gradually increase. This design not only achieves a dynamic change in the lever ratio, but also further achieves a nonlinear relationship between the pedal arm stroke and the elastic force of the elastic part. The combination of the two can dramatically increase the pedal force when the pedal arm is in the latter part of the stroke.

[0027] 4. When point A is subjected to pedaling force, the pedal arm rotates clockwise or counterclockwise around point B, while the swing arm rotates counterclockwise or clockwise around point E. That is, by cleverly arranging the positions of the hinge points, the rotation directions of the pedal arm and the swing arm are opposite. Through this motion logic, when the pedal arm rotates around point B, the vertical distance between point B and straight line CD increases, and the vertical distance between point E and straight line CD decreases, thereby reducing the lever ratio when the pedal arm stroke increases.

[0028] 5. Through the clever arrangement of the four-bar linkage and hinge points, the mechanical structure is directly used to achieve the change of pedal force, avoiding the complex electronic control system. The absence of electronic components means that the problems caused by electronic failures (such as power failure, sensor failure, etc.) are reduced, and the overall reliability of the system is improved. In addition, the four-bar linkage with a gradually decreasing leverage ratio makes the system more durable, less prone to wear or aging problems, and has stable performance in long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the initial state of the wire-controlled brake pedal of the present invention.

[0030] Figure 2 It is a state schematic diagram of the travel limit of the wire-controlled brake pedal of the present invention.

[0031] Figure 3 It is a structural exploded view of the pedal mechanism of the present invention.

[0032] Figure 4 It is a structural schematic diagram of the pedal mechanism of the present invention.

[0033] Figure 5 It is a schematic diagram of the magnetic steel and the Hall sensor of the present invention.

[0034] Figure 6 The figure is a schematic diagram of the positions of various points of the brake-by-wire pedal of the present invention in the initial state.

[0035] Figure 7 The figure is a schematic diagram of the positions of various points of the brake-by-wire pedal of the present invention when the brake-by-wire pedal is at the travel limit.

[0036] Figure 8 It is a schematic diagram of the simulated relationship between the pedal arm stroke and the pedal force of the present invention.

[0037] Fig. 9 It is a schematic diagram of the simulated relationship between the pedal arm stroke and the lever ratio of the present invention.

[0038] Fig.10 It is a schematic diagram of the relationship between the elastic force and the compression amount of the elastic member of the present invention.

[0039] Fig.11 It is a schematic diagram of the relationship between the elastic force of the elastic member and the pedal arm stroke of the present invention.

[0040] In the figure, 100, pedal seat; 110, shell part; 120, base part; 130, circuit board; 140, Hall sensor; 200, pedal arm; 210, pedal shaft; 220, magnet; 300, connecting rod arm; 310, first connecting rod shaft; 320, second connecting rod shaft; 400, swing arm; 410, swing shaft; 500, elastic member. DETAILED DESCRIPTION

[0041] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0042] like Figures 1 to 11As shown, a wire-controlled brake pedal comprises: a pedal seat 100; a pedal mechanism, the pedal mechanism comprises a pedal arm 200, a connecting rod arm 300 and a swing arm 400, the pedal arm 200 is hinged to the pedal seat 100, the swing arm 400 is hinged to the pedal seat 100, and both ends of the connecting rod arm 300 are respectively hinged to the pedal arm 200 and the swing arm 400; an elastic member 500, one end of the elastic member 500 is connected to the pedal seat 100 and the other end is connected to the swing arm 400; the pedal stroke of the pedal arm 200 determines the rotation angle of the pedal arm 200, the rotation angle of the pedal arm 200 determines the position of the connecting rod arm 300, and the position of the connecting rod arm 300 determines the lever ratio of the pedal mechanism; when the pedal stroke of the pedal arm 200 increases, the lever ratio of the pedal mechanism decreases, so that the pedal force transmitted to the pedal arm 200 by the elastic member 500 via the swing arm 400 and the connecting rod arm 300 increases nonlinearly.

[0043] The Brake-by-Wire (BBW) pedal abandons the design of the traditional brake pedal that relies on the hydraulic system or mechanical linkage to generate braking force, and instead uses electronic signals to directly control the action of the brake caliper. This technological innovation not only simplifies the internal structure of the vehicle, but also makes it possible to achieve more precise and responsive braking control. However, due to the lack of a physical feedback mechanism, the Brake-by-Wire pedal requires the introduction of an additional pedal force simulation structure to simulate the traditional resistance felt by the driver when stepping on the pedal.

