Brake pedal assembly, control method, vehicle-mounted controller and control system

Abstract

The invention discloses a brake pedal assembly, a control method, a vehicle-mounted controller and a control system. The brake pedal assembly comprises a brake pedal, a push rod, a push rod motor, a spring simulator and a hydraulic adjusting mechanism, the first end of the spring simulator is connected with the first end of the hydraulic adjusting mechanism, and the second end of the spring simulator is connected with the second end of the hydraulic adjusting mechanism through the push rod; the push rod motor is arranged on the push rod, and the push rod is connected with the brake pedal. By means of the hydraulic adjusting device, the problem that the abrupt feeling is too high in brake pedal position adjusting and pedal feeling adjusting is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of brake pedal control, and in particular to a brake pedal assembly, a control method, a vehicle-mounted controller and a control system. Background Art

[0002] At present, wire control braking has become the development direction in the field of automobile braking, and more and more research tends to wire control braking. The existing brake pedal assembly includes a brake pedal and a pedal simulator connected to the brake pedal. When the user steps on the brake pedal, the pedal simulator will make corresponding adjustments. The pedal simulator will collect the corresponding sensing signal and send the sensing signal to the on-board controller, and the on-board controller will perform braking control according to the sensing signal. The existing pedal simulator has a simple structure. The damping structure in the pedal simulator is mainly composed of springs. The pedal force output by the user stepping on the brake pedal directly acts on the spring, resulting in the pedal feel being more abrupt and relatively fixed. Summary of the invention

[0003] The embodiments of the present invention provide a brake pedal assembly, a control method, a vehicle-mounted controller and a control system to solve the problem that the pedal feel of the existing brake pedal assembly is fixed and relatively abrupt.

[0004] A brake pedal assembly includes a brake pedal, a push rod, a push rod motor, a spring simulator and a hydraulic adjustment mechanism;

[0005] The first end of the spring simulator is connected to the first end of the hydraulic adjustment mechanism, and the second end of the spring simulator is connected to the second end of the hydraulic adjustment mechanism through the push rod;

[0006] The push rod motor is arranged on the push rod, and the push rod is connected with the brake pedal.

[0007] Preferably, the hydraulic adjustment mechanism comprises a brake fluid storage chamber, a hydraulic adjustment component and a hydraulic control circuit;

[0008] The first end of the spring simulator is connected to the brake reservoir chamber, the second end of the spring simulator is connected to the first end of the hydraulic adjustment component through the push rod, and the second end of the hydraulic adjustment component is connected to the brake reservoir chamber through the hydraulic control circuit.

[0009] Preferably, the spring simulator comprises a push rod piston and a return spring;

[0010] The first end of the push rod piston is connected to the brake fluid storage chamber, and the second end of the push rod piston is connected to the hydraulic adjustment assembly through the push rod;

[0011] The return spring is sleeved outside the push rod piston, the first end of the return spring is connected to the first end of the push rod piston, and the second end of the return spring is connected to the second end of the push rod piston.

[0012] Preferably, the hydraulic adjustment assembly comprises a first piston and a first spring;

[0013] The first end of the first piston is connected to the push rod through the first spring, and the second end of the first piston is connected to the brake fluid storage chamber through the hydraulic control circuit.

[0014] Preferably, the hydraulic control circuit comprises a first hydraulic circuit and a first solenoid valve;

[0015] The first end of the first hydraulic circuit is connected to the hydraulic adjustment component, the second end of the first hydraulic circuit is connected to the brake fluid storage chamber, and the first solenoid valve is provided on the first hydraulic circuit.

[0016] Preferably, the hydraulic control circuit further includes a second hydraulic circuit, a second solenoid valve and a hydraulic simulator;

[0017] The first end of the second hydraulic circuit is connected to the pipeline between the hydraulic adjustment component and the first solenoid valve 532, and the second end of the second hydraulic circuit is connected to the brake fluid storage chamber;

[0018] The first end of the hydraulic simulator is connected to the second hydraulic circuit through a hydraulic branch line, and the second solenoid valve is provided on the hydraulic branch line.

[0019] Preferably, the hydraulic simulator comprises a simulator cylinder, a second piston and a second return spring;

[0020] The second piston and the second return spring are arranged in the simulator cylinder, the first end of the second piston is connected to the second return spring, and the second end of the second piston is connected to the second hydraulic circuit through a hydraulic branch.

[0021] Preferably, the brake pedal assembly comprises at least two hydraulic simulators, and the cylinder diameters of the simulator cylinders in at least two of the hydraulic simulators are different.

[0022] Preferably, the hydraulic simulator includes a first simulator, a second simulator and a third simulator, and the cylinder diameters of the simulator cylinder in the first simulator, the cylinder diameters of the simulator cylinder in the second simulator and the cylinder diameters of the simulator cylinder in the third simulator increase in sequence.

[0023] Preferably, the second hydraulic circuit is provided with an exhaust valve.

[0024] A brake pedal control method, applied to the brake pedal assembly provided above, comprises:

[0025] In response to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a first control operation;

[0026] Obtaining measured sensing signals;

[0027] When the measured sensing signal meets the preset condition corresponding to the target control instruction, the hydraulic adjustment mechanism and / or the push rod motor is controlled to perform a second control operation.

[0028] Preferably, the hydraulic adjustment mechanism comprises a brake fluid storage chamber, a hydraulic adjustment component and a first hydraulic circuit, the first end of the spring simulator is connected to the brake fluid storage chamber, the second end of the spring simulator is connected to the first end of the hydraulic adjustment component through the push rod, the second end of the hydraulic adjustment component is connected to the brake fluid storage chamber through the first hydraulic circuit, the first solenoid valve is provided on the first hydraulic circuit; the push rod is provided with the push rod motor, and the push rod is connected to the brake pedal;

[0029] In response to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a first control operation includes:

[0030] In response to the position reset instruction, the first solenoid valve is controlled to open, and the push rod motor is controlled to rotate in a first direction, so as to drive the push rod to move toward the direction of the hydraulic adjustment assembly;

[0031] The obtaining of the measured sensing signal comprises:

[0032] Obtaining a measured stroke signal corresponding to the push rod;

[0033] When the measured sensing signal meets the preset condition corresponding to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a second control operation includes:

[0034] When the measured stroke signal is a maximum stroke signal, the first electromagnetic valve is controlled to be closed, and the push rod motor is controlled to rotate, so that the push rod stops moving.

[0035] Preferably, the hydraulic adjustment mechanism comprises a brake fluid storage chamber, a hydraulic adjustment component and a first hydraulic circuit, the first end of the spring simulator is connected to the brake fluid storage chamber, the second end of the spring simulator is connected to the first end of the hydraulic adjustment component through the push rod, the second end of the hydraulic adjustment component is connected to the brake fluid storage chamber through the first hydraulic circuit, the first solenoid valve is provided on the first hydraulic circuit; the push rod is provided with the push rod motor, and the push rod is connected to the brake pedal;

[0036] In response to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a first control operation includes:

[0037] In response to the position adjustment instruction, the first solenoid valve is controlled to open, and based on the pedal force acting on the brake pedal, the push rod is driven to move toward the brake fluid reservoir, and the push rod motor is controlled to rotate in a second direction;

[0038] The obtaining of the measured sensing signal comprises:

[0039] Acquiring a measured stroke signal corresponding to the push rod and a measured pressure signal corresponding to the brake pedal;

[0040] When the measured sensing signal meets the preset condition corresponding to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a second control operation includes:

[0041] The first duration of the measured stroke signal within the first stroke range and the measured pressure signal within the first pressure range is obtained, and when the first duration is greater than a first preset duration, the first solenoid valve is controlled to close, and the push rod motor is controlled to rotate.

[0042] Preferably, the hydraulic adjustment mechanism includes a brake reservoir, a hydraulic adjustment component, a first hydraulic circuit, a second hydraulic circuit and a hydraulic simulator; the first end of the spring simulator is connected to the brake reservoir, the second end of the spring simulator is connected to the first end of the hydraulic adjustment component through the push rod, the second end of the hydraulic adjustment component is connected to the brake reservoir through the first hydraulic circuit, the first hydraulic circuit is provided with the first electromagnetic; the push rod is provided with the push rod motor, and the push rod is connected to the brake pedal; the first end of the second hydraulic circuit is connected to the pipeline between the hydraulic adjustment component and the first electromagnetic valve, and the second end of the second hydraulic circuit is connected to the brake reservoir; the first end of the hydraulic simulator is connected to the second hydraulic circuit through a hydraulic branch, and the second electromagnetic valve is provided on the hydraulic branch;

[0043] In response to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a first control operation includes:

[0044] In response to the pedal feel adjustment instruction, controlling the first solenoid valve to open and controlling the second solenoid valve to close;

[0045] The obtaining of the measured sensing signal comprises:

[0046] Acquiring a measured stroke signal corresponding to the push rod and a measured pressure signal corresponding to the brake pedal;

[0047] When the measured sensing signal meets the preset condition corresponding to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a second control operation includes:

[0048] When the measured stroke signal is not the maximum stroke signal and the measured pressure signal is not greater than a second pressure range, the first solenoid valve is controlled to be closed, the second solenoid valve is controlled to be opened, and the hydraulic simulator outputs the brake hydraulic pressure.

[0049] Preferably, the brake pedal assembly comprises at least two hydraulic simulators, and the cylinder diameters of the simulator cylinders in at least two of the hydraulic simulators are different;

[0050] When the measured stroke signal is not the maximum stroke signal and the measured pressure signal is not greater than the second pressure range, controlling the first solenoid valve to close, the second solenoid valve to open, and the hydraulic simulator to output the brake hydraulic pressure, includes:

[0051] When the measured stroke signal is not the maximum stroke signal and the measured pressure signal is not greater than the second pressure range, the first solenoid valve is controlled to be closed, and at least one of the second solenoid valves is controlled to be opened, so that at least one of the hydraulic simulators in the open state is actuated to output the brake hydraulic pressure based on the hydraulic simulator.