[0044] In a traditional braking system, when the driver depresses the brake pedal, the pedal's movement is transmitted to the master cylinder, which converts this action into hydraulic pressure and transmits it to the brake caliper on each wheel through a hydraulic line. As the pedal travel increases, the hydraulic pressure increases nonlinearly, so the driver feels that the feedback pedal force increases nonlinearly as the pedal travel increases.

[0045] For the brake-by-wire pedal, it is necessary to simulate the nonlinear pedal force by designing a pedal force simulation structure. At present, some brake-by-wire pedals use electromagnetic structures or crank slider structures to provide nonlinear pedal force, but the former requires power supply and the latter increases the complexity of the system and potential wear points.

[0046] The design of the brake-by-wire pedal is based on a pedal mechanism with a four-bar linkage structure. As the pedal stroke increases, the lever ratio of the four-bar linkage structure gradually decreases. Therefore, the originally linear spring force can generate nonlinear pedal force feedback through this gradually changing lever ratio.

[0047] In the present brake-by-wire pedal, the pedal seat 100 serves as the foundation and fixing point of the entire pedal mechanism. The present brake-by-wire pedal is preferably a suspended structure, that is, the pedal seat 100 is vertically arranged, and the bottom surface of the pedal seat 100 is fixedly connected to a vertical mounting surface, so that the pedal arm 200 is in a suspended (suspended) state; the pedal mechanism is actually a specially designed four-bar structure. The characteristic of the pedal mechanism is that it can change its lever ratio with the pedaling stroke. The pedal mechanism is composed of a pedal arm 200, a connecting rod arm 300 and a swing arm 400. The pedal arm 200 is hinged to the pedal seat 100. The force-bearing part (point A) is the part directly acted by the driver. The two ends of the connecting rod arm 300 are respectively hinged with the pedal arm 200 and the swing arm 400. The connecting rod arm 300 plays the role of a lever and transmits motion. The swing arm 400 is hinged with the pedal seat 100, and the swing arm 400 is connected to the elastic member 500. When the swing arm 400 rotates, it can press the elastic member 500. The elastic force generated when the elastic member 500 is compressed acts on the swing arm 400, and is amplified by the connecting rod arm 300 and transmitted to the pedal arm 200 to form a pedal force. The pedal force is not only used to provide a feedback force feeling when stepping on, but also plays a role of returning to the original position. It is worth pointing out that the elastic member 500 can be set as a spring, or it can be set as a spring group formed by two or more springs.

[0048] The working logic and principle of the pedal mechanism changing the lever ratio are as follows: When the pedal arm 200 is stepped on, it rotates around the hinge point (point B) with the pedal seat 100, and drives the connecting arm 300 hinged thereto to move. At the same time, the pedal arm 200 drives the swing arm 400 to rotate around the hinge point (point E) with the pedal seat 100 through the connecting arm 300. In this process, the position of the connecting arm 300 changes, resulting in changes in the force arm between the pedal arm 200 and the connecting arm 300, and the force arm between the swing arm 400 and the connecting arm 300, thereby changing the lever ratio of the entire system. The pedal force is determined by the elastic force of the elastic member 500 and the lever ratio. Although the elastic force of the elastic member 500 changes linearly with the change of the stroke of the pedal arm 200, the lever ratio also changes with the change of the stroke of the pedal arm 200. Therefore, the pedal force finally obtained changes nonlinearly with the change of the stroke of the pedal arm 200.

[0049] The four-bar linkage design makes the entire pedal mechanism compact and efficient, reducing unnecessary complexity. The components are connected by hinges, ensuring smooth and stable movement and reducing the risk of failure. The design is also less prone to jamming or wear, and has high reliability and durability.

[0050] like Figures 1 to 9As shown, on the basis of the above-mentioned embodiment, the force-bearing part of the pedal arm 200 when being stepped on is set as point A, the hinge point between the pedal arm 200 and the pedal seat 100 is set as point B, the hinge point between the pedal arm 200 and the connecting arm 300 is set as point C, the hinge point between the swing arm 400 and the connecting arm 300 is set as point D, the hinge point between the swing arm 400 and the pedal seat 100 is set as point E, and the straight line passing through points C and D is set as straight line CD; when the pedaling stroke of the pedal arm 200 increases, the vertical distance between point B and straight line CD increases, and the vertical distance between point E and straight line CD decreases, resulting in a decrease in the lever ratio of the pedal mechanism.