[0052] Preferably, the hydraulic adjustment mechanism includes a brake reservoir, a hydraulic adjustment component, a first hydraulic circuit, a second hydraulic circuit and a hydraulic simulator; the first end of the spring simulator is connected to the brake reservoir, the second end of the spring simulator is connected to the first end of the hydraulic adjustment component through the push rod, the second end of the hydraulic adjustment component is connected to the brake reservoir through the first hydraulic circuit, and the first hydraulic circuit is provided with the first solenoid valve; the push rod is provided with the push rod motor, and the push rod is connected to the brake pedal; the first end of the second hydraulic circuit is connected to the pipeline between the hydraulic adjustment component and the first solenoid valve, and the second end of the second hydraulic circuit is connected to the brake reservoir; the first end of the hydraulic simulator is connected to the second hydraulic circuit through a hydraulic branch, and the second solenoid valve is provided on the hydraulic branch;

[0053] In response to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a first control operation includes:

[0054] In response to the pedal feel adjustment instruction, controlling the first solenoid valve to open and controlling the second solenoid valve to close;

[0055] The obtaining of the measured sensing signal comprises:

[0056] Acquiring a measured pressure signal corresponding to the brake pedal;

[0057] When the measured sensing signal meets the preset condition corresponding to the target control instruction, controlling the hydraulic adjustment mechanism to perform a second control operation includes:

[0058] The second duration of the measured pressure signal being greater than the second pressure range is obtained. When the second duration is greater than a second preset duration, the first solenoid valve is controlled to close and the second solenoid valve is controlled to open. Based on the measured pressure signal, the hydraulic simulator is controlled to output brake hydraulic pressure.

[0059] Preferably, the second hydraulic circuit is provided with an exhaust valve;

[0060] The brake pedal control method further includes:

[0061] In response to an exhaust preparation signal, the first solenoid valve and at least one of the second solenoid valves are controlled to open, the push rod motor is controlled to rotate once in a first direction and once in a second direction, and an exhaust release signal is received;

[0062] In response to the exhaust release signal, the exhaust valve is controlled to open to exhaust gas.

[0063] Preferably, after controlling the first solenoid valve and at least one of the second solenoid valves to open and controlling the push rod motor to rotate once in the first direction and once in the second direction, the brake pedal control method further includes:

[0064] Update the current exhaust times;

[0065] If the current exhaust times are less than the preset times, after a third preset time, repeatedly controlling the first solenoid valve and at least one of the second solenoid valves to open, controlling the push rod motor to rotate in the first direction and the second direction once respectively, and receiving an exhaust release signal;

[0066] If the current exhaust number is not less than a preset number, the exhaust valve is controlled to open to exhaust gas in response to the exhaust release signal.

[0067] A vehicle-mounted controller comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the above-mentioned brake pedal control methods when executing the computer program.

[0068] A brake pedal control system, comprising any one of the above brake pedal assemblies, a travel sensor, a pressure sensor and the above vehicle-mounted controller;

[0069] The first end of the stroke sensor is connected to the brake fluid storage chamber, and the second end of the stroke sensor is connected to the second end of the push rod piston, for collecting the measured stroke signal;

[0070] The pressure sensor is connected to the brake pedal and is used to collect the measured pressure signal;

[0071] The vehicle-mounted controller, the stroke sensor, the pressure sensor, the push rod motor and the hydraulic adjustment mechanism are connected to control the operation of the hydraulic adjustment mechanism and / or the push rod motor according to the measured stroke signal and / or the measured pressure signal.

[0072] In the above-mentioned brake pedal assembly, control method, vehicle-mounted controller and control system, the first end of the spring simulator is connected to the first end of the hydraulic adjusting mechanism, and the second end of the spring simulator is connected to the second end of the hydraulic adjusting mechanism through the push rod, so that a loop is formed between the spring simulator and the hydraulic adjusting mechanism. A push rod motor is provided on the push rod and is connected to the brake pedal so that the position and pedal feel of the brake pedal can be adjusted by utilizing the hydraulic pressure of the hydraulic adjusting mechanism and the force of the push rod motor. During the adjustment process, the hydraulic pressure changes, so that the pedal feel changes more smoothly to avoid the problem of abrupt pedal feel. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0074] Figure 1 is an exemplary diagram of a brake pedal assembly according to an embodiment of the present invention;

[0075] Figure 2 is a flow chart of a brake pedal control method in one embodiment of the present invention;

[0076] Figure 3 is another flow chart of a brake pedal control method according to an embodiment of the present invention;

[0077] Figure 4 is another flow chart of a brake pedal control method according to an embodiment of the present invention;

[0078] Figure 5 is another flow chart of a brake pedal control method according to an embodiment of the present invention;

[0079] Figure 6 is another flow chart of a brake pedal control method according to an embodiment of the present invention;

[0080] Figure 7 is another flow chart of a brake pedal control method according to an embodiment of the present invention; Figure 8 is another flow chart of a brake pedal control method according to an embodiment of the present invention.

[0081] In the figure: 1. brake pedal; 11. pedal shaft; 12. pedal arm; 13. pedal pad; 2. push rod; 3. push rod motor; 4. spring simulator; 41. push rod piston; 42. return spring; 5. hydraulic adjustment mechanism; 51. brake fluid storage chamber; 52. hydraulic adjustment assembly; 521. first piston; 522. first spring; 53. hydraulic control circuit; 531. first hydraulic circuit; 532. first solenoid valve; 533. second hydraulic circuit; 534. second solenoid valve; 535. hydraulic simulator; 5351. simulator cylinder; 5352. second piston; 5353. second return spring; 5354. first simulator; 5355. second simulator; 5356. third simulator; 536. hydraulic branch; 6. exhaust valve; 7. stroke sensor; 8. pressure sensor. DETAILED DESCRIPTION

[0082] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0083] In the description of the present invention, it should be understood that the terms "longitudinal", "radial", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0084] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0085] In one embodiment, if Figure 1 A brake pedal assembly includes a brake pedal 1, a push rod 2, a push rod motor 3, a spring simulator 4 and a hydraulic adjustment mechanism 5; the first end of the spring simulator 4 is connected to the first end of the hydraulic adjustment mechanism 5, and the second end of the spring simulator 4 is connected to the second end of the hydraulic adjustment mechanism 5 through the push rod 2; a push rod motor 3 is provided on the push rod 2, and the push rod 2 is connected to the brake pedal 1.

[0086] The spring simulator 4 refers to a simulator that assists the hydraulic pressure regulating mechanism 5 in regulating the hydraulic pressure. The hydraulic pressure regulating mechanism 5 refers to a mechanism for regulating the hydraulic pressure in the brake pedal assembly. The push rod motor 3 refers to a motor that controls the movement of the push rod 2.

[0087] As an example, the brake pedal 1 includes a pedal shaft 11, a pedal arm 12 and a pedal pad 13 arranged on a pedal base. The first end of the pedal arm 12 is rotatably connected to the pedal shaft 11, and the second end of the pedal arm 12 is fixedly connected to the pedal pad 13. When the push rod 2 moves, the pedal arm 12 will also move, thereby driving the pedal pad 13 to move up and down to achieve the purpose of adjusting the position.

[0088] As an example, the first end of the spring simulator 4 is connected to the first end of the hydraulic adjustment mechanism 5, and the second end of the spring simulator 4 is connected to the second end of the hydraulic adjustment mechanism 5 through the push rod 2; the push rod 2 is provided with a push rod motor 3, and the push rod 2 is connected to the brake pedal 1, so that the spring simulator 4 and the hydraulic adjustment mechanism 5 form a loop, which is convenient for adjusting the position and pedal feel of the brake pedal 1 by adjusting the hydraulic pressure changes in the loop. A push rod 2 is provided between the second end of the spring simulator 4 and the second end of the hydraulic adjustment mechanism 5, and the push rod 2 is provided with a push rod motor 3, which can control the push rod motor 3 to rotate in different directions, adjust the moving direction of the push rod 2, so that the spring simulator 4 and the hydraulic adjustment mechanism 5 will also undergo corresponding changes, so that the position and pedal feel of the brake pedal 1 connected to the push rod 2 will also change.

[0089] In this embodiment, the hydraulic pressure is adjusted by actuating the hydraulic adjustment mechanism 5, the spring simulator 4 and the push rod motor 3. During the process of adjusting the hydraulic pressure, the push rod 2 is pushed, and the brake pedal 1 connected to the push rod 2 will move, that is, the position of the pedal pad 13 will move, thereby adjusting the position of the pedal pad 13. At the same time, the position adjustment and pedal feel of the brake pedal 1 are achieved through changes in the hydraulic pressure, and no fixed damping will occur, thereby avoiding an abrupt feeling when the brake pedal 1 is stepped on.

[0090] In one embodiment, the hydraulic adjustment mechanism 5 includes a brake fluid storage chamber 51, a hydraulic adjustment component 52 and a hydraulic control circuit 53; the first end of the spring simulator 4 is connected to the brake fluid storage chamber 51, the second end of the spring simulator 4 is connected to the first end of the hydraulic adjustment component 52 through the push rod 2, and the second end of the hydraulic adjustment component 52 is connected to the brake fluid storage chamber 51 through the hydraulic control circuit 53.

[0091] The hydraulic pressure regulating component 52 refers to a component for regulating hydraulic pressure. The hydraulic control circuit 53 refers to a control circuit connecting the hydraulic pressure regulating component 52 and the brake fluid reservoir 51. The brake fluid reservoir 51 refers to a cavity for storing brake fluid. The hydraulic control circuit 53 refers to a control circuit connecting the hydraulic pressure regulating component 52 and the brake fluid reservoir 51.

[0092] As an example, the first end of the spring simulator 4 is connected to one end of the brake reservoir chamber 51, so that when the position of the brake pedal 1 is adjusted, the hydraulic pressure in the brake reservoir chamber 51 can be adjusted by the spring simulator 4 to achieve the purpose of adjusting the position of the brake pedal 1; the second end of the spring simulator 4 is connected to the first end of the hydraulic adjustment component 52 through the push rod 2, so that when the push rod 2 moves with the spring simulator 4, the hydraulic adjustment component 52 can also change accordingly under the drive of the push rod 2, thereby adjusting the hydraulic pressure in the circuit; the second end of the hydraulic adjustment component 52 is connected to the other end of the brake reservoir chamber 51 through the hydraulic control circuit 53, so that the brake reservoir chamber 51, the spring simulator 4, the hydraulic adjustment component 52 and the hydraulic control circuit 53 form a circuit, and then when the position of the brake pedal 1 is adjusted, the push rod motor 3 controls the movement of the push rod 2 to move the spring simulator 4, and at the same time, the movement of the push rod 2 will also drive the hydraulic adjustment component 52 to change, and the movement of the spring simulator 4 will cause the brake reservoir chamber 51 to produce hydraulic changes, so that the position of the brake pedal 1 can be better controlled, and the hydraulic adjustment can avoid the abrupt feeling when the pedal feel is adjusted later.