[0051] For the pedal arm 200, point A can be set at one end of the pedal arm 200, and point B can be set at the other end of the pedal arm 200. For the swing arm 400, point D and point E are respectively located at two ends of the swing arm 400, and the middle position of the swing arm 400 (i.e., point H) is used to connect with the elastic member 500.

[0052] The specific working logic of the pedal mechanism is as follows: during the pedaling process, since point B and point E are both hinge points, their positions remain unchanged during the entire pedaling process, while the position of the connecting rod arm 300 changes, which causes the vertical distance between point B and straight line CD and the vertical distance between point E and straight line CD to change. The definition formula of the lever ratio is ratio = L AB ×L E->CD / (L B->CD ×L E->FH ), it can be seen from the formula that the lever ratio is determined by the lever arm length between the pedal arm 200 and the connecting rod arm 300 and the lever arm length between the swing arm 400 and the connecting rod arm 300, that is, when the vertical distance between point B and the straight line CD and the vertical distance between point E and the straight line CD change, the lever ratio changes naturally. More specifically, if the vertical distance between point B and the straight line CD increases and the vertical distance between point E and the straight line CD decreases, then according to the lever ratio formula, it can be deduced that the lever ratio decreases.

[0053] Based on the above embodiment, the contact point between the elastic member 500 and the pedal seat 100 is set to point F, and the contact point between the elastic member 500 and the swing arm 400 is set to point H; when the pedal stroke of the pedal arm 200 increases, the swing arm 400 swings and forces the elastic member 500 to compress, and the distance between point F and point H decreases.

[0054] In the non-pedaled state, the elastic member 500 is in a naturally extended state, and the distance between point F and point H is at a maximum value; when the driver applies force at point A, the pedal arm 200 rotates around point B, driving the connecting arm 300 to move, and the connecting arm 300 pushes the swing arm 400 to rotate around point E, forcing the elastic member 500 to be gradually compressed. As the pedal stroke increases, the movement of the swing arm 400 makes point H approach point F, that is, the distance between point F and point H gradually decreases, and as the degree of compression of the elastic member 500 increases, the elastic force provided by it also increases accordingly.

[0055] It should be noted that the elastic force of the elastic member 500 and the compression stroke are in a linear proportional relationship, but the elastic force of the elastic member 500 and the stroke of the pedal arm 200 are not strictly linear. Since the pedal arm 200 drives the swing arm 400 to rotate through the connecting rod arm 300, the rotation angle of the pedal arm 200 and the rotation angle of the swing arm 400 do not change linearly, and the compression amount of the elastic member 500 and the rotation angle of the pedal arm 200 are in a linear relationship, which leads to a nonlinear relationship between the rotation angle of the pedal arm 200 and the compression amount of the elastic member 500. In the actual pedaling process, as the stroke of the pedal arm 200 increases, the rotation angle change rate of the swing arm 400 gradually increases, so that the increase in the compression amount of the elastic member 500 also gradually increases. This design not only realizes the dynamic change of the lever ratio, but also further realizes the nonlinear relationship between the stroke of the pedal arm 200 and the elastic force of the elastic member 500. The cooperation of the two can increase the pedal force sharply when the pedal arm 200 is in the latter section of the stroke.

[0056] Based on the above embodiment, the pedal mechanism is configured as a four-bar linkage mechanism; when point A of the pedal arm 200 is subjected to pressure, point A and point C of the pedal arm 200 rotate around point B together, and point D and point H of the swing arm 400 rotate around point E together, and the rotation direction of the pedal arm 200 is opposite to that of the swing arm 400.

[0057] When point A is subjected to pedaling force, the pedal arm 200 rotates clockwise or counterclockwise around point B, while the swing arm 400 rotates counterclockwise or clockwise around point E. That is, by cleverly arranging the positions of the hinge points, the rotation directions of the pedal arm 200 and the swing arm 400 are opposite. Through this motion logic, when the pedal arm 200 rotates around point B, the vertical distance between point B and straight line CD increases, and the vertical distance between point E and straight line CD decreases, thereby reducing the lever ratio when the stroke of the pedal arm 200 increases.

[0058] like Figures 1 to 11 As shown, based on the above implementation, the lever ratio is defined as: ratio = L AB ×L E->CD / (L B->CD ×L E->FH), rat io is the leverage ratio, L AB is the distance between point A and point B, L E->CD is the vertical distance between point E and line CD, L B->CD is the vertical distance between point B and line CD, L E->FH is the vertical distance from point E to the straight line FH; the pedal force is defined as: F pedal =F spring / ratio,F pedal is the pedal force, F spring is the elastic force of the elastic member 500.