[0093] In one embodiment, the spring simulator 4 includes a push rod piston 41 and a return spring 42; the first end of the push rod piston 41 is connected to the brake fluid storage chamber 51, and the second end of the push rod piston 41 is connected to the hydraulic adjustment assembly 52 through the push rod 2; the return spring 42 is sleeved on the outside of the push rod piston 41, the first end of the return spring 42 is connected to the first end of the push rod piston 41, and the second end of the return spring 42 is connected to the second end of the push rod piston 41.

[0094] As an example, the first end of the push rod piston 41 is connected to the brake reservoir chamber 51, so that the hydraulic pressure in the brake reservoir chamber 51 can be controlled by moving the push rod piston 41. The second end of the push rod piston 41 is connected to the hydraulic adjustment component 52 through the push rod 2, so that when the push rod piston 41 moves, the hydraulic adjustment component 52 can also produce corresponding changes to achieve the effect of controlling the hydraulic pressure. When adjusting the position of the pedal pad 13 of the brake pedal 1, the push rod piston 41 is pushed to move by the push rod 2, so that the hydraulic pressure of the brake reservoir chamber 51 changes. Since the push rod 2 is also connected to the hydraulic adjustment component 52, the hydraulic adjustment component 52 will also change accordingly, so that the hydraulic pressure of the brake reservoir chamber 51 connected to the hydraulic adjustment component 52 through the hydraulic control circuit 53 will also change accordingly, so that the movement of the push rod 2 is relatively smooth, and the position and pedal feel of the brake pedal 1 connected to the push rod 2 can be better adjusted to avoid abruptness when the pedal feel is adjusted.

[0095] As an example, the return spring 42 is sleeved on the outside of the push rod piston 41, so that when the push rod piston 41 moves, the return spring 42 can be deformed to form a spring force to push the push rod 2 to move. The first end of the return spring 42 is fixedly connected to the first end of the push rod piston 41, and the second end of the return spring 42 is fixedly connected to the second end of the push rod piston 41. When the push rod piston 41 moves, the return spring 42 is deformed, and the size of the spring force acting on the push rod 2 is determined by the deformation degree of the return spring 42, thereby adjusting the position and pedal feel of the brake pedal 1.

[0096] In one embodiment, the hydraulic adjustment assembly 52 includes a first piston 521 and a first spring 522 ; the first end of the first piston 521 is connected to the push rod 2 via the first spring 522 , and the second end of the first piston 521 is connected to the brake fluid storage chamber 51 via the hydraulic control circuit 53 .

[0097] As an example, the hydraulic adjustment component 52 includes a first piston 521 and a first spring 522; the first end of the first piston 521 is connected to the push rod 2 through the first spring 522, and the second end of the first piston 521 is connected to the brake reservoir chamber 51 through the hydraulic control circuit 53. The first spring 522 is arranged between the first piston 521 and the push rod 2 along the axial direction of the push rod 2. When the pedal force is applied to the pedal pad 13 so that the push rod 2 drives the first piston 521 to move, the first spring 522 will generate resistance to the movement of the first piston 521. At the same time, the first piston 521 moves, and the brake reservoir chamber 51 connected thereto has a hydraulic change. The resistance generated by the first spring 522 and the hydraulic pressure generated by the brake reservoir chamber 51 work together to change the position of the brake pedal 1, thereby facilitating the position adjustment of the brake pedal 1. Specifically, the brake reservoir chamber 51 connected to the first piston 521 generates a hydraulic change to push the brake pedal 1 to change its position, so that the adjustment process will not have a strong abrupt feeling.

[0098] In one embodiment, the hydraulic control circuit 53 includes a first hydraulic circuit 531 and a first solenoid valve 532; the first end of the first hydraulic circuit 531 is connected to the hydraulic adjustment component 52, the second end of the first hydraulic circuit 531 is connected to the brake fluid storage chamber 51, and the first solenoid valve 532 is provided on the first hydraulic circuit 531.

[0099] The first hydraulic circuit 531 is a liquid circuit connecting the hydraulic adjustment component 52 and the brake reservoir 51, and the hydraulic pressure change of the brake reservoir 51 can be directly adjusted by the hydraulic adjustment component 52, thereby adjusting the pedal feel of the brake pedal 1. The first solenoid valve 532 is a solenoid valve used to control the communication between the hydraulic adjustment component 52 and the brake reservoir 51.

[0100] As an example, a first end of the first hydraulic circuit 531 is connected to the brake reservoir chamber 51, and a second end of the first hydraulic circuit 531 is connected to the hydraulic adjustment component 52, so that the brake reservoir chamber 51 and the hydraulic adjustment component 52 form a circuit. When the brake pedal 1 position is subsequently adjusted, the hydraulic pressure generated by the brake reservoir chamber 51 can cause the brake fluid to be transmitted to the hydraulic adjustment component 52 through the first hydraulic circuit 531, so that the first piston 521 in the hydraulic adjustment component 52 is pushed to move by the brake fluid, and when the brake pedal 1 is reset, the push rod piston 41 can also be pushed to move by the hydraulic pressure of the brake reservoir chamber 51, so that the position change of the brake pedal 1 is adjusted by the hydraulic pressure. A first solenoid valve 532 is provided in the circuit 531, which is used to control the connectivity between the hydraulic adjustment component 52 and the brake reservoir chamber 51. When the first solenoid valve 532 is not opened, the hydraulic adjustment component 52 and the brake reservoir chamber 51 cannot be connected. Therefore, when the brake reservoir chamber 51 generates hydraulic pressure, the hydraulic pressure cannot be transmitted to the hydraulic adjustment component 52. When the first solenoid valve 532 is opened, the hydraulic adjustment component 52 and the brake reservoir chamber 51 can be connected. Therefore, when the brake reservoir chamber 51 generates hydraulic pressure, the hydraulic adjustment component 52 can also generate hydraulic pressure through the first hydraulic circuit 531. By controlling the opening and closing of the first solenoid valve 532, the connectivity of the first hydraulic circuit 531 is controlled, thereby realizing the position of the brake pedal 1 through hydraulic adjustment.

[0101] In one embodiment, the hydraulic control circuit 53 also includes a second hydraulic circuit 533, a second solenoid valve 534 and a hydraulic simulator 535; the first end of the second hydraulic circuit 533 is connected to the pipeline between the hydraulic adjustment component 52 and the first solenoid valve 532, and the second end of the second hydraulic circuit 533 is connected to the brake fluid storage chamber 51; the first end of the hydraulic simulator 535 is connected to the second hydraulic circuit 533 through a hydraulic branch 536, and a second solenoid valve 534 is provided on the hydraulic branch 536.

[0102] Among them, the second hydraulic circuit 533 refers to a liquid circuit connecting the first hydraulic circuit 531 and the brake reservoir chamber 51, which allows the hydraulic adjustment component 52 to be indirectly connected to the brake reservoir chamber 51 through the second hydraulic circuit 533, so that it can indirectly adjust the hydraulic changes in the brake reservoir chamber 51, and then adjust the pedal feel of the brake pedal 1. The second solenoid valve 534 refers to a solenoid valve used to control the connection between the hydraulic simulator 535 and the second hydraulic circuit 533. The hydraulic simulator 535 refers to a simulator that adjusts the pedal feel through hydraulic pressure. The hydraulic branch 536 refers to a branch connecting the hydraulic simulator 535 and the second hydraulic circuit 533.

[0103] As an example, the first end of the second hydraulic circuit 533 is connected to the pipeline between the hydraulic adjustment component 52 and the first solenoid valve 532, and the second end of the second hydraulic circuit 533 is connected to the brake reservoir chamber 51, so that the hydraulic adjustment component 52 can be indirectly connected to the brake reservoir chamber 51 through the second hydraulic circuit 533, and can form a hydraulic circuit with the brake reservoir chamber 51 without passing through the first solenoid valve 532, which is convenient for the subsequent adjustment of the pedal feel of the brake pedal 1 through the second hydraulic circuit 533; at the same time, the first end of the hydraulic simulator 535 is connected to the second hydraulic circuit 533 through the hydraulic branch 536, which is convenient for the subsequent opening and closing of the hydraulic simulator 535 to adjust the hydraulic pressure of the second hydraulic circuit 533, thereby realizing pedal feel adjustment, which is in line with the user's pedal feel experience.

[0104] In one embodiment, the hydraulic simulator 535 includes a simulator cylinder 5351, a second piston 5352 and a second return spring 5353; the second piston 5352 and the second return spring 5353 are arranged in the simulator cylinder 5351, the first end of the second piston 5352 is connected to the second return spring 5353, and the second end of the second piston 5352 is connected to the second hydraulic circuit 533 through the hydraulic branch 536.

[0105] Here, the simulator cylinder 5351 refers to a cylinder of the hydraulic simulator 535 used when adjusting the hydraulic pressure of the second hydraulic circuit 533 .

[0106] As an example, the hydraulic simulator 535 includes a simulator cylinder 5351, a second piston 5352 and a second return spring 5353. The second piston 5352 and the second return spring 5353 in the hydraulic simulator 535 are arranged inside the simulator cylinder 5351, and the first end of the second piston 5352 is connected to the second return spring 5353, the second end of the second piston 5352 is connected to the second hydraulic circuit 533 through the hydraulic branch 536, and the second end of the second return spring 5353 is connected to the bottom inner wall of the simulator cylinder 5351. The hydraulic simulator 535 is connected to the second hydraulic circuit 533 through the hydraulic branch 536. When the pedal feel is adjusted, the liquid in the brake reservoir chamber 51 flows into the hydraulic simulator 535, thereby causing the second piston 5352 to be displaced, and the second return spring 5353 connected to the second piston 5352 will generate a force opposite to the second piston 5352, namely, a restoring force. Therefore, the brake pedal 1 produces different pedal feels through the size of the restoring force of the second return spring 5353, thereby achieving the purpose of adjusting the pedal feel.

[0107] In one embodiment, the brake pedal assembly includes at least two hydraulic simulators 535 , and the simulator cylinders 5351 in the at least two hydraulic simulators 535 have different cylinder diameters.

[0108] As an example, the brake pedal assembly includes at least two hydraulic simulators 535, and the cylinder diameter of the simulator cylinder 5351 of each hydraulic simulator 535 is different. By setting different cylinder diameters, the restoring force generated by the second return spring 5353 in the hydraulic simulator 535 is controlled. The different cylinder diameters result in different sizes of the second return spring 5353, and the restoring force generated by the second return spring 5353 is also different. Generally speaking, the larger the cylinder diameter of the simulator cylinder 5351, the larger the second return spring 5353, and the greater the restoring force generated. Therefore, when adjusting the pedal feel, the brake pedal 1 can be adjusted by controlling the size of the restoring force, and the purpose of adjusting the pedal feel of the brake pedal 1 through hydraulic simulators 535 with different cylinder diameters is achieved.

[0109] In one embodiment, the hydraulic simulator 535 includes a first simulator 5354, a second simulator 5355 and a third simulator 5356, and the cylinder diameters of the simulator cylinder 5351 in the first simulator 5354, the cylinder diameters of the simulator cylinder 5351 in the second simulator 5355 and the cylinder diameters of the simulator cylinder 5351 in the third simulator 5356 increase successively.

[0110] As an example, the hydraulic simulator 535 includes a first simulator 5354, a second simulator 5355, and a third simulator 5356. The cylinder diameter of the simulator cylinder 5351 in the first simulator 5354 is smaller than the cylinder diameter of the simulator cylinder 5351 in the second simulator 5355, and the cylinder diameter of the simulator cylinder 5351 in the second simulator 5355 is smaller than the cylinder diameter of the simulator cylinder 5351 in the third simulator 5356. Generally speaking, the larger the cylinder diameter of the simulator cylinder 5351, the greater the restoring force of the second return spring 5353 in the hydraulic simulator 535. By setting the simulator cylinders 5351 of the three hydraulic simulators 535 to different cylinder diameters, the restoring force of each hydraulic simulator 535 is controlled, and the pedal feel of the brake pedal 1 is adjusted by restoring forces of different sizes.

[0111] In one embodiment, an exhaust valve 6 is provided on the second hydraulic circuit 533 .

[0112] As an example, the second hydraulic circuit 533 is provided with an exhaust valve 6, which can exhaust the gas in the second hydraulic circuit 533 and add brake fluid to the second hydraulic circuit 533 through the exhaust valve 6, so as to remove the gas in the hydraulic regulating mechanism 5 and replenish the brake fluid, thereby ensuring the stability and adjustability of the hydraulic pressure in the hydraulic regulating mechanism 5, and further helping to adjust the position of the brake pedal 1 and the pedal feel.

[0113] In one embodiment, if Figure 2 A brake pedal control method is applied to a vehicle-mounted controller, the vehicle-mounted controller is connected to the brake pedal assembly provided in the above embodiment, comprising:

[0114] S1: In response to the target control instruction, controlling the hydraulic adjustment mechanism 5 and / or the push rod motor 3 to perform a first control operation;

[0115] S2: Obtaining the measured sensing signal;

[0116] S3: When the measured sensing signal meets the preset condition corresponding to the target control instruction, the hydraulic adjustment mechanism 5 and / or the push rod motor 3 are controlled to perform a second control operation.

[0117] The target control instruction refers to a control instruction for adjusting the brake pedal 1, and the control instruction here may be to adjust the position of the brake pedal 1, reset the position of the brake pedal 1, adjust the pedal feel of the brake pedal 1, or other control instructions. The first control operation refers to a control operation that needs to be performed by the hydraulic control circuit 53 and / or the push rod motor 3 according to the target control instruction.

[0118] As an example, in step S1, the vehicle-mounted controller can receive a target control instruction input by the user through the human-computer interaction interface, or can receive a target control instruction input by the user through a control button, and then, according to the target control instruction, control the hydraulic adjustment mechanism 5 and / or the push rod motor 3 to perform a first control operation, thereby achieving specific operations such as resetting, adjusting, and adjusting the pedal feel of the brake pedal 1, and facilitating subsequent adjustments to its pedal feel.

[0119] The measured sensing signal refers to a sensing signal identified after the first control operation is performed. Specifically, the sensing signal is a pressure signal and / or a stroke signal identified at the current moment.

[0120] As an example, in step S2, when the vehicle-mounted controller controls the hydraulic control circuit 53 and / or the push rod motor 3 to perform the first control operation, the vehicle-mounted controller can collect the measured sensing signal through the sensor arranged on the brake pedal assembly, and send the measured sensing signal to the vehicle-mounted controller, so that the vehicle-mounted controller can accurately determine the position of the brake pedal 1 according to the measured sensing signal, thereby realizing intelligent control of the brake pedal 1.

[0121] The preset condition refers to a preset condition. The preset condition corresponding to the target control instruction is a preset condition used to evaluate whether the brake pedal 1 reaches the state required by the target control instruction.

[0122] The second control operation refers to an operation that needs to be performed by controlling the hydraulic control circuit 53 and / or the push rod motor 3 after the measured sensing signal meets the preset condition corresponding to the target control instruction.

[0123] As an example, in step S3, when the measured sensing signal received by the vehicle-mounted controller meets the preset condition, it means that the state of the brake pedal 1 at this time reaches the state required by the target control instruction, which can be understood as reaching the state of exiting the execution of the first control operation. At this time, the vehicle-mounted controller will control the hydraulic adjustment mechanism 5 and / or the push rod motor 3 to perform the second control operation according to the measured sensing signal, so that the brake pedal 1 can be intelligently controlled according to the target control instruction. In this example, the preset condition corresponding to the target control instruction can be understood as the condition for controlling the hydraulic adjustment mechanism 5 and / or the push rod motor 3 to stop executing the first control operation.

[0124] In this embodiment, in response to the target control instruction, the hydraulic adjustment mechanism 5 and / or the push rod motor 3 are controlled to perform a first control operation. When the measured sensing signal identified during the first control operation meets the preset conditions, the vehicle-mounted controller performs a second control operation to adjust the brake pedal 1 to the corresponding position, thereby achieving the effect of intelligently controlling the brake pedal 1.

[0125] In one embodiment, if Figure 1 As shown, the hydraulic adjustment mechanism 5 includes a brake fluid storage chamber 51, a hydraulic adjustment component 52 and a first hydraulic circuit 531, the first end of the spring simulator 4 is connected to the brake fluid storage chamber 51, the second end of the spring simulator 4 is connected to the first end of the hydraulic adjustment component 52 through the push rod 2, the second end of the hydraulic adjustment component 52 is connected to the brake fluid storage chamber 51 through the first hydraulic circuit 531, and the first hydraulic circuit 531 is provided with a first solenoid valve 532; the push rod 2 is provided with a push rod motor 3, and the push rod 2 is connected to the brake pedal 1;

[0126] Accordingly, if Figure 3 As shown, the brake pedal 1 control method includes:

[0127] S11: In response to the position reset instruction, the first solenoid valve 532 is controlled to open, and the push rod motor 3 is controlled to rotate in the first direction, so as to drive the push rod 2 to move in the direction of the hydraulic adjustment assembly 52;

[0128] S12: Obtaining the measured stroke signal corresponding to the push rod 2;

[0129] S13: When the measured stroke signal is the maximum stroke signal, the first electromagnetic valve 532 is controlled to be closed, and the push rod motor 3 is controlled to rotate, so that the push rod 2 stops moving.

[0130] Wherein, step S11 is a specific implementation of step S1, step S12 is a specific implementation of step S2, and step S13 is a specific implementation of step S3.

[0131] The position reset instruction refers to an instruction for controlling the brake pedal 1 to return to the initial position. The first direction refers to the direction in which the push rod motor 3 rotates toward the side connected to the hydraulic adjustment component 52 .

[0132] As an example, in step S11, after the on-board controller receives the position reset instruction, the on-board controller controls the first solenoid valve 532 to open, and at the same time controls the push rod motor 3 to rotate in the first direction, that is, the push rod motor 3 rotates toward the side connected to the hydraulic adjustment component 52. After the push rod motor 3 completes the rotation, the hydraulic pressure in the first hydraulic circuit 531 will push the push rod 2, the first piston 521 and the push rod piston 41 toward the hydraulic adjustment component 52, thereby causing the pedal arm 12 and the pedal pad 13 to move upward, thereby achieving position reset of the brake pedal 1 by controlling the hydraulic pressure.

[0133] The measured stroke signal refers to the signal of the stroke of the push rod collected at the current moment.

[0134] As an example, in step S12, the vehicle-mounted controller controls the first solenoid valve 532 to open, and controls the push rod motor 3 to rotate in the first direction, thereby driving the push rod 2 to move in the direction of the hydraulic adjustment component 52, and obtains the actual stroke signal output by the sensor at the current moment, thereby facilitating the subsequent determination of the reset position based on the actual stroke signal.

[0135] As an example, in step S13, when the vehicle-mounted controller receives the maximum stroke signal from the sensor, the vehicle-mounted controller determines that the pedal arm 12 and the pedal pad 13 have risen to the highest position, and then the vehicle-mounted controller controls the first electromagnetic valve 532 to close, and controls the push rod motor 3 to rotate and reset to the original position, so that the push rod motor 3 is no longer actuated, thereby controlling the hydraulic pressure to no longer push the push rod 2 to move toward the hydraulic adjustment component 52. At this time, the position of the pedal pad 1 reaches the highest position, and the position is reset. In this example, the first electromagnetic valve 532 and the push rod motor 3 are controlled to adjust the hydraulic pressure change and thus reset the position of the brake pedal 1, thereby improving the intelligence of the brake pedal 1.

[0136] In this embodiment, in response to the position reset instruction, the first solenoid valve 532 is controlled to open, and the push rod motor 3 is controlled to rotate in the first direction, driving the push rod 2 to move in the direction of the hydraulic adjustment component 52. When the measured stroke signal corresponding to the push rod 2 is the maximum stroke signal, the first solenoid valve 532 is controlled to close, and the push rod motor 3 is controlled to rotate, so that the push rod 2 stops moving, so as to achieve the purpose of resetting the position of the brake pedal 1 by utilizing the first solenoid valve 532 and the push rod motor 3. By controlling the actuation of the first solenoid valve 532 and the push rod motor 3, hydraulic pressure is generated in the first hydraulic circuit 531. The generated hydraulic pressure makes the brake pedal 1 slowly lift to the highest point, thereby completing the position reset of the brake pedal 1 and achieving the effect of intelligently controlling the position of the brake pedal 1. In addition, hydraulic adjustment can reduce the problem of excessive abruptness when resetting the position of the brake pedal 1, and provide a better user experience.