[0059] It should be noted here that L AB In fact, it is the distance from the rotation hinge point of the pedal arm 200 to the force point, so L AB It can be set to a fixed value by default. When the stroke of the pedal arm 200 increases, L E->CD Reduce, L B->CD As the lever ratio increases, the lever ratio decreases. As the pedal force increases, the elastic force F spring It increases nonlinearly, and the lever ratio ratio decreases, so the pedal force increases nonlinearly.

[0060] Based on the above embodiment, point B of the pedal arm 200 and point E of the swing arm 400 are located on opposite sides respectively, point C of the pedal arm 200 is close to the side where point E is located, and point D of the swing arm 400 is close to the side where point B is located.

[0061] By locating point B of the pedal arm 200 and point E of the swing arm 400 on opposite sides respectively, and making point C of the pedal arm 200 close to the side where point E is located, and point D of the swing arm 400 close to the side where point B is located, the purpose of this design is to allow the pedal arm 200 and the swing arm 400 to form a movement logic of opposite movement directions.

[0062] Based on the above embodiment, point A, point B and point C of the pedal arm 200 form a triangular structure, and point A, point B and point C are respectively the three vertices of one triangular structure; point D, point H and point E of the swing arm 400 form another triangular structure, and point D, point H and point E are respectively the three vertices of another triangular structure.

[0063] This design is to reasonably allocate the positions of point A, point B, point C, point D, point H and point E, so as to form a four-bar linkage structure that can gradually reduce the lever ratio. In the example, the lines connecting point A, point B and point C form an obtuse triangle, point B and point A are respectively located at the two ends of the pedal arm 200, point B and point A are the vertices of the two acute angles of the triangle, point C is located at the lower part of the pedal arm 200, and point C is the vertex of the obtuse angle of the triangle. The lines connecting point D, point H and point E form another obtuse triangle, point D and point E are located at the two ends of the swing arm 400, point H is located in the middle of the swing arm 400, point D and point E are the vertices of the two acute angles of another obtuse triangle, and point H is the obtuse vertex of another obtuse triangle.

[0064] In this brake-by-wire pedal, the four-bar linkage and the ingenious arrangement of the hinge points are used to directly use the mechanical structure to achieve the change of the pedal force, avoiding the complex electronic control system. The absence of electronic components means that the problems caused by electronic failures (such as power failure, sensor failure, etc.) are reduced, and the overall reliability of the system is improved. In addition, the four-bar linkage with a gradually decreasing lever ratio makes the system more durable, less prone to wear or aging problems, and has stable performance in long-term use. Through the reasonable arrangement of the hinge points, the lever ratio gradually decreases with the increase of the pedal stroke, thereby achieving nonlinear pedal force feedback and simulating the feeling of the traditional hydraulic brake system. In addition, in this design, the pedal force increases more slowly in the front and middle sections of the stroke, allowing the driver to perform more precise braking force control; while in the latter section of the stroke, the pedal force increases sharply, providing more intuitive emergency braking feedback.

[0065] There is a nonlinear relationship between pedal force and pedal travel, especially in the second half of the travel, when the pedal force increases sharply. Fig. 9 As shown in , the relationship between the lever ratio and the pedal stroke is similar to a linear relationship, and as the stroke increases, the lever ratio gradually decreases; Figures 1 to 5 , Fig.10 As shown, there is a linear relationship between the elastic force of the elastic member 500 and the spring compression amount, that is, the elastic member 500 is a linear elastic member 500; Figures 1 to 5 , Fig.11 As shown, there is a nonlinear relationship between the elastic force and the stroke of the elastic member 500 . As the stroke of the pedal arm 200 increases, the elastic force of the elastic member 500 increases more.

[0066] like Figures 1 to 5As shown, on the basis of the above embodiment, the pedal seat 100 includes a shell portion 110 and a base portion 120, the base portion 120 is located at the bottom of the shell portion 110, the pedal arm 200 and the shell portion 110 are hinged by the pedal shaft 210, the swing arm 400 and the base portion 120 are hinged by the swing shaft 410, one end of the elastic member 500 is connected to the base portion 120 and the other end is connected to the swing arm 400, the connecting rod arm 300 and the pedal arm 200 are hinged by the first connecting rod shaft 310, and the connecting rod arm 300 and the swing arm 400 are hinged by the second connecting rod shaft 320.