[0137] In one embodiment, if Figure 1 As shown, the hydraulic adjustment mechanism 5 includes a brake fluid storage chamber 51, a hydraulic adjustment component 52 and a first hydraulic circuit 531. The first end of the spring simulator 4 is connected to the brake fluid storage chamber 51, the second end of the spring simulator 4 is connected to the first end of the hydraulic adjustment component 52 through the push rod 2, the second end of the hydraulic adjustment component 52 is connected to the brake fluid storage chamber 51 through the first hydraulic circuit 531, and the first hydraulic circuit 531 is provided with a first solenoid valve 532; the push rod 2 is provided with a push rod motor 3, and the push rod 2 is connected to the brake pedal 1; accordingly, as shown in FIG. Figure 4 , the brake pedal 1 control method includes:

[0138] S21: In response to the position adjustment instruction, the first solenoid valve 532 is controlled to open, and based on the pedal force acting on the brake pedal 1, the push rod 2 is driven to move toward the brake fluid storage chamber 51, and the push rod motor 3 is controlled to rotate in the second direction;

[0139] S22: Acquire a measured stroke signal corresponding to the push rod 2 and a measured pressure signal corresponding to the brake pedal 1;

[0140] S23: Obtain a first duration of the measured stroke signal within the first stroke range and the measured pressure signal within the first pressure range. When the first duration is greater than a first preset duration, control the first solenoid valve 532 to close, and control the push rod motor 3 to rotate.

[0141] Wherein, step S21 is a specific implementation of step S1, step S22 is a specific implementation of step S2, and step S23 is a specific implementation of step S3.

[0142] The position adjustment instruction refers to an instruction for controlling the brake pedal 1 to reach a target position. The second direction refers to the direction in which the push rod motor 3 rotates toward the side connected to the brake fluid storage chamber 51 .

[0143] As an example, in step S21, after the on-board controller receives the position adjustment instruction, the on-board controller controls the first solenoid valve 532 to open. Subsequently, according to the pedal force applied by the user on the pedal pad 13, the pedal pad 13 and the pedal arm 12 begin to descend. At this time, the hydraulic pressure in the first hydraulic circuit 531 will push the push rod 2, the push rod piston 41 and the first piston 521 toward the brake reservoir chamber 51. Then, the on-board controller controls the push rod motor 3 to rotate in the second direction, that is, the push rod motor 3 rotates toward the side connected to the brake reservoir chamber 51 for compensation, thereby realizing position adjustment of the brake pedal 1 by controlling the hydraulic pressure.

[0144] The measured pressure signal refers to a signal of the pressure acting on the brake pedal 1 collected at the current moment.

[0145] As an example, in step S22, when the pedal arm 12 and the pedal pad 13 move downward to the target position under the action of the pedal force, the vehicle-mounted controller obtains the measured stroke signal corresponding to the push rod 2 and the measured pressure signal corresponding to the brake pedal 1 output by the sensor at the current moment, thereby facilitating the subsequent determination of the target position to which the brake pedal 1 needs to be adjusted based on the measured stroke signal and the measured pressure signal.

[0146] The first pressure range refers to the first pre-set pressure range, which is used to evaluate whether the position adjustment operation can be completed, and specifically can be a pressure range for detecting whether the measured pressure signal reaches the target position required for the control pedal 1 to reach the position adjustment. For example, the first pressure range can be a pressure range in which the pressure value is stable within a tolerance of ±20N.

[0147] The first stroke range refers to the first preset stroke range, which is used to evaluate whether the position adjustment operation can be completed. Specifically, it can be a stroke range for detecting whether the measured stroke signal reaches the target position required for the control pedal 1 to reach the position adjustment. For example, the first stroke range can be a range in which the adjustable stroke value range is ≤8mm and the stroke value change is stable within a tolerance of ±1mm.

[0148] Among them, the first duration is the monitored duration, which is used to evaluate whether the position adjustment operation can be completed. Specifically, it can be the duration of the measured stroke signal being within the first pressure range and the duration of the measured pressure signal being within the first stroke range.

[0149] The first preset duration refers to a preset duration, which is used to evaluate whether the position adjustment operation can be completed, and can specifically be the time value for detecting whether the measured stroke signal and the measured pressure signal reach the target position required for the control pedal 1 to reach the position adjustment. For example, the first preset duration can be 5s.

[0150] As an example, in step S23, when the vehicle-mounted controller receives a measured travel signal from the sensor within a first travel range, and the vehicle-mounted controller receives a measured pressure signal from the sensor within a first pressure range, if the first duration of both conditions being met simultaneously exceeds a first preset duration, the vehicle-mounted controller determines that the pedal pad 13 is at the target position, i.e., the position required by the position adjustment instruction.

[0151] For example, when the vehicle controller receives the pressure value in the measured pressure signal and the value is stable within the tolerance of ±20N, the adjustable stroke value range in the measured stroke signal is ≤8mm, the stroke value change value is stable within the tolerance of ±1mm, and the measured stroke signal is within the first stroke range and the first duration of the measured pressure signal in the first pressure range exceeds 5s, then the current pedal pad 13 position is determined to be the target position required by the user. At this time, the user can save the position data of the current pedal pad 13 through the human-computer exchange page so that the target position can be generated with one click during subsequent adjustments; after the vehicle controller determines that the current position is the target position required by the user, it can control the first solenoid valve 532 to close, and control the push rod motor 3 to rotate and reset to the original position, so that the push rod motor 3 is no longer actuated, and the position adjustment function is completed. In this example, the position adjustment of the hydraulically adjusted brake pedal 1 is achieved by controlling the first solenoid valve 532 and the push rod motor 3, thereby improving the intelligence of the brake pedal 1.

[0152] In this embodiment, in response to the position adjustment instruction, the first solenoid valve 532 is controlled to open, and based on the pedal force acting on the brake pedal 1, the push rod 2 is driven to move toward the brake fluid storage chamber 51, and the push rod motor 3 is controlled to rotate in the second direction; the measured stroke signal corresponding to the push rod 2 and the measured pressure signal corresponding to the brake pedal 1 are obtained; the first duration of the measured stroke signal within the first stroke range and the measured pressure signal within the first pressure range is obtained, and when the first duration is greater than the first preset duration, the first solenoid valve 532 is controlled to close, and the push rod motor 3 is controlled to rotate. By obtaining the measured pressure signal and the measured stroke signal, the on-board controller can determine whether the current position is the position required by the user. The on-board controller controls the opening and closing of the first solenoid valve 532 and the opening and closing of the push rod motor 3 to enable the first hydraulic circuit 531 to generate hydraulic pressure. The generated hydraulic pressure allows the brake pedal 1 to slowly adjust to the position required by the user. When the position required by the user is reached, the on-board controller will save the position data, so that the required position can be achieved more quickly in future position adjustments. By adjusting the position of the brake pedal 1 through hydraulic pressure, the abrupt feeling of the conventional brake pedal position can be avoided, and the effect of intelligent control of the position of the brake pedal 1 can be achieved, thereby improving the user experience.

[0153] In one embodiment, if Figure 1The hydraulic adjustment mechanism 5 includes a brake reservoir chamber 51, a hydraulic adjustment component 52, a first hydraulic circuit 531, a second hydraulic circuit 533 and a hydraulic simulator 535; the first end of the spring simulator 4 is connected to the brake reservoir chamber 51, the second end of the spring simulator 4 is connected to the first end of the hydraulic adjustment component 52 through the push rod 2, the second end of the hydraulic adjustment component 52 is connected to the brake reservoir chamber 51 through the first hydraulic circuit 531, and the first hydraulic circuit 531 is provided with a first solenoid valve 532; the push rod 2 is provided with a push rod motor 3, and the push rod 2 is connected to the brake pedal 1; the first end of the second hydraulic circuit 533 is connected to the pipeline between the hydraulic adjustment component 52 and the first solenoid valve 532, and the second end of the second hydraulic circuit 533 is connected to the brake reservoir chamber 51; the first end of the hydraulic simulator 535 is connected to the second hydraulic circuit 533 through a hydraulic branch 536, and the hydraulic branch 536 is provided with a second solenoid valve 534; accordingly, as Figure 5 , the brake pedal 1 control method includes:

[0154] S31: In response to the pedal feel adjustment instruction, the first solenoid valve 532 is controlled to be opened, and the second solenoid valve 534 is controlled to be closed;

[0155] S32: Acquire a measured stroke signal corresponding to the push rod 2 and a measured pressure signal corresponding to the brake pedal 1;

[0156] S33: When the measured stroke signal is not the maximum stroke signal and the measured pressure signal is not greater than the second pressure range, the first solenoid valve 532 is controlled to be closed, the second solenoid valve 534 is controlled to be opened, and the hydraulic simulator 535 outputs the brake hydraulic pressure.

[0157] Among them, step S31 is a specific implementation of step S1, step S32 is a specific implementation of step S2, and step S33 is a specific implementation of step S3.

[0158] The pedal feel adjustment instruction refers to an adjustment instruction for adjusting the pedal feel of the brake pedal 1 .

[0159] As an example, in step S31, the vehicle-mounted controller can receive a pedal feel adjustment instruction sent by the user through the human-computer interaction interface or a button, and according to the pedal feel adjustment instruction, control the first solenoid valve 532 to be opened, and control the second solenoid valve 534 to be in a closed state, so that the hydraulic control circuit 53 remains connected, preparing for the subsequent pedal feel adjustment, avoiding the immediate opening of the second solenoid valve 534 causing a hydraulic error in the hydraulic simulator 535, affecting the precise adjustment of the pedal feel, thereby achieving a high experience of pedal feel adjustment.

[0160] As an example, in step S32, the vehicle controller obtains the measured stroke signal output by the sensor at the current moment and the measured pressure signal output by the sensor at the current moment, so as to facilitate the subsequent determination of the pedal feel state to which the brake pedal 1 needs to be adjusted based on the measured stroke signal and the measured pressure signal.

[0161] The second pressure range refers to a second pre-set pressure range, which is used to evaluate whether the pedal feel adjustment operation can be completed, and can specifically be used to detect whether the measured pressure signal reaches the pressure range with the highest priority. For example, the second pressure range can be a pressure range with a pressure value ≤ 230N.