[0067] The shell portion 110 is used to provide an articulated support basis for the pedal arm 200, and the base portion 120 is used to provide an articulated support basis for the swing arm 400. The pedal arm 200 and the shell portion 110 are hingedly connected by a pedal shaft 210 (the pedal shaft 210 can be regarded as point B), so that the pedal arm 200 can rotate around the pedal shaft 210 in the shell portion 110, and the swing arm 400 and the base portion 120 are hingedly connected by a swing shaft 410 (the swing shaft 410 can be regarded as point E), so that the swing arm 400 can rotate around the swing shaft 410 on the base portion 120.

[0068] On the basis of the above embodiment, the housing portion 110 is mounted with a circuit board 130 , the circuit board 130 is provided with a Hall sensor 140 , the pedal shaft 210 is mounted with a magnet 220 , and the Hall sensor 140 is aligned with the magnet 220 .

[0069] The Hall sensor 140 is mounted on the circuit board 130 to detect changes in the magnetic field. The magnet 220 is mounted on the pedal shaft 210 and rotates with the rotation of the pedal arm 200. When the driver steps on the pedal, the pedal arm 200 rotates around the pedal shaft 210 (point B), driving the magnet 220 to rotate synchronously. The Hall sensor 140 converts the mechanical motion into an electrical signal by detecting the changes in the magnetic field generated by the magnet 220. The Hall sensor 140 on the circuit board 130 converts the detected changes in the magnetic field into a digital signal and transmits it to the electronic control unit, thereby realizing the control of the braking force through the electronic signal.

[0070] like Figures 1 to 11 As shown, based on the above embodiment, a vehicle includes a brake-by-wire pedal, an electronic control unit and a brake caliper, wherein the circuit board 130 of the brake-by-wire pedal is electrically connected to the electronic control unit, and the brake caliper is electrically connected to the electronic control unit.

[0071] The electronic control unit (ECU) serves as the core controller of the system and is responsible for processing signals from the brake-by-wire pedal and controlling the movement of the brake caliper based on these signals. The ECU is electrically connected to the circuit board 130 of the brake-by-wire pedal and receives pedal position information. The ECU is electrically connected to the brake caliper and sends control instructions to adjust the braking force. The brake caliper is installed on each wheel to provide actual braking force, and the brake caliper receives control signals from the ECU and applies braking force.

[0072] In actual operation, when the driver steps on the pedal, the pedal arm 200 rotates around the pedal shaft 210, driving the magnet 220 to rotate synchronously. The Hall sensor 140 detects the changes in the magnetic field generated by the magnet 220 and converts the mechanical movement into electrical signals. These electrical signals are transmitted to the circuit on the circuit board 130 and sent to the ECU after preliminary processing. After receiving the pedal position signal, the ECU calculates the required braking force according to a preset algorithm and sends a control command to the brake caliper based on the calculation result. After receiving the command, the brake caliper applies appropriate braking force through hydraulic or electric means. The size and distribution of the braking force are precisely controlled by the ECU to ensure that the braking force of each wheel is balanced to prevent wheel locking or other unsafe situations.

[0073] During the above braking process, point A of the pedal arm 200 is subjected to force, and the pedal arm 200 rotates around point B. In the initial stage of the stroke, since the compression of the elastic member 500 is small and the lever is large, the pedal force is relatively small; as the stroke of the pedal arm 200 increases, although the increase in the compression of the elastic member 500 is not obvious, that is, the increase in the elastic force is small, the lever ratio gradually decreases at this time, and the pedal force increases significantly at this time; in the later stage of the stroke of the pedal arm 200, the increase in the compression of the elastic member 500 increases to a certain extent, and the lever ratio is relatively small. In this stage, the pedal force increases sharply, providing the driver with strong braking force feedback.

[0074] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0075] In addition, in the present invention, the descriptions such as "first", "second", "one", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0076] In the present invention, unless otherwise clearly stipulated and limited, the terms "connected", "fixed", etc. should be understood in a broad sense. For example, "fixed" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly limited.

[0077] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

Claims

1. A brake-by-wire pedal, characterized in that: include: Pedal seat (100); A pedal mechanism, the pedal mechanism comprising a pedal arm (200), a connecting rod arm (300) and a swing arm (400), the pedal arm (200) being hinged to the pedal seat (100), the swing arm (400) being hinged to the pedal seat (100), and two ends of the connecting rod arm (300) being hinged to the pedal arm (200) and the swing arm (400) respectively; An elastic member (500), one end of the elastic member (500) being connected to the pedal seat (100) and the other end of the elastic member (500) being connected to the swing arm (400); The pedal stroke of the pedal arm (200) determines the rotation angle of the pedal arm (200), the rotation angle of the pedal arm (200) determines the position of the connecting arm (300), and the position of the connecting arm (300) determines the lever ratio of the pedal mechanism; when the pedal stroke of the pedal arm (200) increases, the lever ratio of the pedal mechanism decreases, causing the pedal force transmitted by the elastic member (500) to the pedal arm (200) via the swing arm (400) and the connecting arm (300) to increase nonlinearly.

2. A brake-by-wire pedal as claimed in claim 1, characterized in that: The force-bearing part of the pedal arm (200) when stepped on is set as point A, the hinge point between the pedal arm (200) and the pedal seat (100) is set as point B, the hinge point between the pedal arm (200) and the connecting rod arm (300) is set as point C, the hinge point between the swing arm (400) and the connecting rod arm (300) is set as point D, the hinge point between the swing arm (400) and the pedal seat (100) is set as point E, and the straight line passing through points C and D is set as straight line CD; When the pedaling stroke of the pedal arm (200) increases, the vertical distance between point B and the straight line CD increases, and the vertical distance between point E and the straight line CD decreases, so that the lever ratio of the pedal mechanism decreases.

3. A brake-by-wire pedal as claimed in claim 2, characterized in that: The contact point between the elastic member (500) and the pedal seat (100) is set as point F, and the contact point between the elastic member (500) and the swing arm (400) is set as point H; when the pedal stroke of the pedal arm (200) increases, the swing arm (400) swings and forces the elastic member (500) to compress, and the distance between point F and point H decreases.

4. A brake-by-wire pedal as claimed in claim 2, characterized in that: The pedal mechanism is configured as a four-bar linkage mechanism; when point A of the pedal arm (200) is subjected to pressure, point A and point C of the pedal arm (200) rotate together around point B, and point D and point H of the swing arm (400) rotate together around point E, and the rotation direction of the pedal arm (200) is opposite to that of the swing arm (400).

5. A brake-by-wire pedal as claimed in claim 3, characterized in that: The leverage ratio is defined as: ratio = L AB ×L E->CD / (L B->CD ×L E->FH ), ratio is the leverage ratio, L AB is the distance between point A and point B, L E->CD is the vertical distance between point E and line CD, L B->CD is the vertical distance between point B and line CD, L E->FH is the vertical distance from point E to line FH; The pedal force is defined as: F pedal =F spring / ratio,F pedal is the pedal force, F spring is the elastic force of the elastic member (500).

6. A brake-by-wire pedal according to any one of claims 2 to 5, characterized in that: Point B of the pedal arm (200) and point E of the swing arm (400) are located on opposite sides, respectively; point C of the pedal arm (200) is close to the side where point E is located, and point D of the swing arm (400) is close to the side where point B is located.

7. A brake-by-wire pedal as claimed in claim 2, characterized in that: Point A, point B and point C of the pedal arm (200) form a triangular structure, and points A, B and C are respectively the three vertices of one triangular structure; points D, point H and point E of the swing arm (400) form another triangular structure, and points D, H and E are respectively the three vertices of another triangular structure.

8. A brake-by-wire pedal as claimed in claim 6, characterized in that: The pedal seat (100) includes a shell portion (110) and a base portion (120), wherein the base portion (120) is located at the bottom of the shell portion (110), the pedal arm (200) and the shell portion (110) are hinged via a pedal shaft (210), the swing arm (400) and the base portion (120) are hinged via a swing shaft (410), one end of the elastic member (500) is connected in contact with the base portion (120) and the other end is connected in contact with the swing arm (400), the connecting rod arm (300) and the pedal arm (200) are hinged via a first connecting rod shaft (310), and the connecting rod arm (300) and the swing arm (400) are hinged via a second connecting rod shaft (320).

9. A brake-by-wire pedal as claimed in claim 8, characterized in that: The housing portion (110) is installed with a circuit board (130), the circuit board (130) is provided with a Hall sensor (140), the pedal shaft (210) is installed with a magnetic steel (220), and the Hall sensor (140) is aligned with the magnetic steel (220).

10. A vehicle, characterized in that: It comprises a brake-by-wire pedal as claimed in any one of claims 1 to 9, and also comprises an electronic control unit and a brake caliper, wherein the circuit board (130) of the brake-by-wire pedal is electrically connected to the electronic control unit, and the brake caliper is electrically connected to the electronic control unit.

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