[0162] As an example, in step S33, after the user steps on the pedal pad 13, the push rod 2 pushes the push rod piston 41 to move toward the brake reservoir 51, so that the liquid in the brake reservoir 51 flows into each hydraulic simulator 535 through the second hydraulic circuit 533. After the vehicle-mounted controller receives the measured stroke signal that is not the maximum stroke signal and the measured pressure signal is not greater than the second pressure range, it controls the first solenoid valve 532 to close and the second solenoid valve 534 to open so that each hydraulic simulator 535 is actuated. After each hydraulic simulator 535 is actuated, a different pedal feel can be generated. In this example, according to the measured stroke signal and the measured pressure signal received by the vehicle-mounted controller, the corresponding brake hydraulic pressure and brake torque can be output, so that the brake pedal 1 can meet the high intelligence and good experience.

[0163] In this embodiment, in response to the pedal feel adjustment instruction, the first solenoid valve 532 is controlled to open and the second solenoid valve 534 is controlled to close; then, the measured stroke signal corresponding to the push rod 2 and the measured pressure signal corresponding to the brake pedal 1 are obtained; when the measured stroke signal is not the maximum stroke signal and the measured pressure signal is not greater than the second pressure range, the first solenoid valve 532 is controlled to close, the second solenoid valve 534 is controlled to open, and the hydraulic simulator 535 outputs the brake hydraulic pressure. Through the measured stroke signal and the measured pressure signal, and by controlling the first solenoid valve 532 to close, the hydraulic simulator 535 can adjust the pedal feel of the brake pedal 1 and control the output of the brake hydraulic pressure or brake torque, that is, by controlling the opening and closing of the first solenoid valve 532 and the second solenoid valve 534, the second hydraulic circuit 533 generates hydraulic pressure, and at the same time, the opening and closing of the second solenoid valve 534 controls the hydraulic simulator 535 to actuate, so as to achieve the purpose of multiple pedal feel adjustment, realize the pedal feel adjustment through hydraulic pressure and output the brake hydraulic pressure, avoid the abrupt feeling caused by the fixed damping adjustment when the conventional brake pedal 1 is adjusted, and greatly increase the user experience.

[0164] In one embodiment, the brake pedal assembly includes at least two hydraulic simulators 535 , and the cylinder diameters of the simulator cylinders 5351 in at least two hydraulic simulators 535 are different;

[0165] Step S33, i.e., when the measured stroke signal is not the maximum stroke signal and the measured pressure signal is not greater than the second pressure range, the first solenoid valve 532 is controlled to be closed, the second solenoid valve 534 is controlled to be opened, and the hydraulic simulator 535 outputs the brake hydraulic pressure, includes:

[0166] When the measured stroke signal is not greater than the maximum stroke signal and the measured pressure signal is not greater than the second pressure range, the first solenoid valve 532 is controlled to be closed, and at least one second solenoid valve 534 is controlled to be opened, so that at least one hydraulic simulator 535 in the open state is actuated, and the brake hydraulic pressure is output based on the hydraulic simulator 535.

[0167] As an example, after the vehicle controller receives that the measured stroke signal is not the maximum stroke signal and the measured pressure signal is not greater than the second pressure range, it controls the first solenoid valve 532 to close and controls at least one second solenoid valve 534 to open, so that the liquid in the second hydraulic circuit 533 flows into at least one hydraulic simulator 535 in the open state to act, thereby achieving the adjustment of the pedal feel. In this example, after at least one second solenoid valve 534 is opened, the hydraulic simulator 535 and the second hydraulic circuit 533 opposite thereto are connected, and the liquid in the brake reservoir 51 flows into at least one hydraulic simulator 535, so that the second piston 5352 and the second return spring 5353 in at least one hydraulic simulator 535 are displaced. Since the cylinder diameters of the simulator cylinders 5351 of at least two hydraulic simulators 535 are different, the displacements generated by the second piston 5352 and the second return spring 5353 are inconsistent, and since the cylinder diameters of the simulator cylinders 5351 of the hydraulic simulator 535 are different, the restoring forces generated by the second return spring 5353 are also inconsistent, so the adjustment of multiple pedal feels can be achieved. Generally speaking, the smaller the cylinder diameter of the hydraulic simulator 535, the larger the stroke value of the measured stroke signal, and the smaller the pressure value of the measured pressure signal. At the same time, since at least one hydraulic simulator 535 is actuated, the on-board controller controls the output brake hydraulic pressure of the vehicle according to the corresponding values ​​of the measured stroke signal and the measured pressure signal, thereby realizing intelligent adjustment of the pedal feel and controlling the brake hydraulic pressure or brake torque.

[0168] For example, the hydraulic simulator 535 includes a first simulator 5354, a second simulator 5355 and a third simulator 5356. The cylinder diameter of the simulator cylinder 5351 in the first simulator 5354 is smaller than the cylinder diameter of the simulator cylinder 5351 in the second simulator 5355. The cylinder diameter of the simulator cylinder 5351 in the second simulator 5355 is smaller than the cylinder diameter of the simulator cylinder 5351 in the third simulator 5356. Different pedal feels can be determined according to the combination of the first simulator 5354, the second simulator 5355 and the third simulator 5356, which is specifically manifested as follows: when only the second solenoid valve 534 connected to the first simulator 5354 is opened, the pedal feel is gentle, the measured pressure signal is level one, and the measured stroke signal is level seven; when only the second solenoid valve 534 connected to the second simulator 5355 is opened, the pedal feel is gentle, the measured pressure signal is level two, and the measured stroke signal is level six; when only the second solenoid valve 534 connected to the second simulator 5355 is opened, the pedal feel is gentle, the measured pressure signal is level two, and the measured stroke signal is level six 355 is opened, the pedal feel is comfortable, the measured pressure signal is level three, and the measured stroke signal is level five; when the second solenoid valve 534 connected to the first simulator 5354 and the second simulator 5355 is opened, the pedal feel is fast, the measured pressure signal is level four, and the measured stroke signal is level four; when the second solenoid valve 534 connected to the first simulator 5354 and the third simulator 5356 is opened, the pedal feel is agile, the measured pressure signal is level five, and the measured stroke signal is level three; when the second solenoid valve 534 connected to the second simulator 5355 and the third simulator 5356 is opened, the pedal feel is violent, the measured pressure signal is level six, and the measured stroke signal is level two; when the second solenoid valve 534 connected to the first simulator 5354, the second simulator 5355 and the third simulator 5356 is opened, the pedal feel is bursting, the measured pressure signal is level seven, and the measured stroke signal is level one.

[0169] In this embodiment, at least one second solenoid valve 534 is controlled to open according to the measured stroke signal and the measured pressure signal; based on the opening of at least one second solenoid valve 534, at least one hydraulic simulator 535 is actuated, and the brake hydraulic pressure is output based on the hydraulic simulator 535. Through the actuation of at least one hydraulic simulator 535, it is possible to adjust the different pedal feelings of the brake pedal 1, thereby avoiding the abrupt feeling caused by the fixed damping adjustment when the conventional brake pedal 1 is adjusted, and the user experience is better. At the same time, according to the measured stroke signal and the measured pressure signal corresponding to different pedal feelings, the output brake hydraulic pressure can be intelligently controlled to achieve the effect of combining the intelligence of the brake pedal 1 and the experience.

[0170] In one embodiment, the hydraulic adjustment mechanism 5 includes a brake reservoir chamber 51, a hydraulic adjustment component 52, a first hydraulic circuit 531, a second hydraulic circuit 533 and a hydraulic simulator 535; the first end of the spring simulator 4 is connected to the brake reservoir chamber 51, the second end of the spring simulator 4 is connected to the first end of the hydraulic adjustment component 52 through the push rod 2, the second end of the hydraulic adjustment component 52 is connected to the brake reservoir chamber 51 through the first hydraulic circuit 531, and the first hydraulic circuit 531 is provided with a first solenoid valve 532; the first end of the second hydraulic circuit 533 is connected to the pipeline between the hydraulic adjustment component 52 and the first solenoid valve 532, and the second end of the second hydraulic circuit 533 is connected to the brake reservoir chamber 51; the first end of the hydraulic simulator 535 is connected to the second hydraulic circuit 533 through a hydraulic branch 536, and the hydraulic branch 536 is provided with a second solenoid valve 534; accordingly, Figure 6 , the brake pedal control method comprises:

[0171] S41: In response to the pedal feel adjustment instruction, the first solenoid valve 532 is controlled to be opened, and the second solenoid valve 534 is controlled to be closed;

[0172] S42: Obtaining a measured pressure signal corresponding to the brake pedal 1;

[0173] S43: Obtain a second duration during which the measured pressure signal is greater than the second pressure range. When the second duration is greater than a second preset duration, control the first solenoid valve 532 to close, control the second solenoid valve 534 to open, and control the hydraulic simulator 535 to output brake hydraulic pressure based on the measured pressure signal.

[0174] As an example, in step S41, the vehicle-mounted controller can receive a pedal feel adjustment instruction sent by the user through the human-computer interaction interface or a button, and according to the pedal feel adjustment instruction, control the first solenoid valve 532 to be opened, and control the second solenoid valve 534 to be in a closed state, so that the hydraulic control circuit 53 remains connected, preparing for the subsequent pedal feel adjustment, avoiding the immediate opening of the second solenoid valve 534 causing a hydraulic error in the hydraulic simulator 535, affecting the precise adjustment of the pedal feel, thereby achieving a high experience of pedal feel adjustment.

[0175] As an example, in step S42, the vehicle controller obtains the measured pressure signal output by the sensor at the current moment, so as to facilitate the subsequent determination of the pedal feel state to which the brake pedal 1 needs to be adjusted based on the measured pressure signal to determine whether emergency braking is required and output the brake hydraulic pressure.

[0176] The second preset time length refers to a preset time length used to evaluate whether the pedal feel adjustment operation can be completed, and can specifically be a time length value for detecting whether the measured pressure signal reaches the highest priority. For example, the second preset time length can be 50ms.

[0177] The second duration refers to a duration used to evaluate whether the pedal feel adjustment operation can be completed, and specifically may be a duration value during which the measured pressure signal lasts within the second pressure range.

[0178] As an example, in step S43, if the measured pressure signal transmitted by the sensor to the vehicle controller at the current moment is greater than the second pressure range, and the second duration in this state is greater than the second preset duration, the vehicle controller determines that the user needs to initiate emergency braking at this time, and therefore takes the measured pressure signal as the highest priority, thereby giving priority to the measured pressure signal to determine the brake hydraulic pressure and brake torque that need to be output in an emergency braking situation. At the same time, since the measured pressure signal is more intuitive than the measured stroke signal, when controlling the brake headlights, the measured pressure signal is given priority as the judgment signal, and the measured stroke signal is used as a backup.

[0179] For example, when the on-board controller recognizes that the current pressure value of the pedal pad 13 transmitted by the measured pressure signal is greater than 230N and the duration is greater than 50mm, the on-board controller determines that the user needs emergency braking at this time, and therefore uses the measured pressure signal as the highest priority to determine the brake hydraulic pressure or brake torque that needs to be output during emergency braking.

[0180] In this example, in response to the pedal feel adjustment instruction, the first solenoid valve 532 is controlled to open, and the second solenoid valve 534 is controlled to close; then, the measured pressure signal corresponding to the brake pedal 1 is obtained; the measured pressure signal is obtained to be greater than the second duration of the second pressure range, and when the second duration is greater than the second preset duration, the first solenoid valve 532 is controlled to close, and the second solenoid valve 534 is controlled to open, and the hydraulic simulator 535 is controlled to output the brake hydraulic pressure based on the measured pressure signal. By judging the value of the measured pressure signal and the duration, it is determined whether emergency braking is only required according to the measured pressure signal. The brake hydraulic pressure or brake torque is output to achieve more agile and accurate pedal feel adjustment and braking, and ensure the safety of passengers.

[0181] In one embodiment, if Figure 7 As shown, the second hydraulic circuit 533 is provided with an exhaust valve 6, and the brake pedal 1 control method further includes:

[0182] S51: In response to the exhaust preparation signal, the first solenoid valve 532 and at least one second solenoid valve 534 are controlled to open, the push rod motor 3 is controlled to rotate once in the first direction and once in the second direction, and an exhaust release signal is received;

[0183] S52: In response to the exhaust release signal, the exhaust valve 6 is controlled to open to exhaust gas.

[0184] As an example, in step S51, the on-board controller receives an exhaust signal, and controls the first solenoid valve 532 and at least one second solenoid valve 534 to open, and then controls the push rod motor 3 to rotate once in the first direction and once in the second direction, and one rotation to the left and one rotation to the right constitute a cycle. Opening the solenoid valve and rotating the push rod motor 3 ensures that the gas in the hydraulic control circuit 53 can be effectively gathered, which is convenient for subsequent exhaust. Only after the push rod motor 3 completes the rotation, the on-board controller will receive the exhaust release signal to ensure that all the gas in the hydraulic control circuit 53 is discharged.

[0185] As an example, in step S52, after the on-board controller receives the exhaust release signal, it controls the exhaust valve 6 to open to discharge the gas. Only when the exhaust release signal is generated, the exhaust valve 6 can discharge the gas to ensure the stability when hydraulic adjustment is required later.

[0186] In this embodiment, by responding to the exhaust preparation signal, the opening and closing of the first solenoid valve 532 and the second solenoid valve 534 are controlled, and then the push rod motor 3 is controlled to rotate. After the rotation cycle is completed, the exhaust release signal is responded to to discharge the gas through the exhaust valve 6, thereby ensuring the stability of the hydraulic pressure in the hydraulic control circuit 53, and also facilitating the subsequent adjustment of the position and pedal feel of the brake pedal 1 through hydraulic pressure.

[0187] In one embodiment, if Figure 8 As shown, in step S51, after controlling the first solenoid valve 532 and at least one second solenoid valve 534 to open and controlling the push rod motor 3 to rotate once in the first direction and once in the second direction, the brake pedal 1 control method further includes:

[0188] S61: Update the current exhaust times;

[0189] S62: If the current exhaust times are less than the preset times, after a third preset time, repeatedly control the first solenoid valve 532 and at least one second solenoid valve 534 to open, control the push rod motor 3 to rotate in the first direction and the second direction once, and receive the exhaust release signal;

[0190] S63: If the current exhaust times are not less than the preset times, in response to the exhaust release signal, the exhaust valve 6 is controlled to open to exhaust gas and inject brake fluid into the second hydraulic circuit 533 .

[0191] As an example, in step S61, each time the gas is discharged, the vehicle controller needs to update the current number of exhaust times, which can avoid insufficient exhaust and excessive exhaust times that lead to waste of resources.

[0192] The third preset duration refers to a pre-set duration, which is the duration used for each exhaust interval.

[0193] The preset number of times refers to the number of times set in advance, which is the number of times used to detect whether the exhaust times meet the standards.

[0194] As an example, in step S62, if the on-board controller recognizes that the exhaust times of the current exhaust valve 6 are less than the preset times, then after the third preset time, the exhaust operation will continue to be controlled. In this example, the exhaust times are at least two, ensuring that all the gas in the hydraulic control circuit 53 can be released, and at the same time, each exhaust preparation signal needs to be separated by the third preset time, ensuring that each exhaust can gather a certain amount of gas. In this example, each exhaust preparation signal is separated by 5S, and the exhaust operation ends after 10 exhausts are repeated, ensuring that all the gas in the hydraulic control circuit 53 is released.

[0195] As an example, in step S63, if the on-board controller recognizes that the current exhaust number of the exhaust valve 6 is not less than the preset number, the on-board controller responds to the exhaust release signal, controls the exhaust valve 6 to open and exhaust the gas, and then injects brake fluid into the second hydraulic circuit 533, so as to facilitate the subsequent use of hydraulic pressure to adjust the position and pedal feel of the brake pedal 1.

[0196] In this embodiment, the current exhaust times are updated; if the current exhaust times are less than the preset times, then after the third preset time, the first solenoid valve 532 and at least one second solenoid valve 534 are repeatedly controlled to open, and the push rod motor 3 is controlled to rotate in the first direction and the second direction once each, and the exhaust release signal is received; if the current exhaust times are not less than the preset times, in response to the exhaust release signal, the exhaust valve 6 is controlled to open to exhaust gas and inject brake fluid into the second hydraulic circuit 533. According to the exhaust times, it is determined whether the gas in the hydraulic control circuit 53 is completely exhausted, and it can also ensure that no bubbles will appear when adding brake fluid to affect the effect of subsequent hydraulic regulation.

[0197] In one embodiment, a vehicle-mounted controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any of the above-mentioned brake pedal control methods is implemented. To avoid repetition, they are not described here.

[0198] In one embodiment, a brake pedal 1 control system includes the brake pedal assembly, stroke sensor 7, pressure sensor 8 and vehicle-mounted controller in the above embodiment; the first end of the stroke sensor 7 is connected to the brake fluid storage chamber 51, and the second end of the stroke sensor 7 is connected to the second end of the push rod piston 41, for collecting a measured stroke signal; the pressure sensor 8 is connected to the brake pedal 1, for collecting a measured pressure signal; the vehicle-mounted controller is connected to the stroke sensor 7, the pressure sensor 8, the push rod motor 3 and the hydraulic control circuit 53, for controlling the operation of the hydraulic adjustment mechanism 5 and / or the push rod motor 3 according to the measured stroke signal and / or the measured pressure signal.

[0199] As an example, the first end of the stroke sensor 7 is fixedly connected to the brake fluid storage chamber 51, and the second end of the stroke sensor 7 is fixedly connected to the second end of the push rod piston 41, so that when the push rod piston 41 moves, the stroke sensor 7 can collect the actual stroke signal according to the changed distance of the push rod piston 41, and send it to the vehicle-mounted controller.

[0200] As an example, the pressure sensor 8 is fixedly connected to the pedal pad 13 and is used to collect the pedal force of the user stepping on the pedal pad 13, that is, the measured pressure signal.

[0201] As an example, the vehicle-mounted controller is connected to the stroke sensor 7, the pressure sensor 8, the push rod motor 3 and the hydraulic control circuit 53, and is used to control the opening and closing or actuation of components in the push rod motor 3 and the hydraulic adjustment mechanism 5 according to the measured pressure signal detected by the pressure sensor 8 and the measured stroke signal detected by the stroke sensor 7.

[0202] In this embodiment, the first end of the stroke sensor 7 is connected to the brake fluid storage chamber 51, and the second end of the stroke sensor 7 is connected to the second end of the push rod piston 41, for collecting the measured stroke signal; the pressure sensor 8 is connected to the brake pedal 1, for collecting the measured pressure signal; the vehicle-mounted controller is connected to the stroke sensor 7, the pressure sensor 8, the push rod motor 3 and the hydraulic control circuit 53, for controlling the push rod motor 3 and the hydraulic adjustment mechanism 5 to work according to the measured stroke signal and / or the measured pressure signal. The vehicle-mounted controller controls the push rod motor 3 and the hydraulic adjustment mechanism 5 to work through the signals collected in real time by the pressure sensor 8 and the stroke sensor 7, so as to realize the intelligent operation of adjusting the position and pedal feel of the brake pedal 1.

[0203] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0204] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0205] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A brake pedal assembly, characterized in that: Includes brake pedal, push rod, push rod motor, spring simulator and hydraulic adjustment mechanism; The first end of the spring simulator is connected to the first end of the hydraulic adjustment mechanism, and the second end of the spring simulator is connected to the second end of the hydraulic adjustment mechanism through the push rod; The push rod motor is arranged on the push rod, and the push rod is connected with the brake pedal.

2. The brake pedal assembly according to claim 1, characterized in that: The hydraulic adjustment mechanism includes a brake fluid storage chamber, a hydraulic adjustment component and a hydraulic control circuit; The first end of the spring simulator is connected to the brake reservoir chamber, the second end of the spring simulator is connected to the first end of the hydraulic adjustment component through the push rod, and the second end of the hydraulic adjustment component is connected to the brake reservoir chamber through the hydraulic control circuit.

3. The brake pedal assembly according to claim 2, characterized in that: The spring simulator includes a push rod piston and a return spring; The first end of the push rod piston is connected to the brake fluid storage chamber, and the second end of the push rod piston is connected to the hydraulic adjustment assembly through the push rod; The return spring is sleeved outside the push rod piston, the first end of the return spring is connected to the first end of the push rod piston, and the second end of the return spring is connected to the second end of the push rod piston.

4. The brake pedal assembly according to claim 2, characterized in that: The hydraulic adjustment assembly includes a first piston and a first spring; The first end of the first piston is connected to the push rod through the first spring, and the second end of the first piston is connected to the brake fluid storage chamber through the hydraulic control circuit.

5. The brake pedal assembly according to claim 2, characterized in that: The hydraulic control circuit includes a first hydraulic circuit and a first solenoid valve; The first end of the first hydraulic circuit is connected to the hydraulic adjustment component, the second end of the first hydraulic circuit is connected to the brake fluid storage chamber, and the first solenoid valve is provided on the first hydraulic circuit.

6. The brake pedal assembly according to claim 5, characterized in that: The hydraulic control circuit also includes a second hydraulic circuit, a second solenoid valve and a hydraulic simulator; The first end of the second hydraulic circuit is connected to the pipeline between the hydraulic adjustment component and the first solenoid valve, and the second end of the second hydraulic circuit is connected to the brake reservoir; The first end of the hydraulic simulator is connected to the second hydraulic circuit through a hydraulic branch line, and the second solenoid valve is provided on the hydraulic branch line.

7. The brake pedal assembly according to claim 6, characterized in that: The hydraulic simulator comprises a simulator cylinder, a second piston and a second return spring; The second piston and the second return spring are arranged in the simulator cylinder, the first end of the second piston is connected to the second return spring, and the second end of the second piston is connected to the second hydraulic circuit through a hydraulic branch.

8. The brake pedal assembly according to claim 6, characterized in that: The brake pedal assembly includes at least two hydraulic simulators, and the cylinder diameters of the simulator cylinders in at least two of the hydraulic simulators are different.

9. The brake pedal assembly according to claim 6, characterized in that: The hydraulic simulator includes a first simulator, a second simulator and a third simulator, and the cylinder diameters of the simulator cylinder in the first simulator, the cylinder diameters of the simulator cylinder in the second simulator and the cylinder diameters of the simulator cylinder in the third simulator increase in sequence.

10. The brake pedal assembly according to claim 6, characterized in that: The second hydraulic circuit is provided with an exhaust valve.

11. A brake pedal control method, applied to the brake pedal assembly provided in any one of claims 1 to 10, characterized in that: include: In response to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a first control operation; Obtaining measured sensing signals; When the measured sensing signal meets the preset condition corresponding to the target control instruction, the hydraulic adjustment mechanism and / or the push rod motor is controlled to perform a second control operation.

12. The brake pedal control method according to claim 11, characterized in that: The hydraulic adjustment mechanism comprises a brake fluid storage chamber, a hydraulic adjustment component and a first hydraulic circuit, the first end of the spring simulator is connected to the brake fluid storage chamber, the second end of the spring simulator is connected to the first end of the hydraulic adjustment component through the push rod, the second end of the hydraulic adjustment component is connected to the brake fluid storage chamber through the first hydraulic circuit, and the first solenoid valve is provided on the first hydraulic circuit; The push rod motor is arranged on the push rod, and the push rod is connected to the brake pedal; In response to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a first control operation includes: In response to the position reset instruction, the first solenoid valve is controlled to open, and the push rod motor is controlled to rotate in a first direction, so as to drive the push rod to move toward the direction of the hydraulic adjustment assembly; The obtaining of the measured sensing signal comprises: Obtaining a measured stroke signal corresponding to the push rod; When the measured sensing signal meets the preset condition corresponding to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a second control operation includes: When the measured stroke signal is a maximum stroke signal, the first electromagnetic valve is controlled to be closed, and the push rod motor is controlled to rotate, so that the push rod stops moving.

13. The brake pedal control method according to claim 11, characterized in that: The hydraulic adjustment mechanism comprises a brake fluid storage chamber, a hydraulic adjustment component and a first hydraulic circuit, the first end of the spring simulator is connected to the brake fluid storage chamber, the second end of the spring simulator is connected to the first end of the hydraulic adjustment component through the push rod, the second end of the hydraulic adjustment component is connected to the brake fluid storage chamber through the first hydraulic circuit, and the first solenoid valve is provided on the first hydraulic circuit; The push rod motor is arranged on the push rod, and the push rod is connected to the brake pedal; In response to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a first control operation includes: In response to the position adjustment instruction, the first solenoid valve is controlled to open, and based on the pedal force acting on the brake pedal, the push rod is driven to move toward the brake fluid reservoir, and the push rod motor is controlled to rotate in a second direction; The obtaining of the measured sensing signal comprises: Acquiring a measured stroke signal corresponding to the push rod and a measured pressure signal corresponding to the brake pedal; When the measured sensing signal meets the preset condition corresponding to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a second control operation includes: The first duration of the measured stroke signal within the first stroke range and the measured pressure signal within the first pressure range is obtained, and when the first duration is greater than a first preset duration, the first solenoid valve is controlled to close, and the push rod motor is controlled to rotate.

14. The brake pedal control method according to claim 11, characterized in that: The hydraulic adjustment mechanism includes a brake reservoir, a hydraulic adjustment component, a first hydraulic circuit, a second hydraulic circuit and a hydraulic simulator; the first end of the spring simulator is connected to the brake reservoir, the second end of the spring simulator is connected to the first end of the hydraulic adjustment component through the push rod, the second end of the hydraulic adjustment component is connected to the brake reservoir through the first hydraulic circuit, the first hydraulic circuit is provided with the first electromagnetic; the push rod is provided with the push rod motor, and the push rod is connected to the brake pedal; the first end of the second hydraulic circuit is connected to the pipeline between the hydraulic adjustment component and the first electromagnetic valve, and the second end of the second hydraulic circuit is connected to the brake reservoir; the first end of the hydraulic simulator is connected to the second hydraulic circuit through a hydraulic branch, and the second electromagnetic valve is provided on the hydraulic branch; In response to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a first control operation includes: In response to the pedal feel adjustment instruction, controlling the first solenoid valve to open and controlling the second solenoid valve to close; The obtaining of the measured sensing signal comprises: Acquiring a measured stroke signal corresponding to the push rod and a measured pressure signal corresponding to the brake pedal; When the measured sensing signal meets the preset condition corresponding to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a second control operation includes: When the measured stroke signal is not greater than the maximum stroke signal and the measured pressure signal is not greater than a second pressure range, the first solenoid valve is controlled to be closed, the second solenoid valve is controlled to be opened, and the hydraulic simulator outputs the brake hydraulic pressure.

15. The brake pedal control method according to claim 14, characterized in that: The brake pedal assembly includes at least two hydraulic simulators, and the cylinder diameters of the simulator cylinders in at least two of the hydraulic simulators are different; When the measured stroke signal is not greater than the maximum stroke signal and the measured pressure signal is not greater than a second pressure range, controlling the first solenoid valve to close and the second solenoid valve to open, and the hydraulic simulator to output the brake hydraulic pressure, comprises: When the measured stroke signal is not greater than the maximum stroke signal and the measured pressure signal is not greater than the second pressure range, the first solenoid valve is controlled to be closed, and at least one of the second solenoid valves is controlled to be opened, so that at least one of the hydraulic simulators in the open state is actuated to output the brake hydraulic pressure based on the hydraulic simulator.

16. The brake pedal control method according to claim 14, characterized in that: The hydraulic adjustment mechanism comprises a brake fluid storage chamber, a hydraulic adjustment component, a first hydraulic circuit, a second hydraulic circuit and a hydraulic simulator; the first end of the spring simulator is connected to the brake fluid storage chamber, the second end of the spring simulator is connected to the first end of the hydraulic adjustment component through the push rod, the second end of the hydraulic adjustment component is connected to the brake fluid storage chamber through the first hydraulic circuit, and the first solenoid valve is provided on the first hydraulic circuit; The push rod is provided with the push rod motor, and the push rod is connected to the brake pedal; the first end of the second hydraulic circuit is connected to the pipeline between the hydraulic adjustment component and the first solenoid valve, and the second end of the second hydraulic circuit is connected to the brake reservoir; the first end of the hydraulic simulator is connected to the second hydraulic circuit through a hydraulic branch, and the second solenoid valve is provided on the hydraulic branch; In response to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a first control operation includes: In response to the pedal feel adjustment instruction, controlling the first solenoid valve to open and controlling the second solenoid valve to close; The obtaining of the measured sensing signal comprises: Acquiring a measured pressure signal corresponding to the brake pedal; When the measured sensing signal meets the preset condition corresponding to the target control instruction, controlling the hydraulic adjustment mechanism and / or the push rod motor to perform a second control operation includes: The second duration of the measured pressure signal being greater than the second pressure range is obtained. When the second duration is greater than a second preset duration, the first solenoid valve is controlled to close and the second solenoid valve is controlled to open. Based on the measured pressure signal, the hydraulic simulator is controlled to output brake hydraulic pressure.

17. The brake pedal control method according to claim 13, characterized in that: The second hydraulic circuit is provided with an exhaust valve; The brake pedal control method further includes: In response to an exhaust preparation signal, the first solenoid valve and at least one of the second solenoid valves are controlled to open, the push rod motor is controlled to rotate once in a first direction and once in a second direction, and an exhaust release signal is received; In response to the exhaust release signal, the exhaust valve is controlled to open to exhaust gas.

18. The brake pedal control method according to claim 17, characterized in that: After controlling the first solenoid valve and at least one of the second solenoid valves to open and controlling the push rod motor to rotate once in the first direction and once in the second direction, the brake pedal control method further includes: Update the current exhaust times; If the current exhaust times are less than the preset times, after a third preset time, repeatedly controlling the first solenoid valve and at least one of the second solenoid valves to open, controlling the push rod motor to rotate in the first direction and the second direction once, and receiving an exhaust release signal; If the current exhaust number is not less than the preset number, the step of controlling the exhaust valve to open and exhaust gas in response to the exhaust release signal is executed.

19. A vehicle-mounted controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the brake pedal control method according to any one of claims 10-18 is implemented.

20. A brake pedal control system, characterized in that: The invention comprises the brake pedal assembly according to any one of claims 1 to 10, a travel sensor, a pressure sensor and the vehicle-mounted controller according to claim 19; The first end of the stroke sensor is connected to the brake fluid storage chamber, and the second end of the stroke sensor is connected to the second end of the push rod piston, for collecting the measured stroke signal; The pressure sensor is connected to the brake pedal and is used to collect the measured pressure signal; The vehicle-mounted controller is connected to the stroke sensor, the pressure sensor, the push rod motor and the hydraulic adjustment mechanism, and is used to control the operation of the hydraulic adjustment mechanism and / or the push rod motor according to the measured stroke signal and / or the measured pressure signal.

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