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

Abstract

The invention discloses a brake pedal assembly, a control method, a vehicle-mounted controller, a control system and an automobile. The brake pedal assembly mainly comprises a brake pedal, an electromagnetic damper and an electromagnetic control module, the electromagnetic damper is provided with a fixed end and a movable end, the fixed end is connected with a vehicle body assembly, the movable end is connected with the brake pedal through a push rod and used for providing damping force for the brake pedal, and the electromagnetic control module is connected with the electromagnetic damper. The control module is used for controlling the electromagnetic control module to work and adjusting the damping force provided by the electromagnetic damper to the brake pedal. According to the brake pedal assembly, the electromagnetic control module adjusts the damping force applied to the brake pedal by the electromagnetic damper in real time, the buffering effect can be achieved while the braking process is guaranteed, and springback sound and vibration of the brake pedal are effectively eliminated.

Description

Technical Field

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

[0002] With the continuous development of the degree of electrical automation of automobiles, people's demand for the intelligence and personalization of automobiles is getting higher and higher. In the automobile braking system, the actuator of the pedal is gradually transformed from the traditional vacuum booster to the electronic booster. Most electronic boosters adopt a decoupled system, that is, the input part of the pedal actuator is independent of the actual pressure-building braking part, and the two are interconnected through software to adjust the braking stroke. In order to optimize the user experience of the braking system, a pedal simulator is also set at the pedal actuator to simulate the pedaling feeling of the driver, so that the driver can judge the relationship between the pedaling force and the degree of braking.

[0003] Existing pedal simulators generally use spring simulators to provide rebound force to simulate the pedaling feeling of the braking process feedback. The spring simulator includes one or several groups of springs (helical springs / torsion springs / disc springs), which provide rebound force for the brake pedal so that it can fit the driver's foot. However, in the process of driving the brake pedal to reset, the spring is prone to rebound too fast, causing the pedal to produce large impact vibration and noise. In addition, after the spring in the spring simulator is assembled, its pedal stroke and the rebound force provided by the spring will form a fixed functional relationship. At this time, if you want to adjust the pedaling feeling of the brake pedal, you can only do it by replacing the internal mechanical parts, which is complicated and time-consuming. Summary of the invention

[0004] The present invention provides a brake pedal assembly, a control method, a vehicle-mounted controller, a control system and a vehicle, so as to solve the problem that the existing pedal simulator has complicated operation and is time-consuming when adjusting the pedal feel.

[0005] A brake pedal assembly provided by the present invention comprises a brake pedal, an electromagnetic damper and an electromagnetic control module;

[0006] The electromagnetic damper comprises a fixed end and a movable end, wherein the fixed end is connected to the vehicle body assembly, and the movable end is connected to the brake pedal via a push rod, and is used to provide a damping force to the brake pedal;

[0007] The electromagnetic control module is connected to the electromagnetic damper and is used to adjust the damping force provided by the electromagnetic damper to the brake pedal.

[0008] Preferably, the electromagnetic damper comprises a hydraulic cylinder and a piston assembly, either one of the hydraulic cylinder and the piston assembly is a fixed end of the electromagnetic damper, and the other is a movable end of the electromagnetic damper;

[0009] The hydraulic cylinder is filled with hydraulic fluid;

[0010] The piston assembly seal guide is assembled in the hydraulic cylinder to separate the inner cavity of the hydraulic cylinder into a first chamber and a second chamber;

[0011] The piston assembly and / or the hydraulic cylinder is provided with a throttling channel, and the throttling channel is connected with the first chamber and the second chamber.

[0012] Preferably, the hydraulic fluid in the hydraulic cylinder is mixed with magnetic particles;

[0013] The electromagnetic control module includes a current control unit and an electromagnetic element, and the electromagnetic element is arranged opposite to the throttling channel;

[0014] The current control unit is connected to the electromagnetic element and is used to adjust the current flowing through the electromagnetic element to change the arrangement of the magnetic particles in the throttling channel.

[0015] Preferably, the electromagnetic element comprises an electromagnetic coil 321, and the electromagnetic coil 321 is wound on the throttling channel.

[0016] Preferably, the piston assembly comprises a piston rod and a valve body;

[0017] The valve body is installed at one end of the piston rod, and the valve body cooperates with the inner wall of the hydraulic cylinder in a sealing guide to separate the inner cavity of the hydraulic cylinder into the first chamber and the second chamber;

[0018] The throttling channel and the electromagnetic element are both arranged on the valve body, and the current control unit is arranged on the piston rod.

[0019] Preferably, a solenoid valve is provided in the throttling channel, and the solenoid valve can control the opening and closing of the throttling channel.

[0020] Preferably, the brake pedal assembly further includes a return component, two ends of which are respectively connected to the fixed end and the movable end of the electromagnetic damper, and the return component is used to drive the brake pedal to reset.

[0021] Preferably, the return assembly comprises a return spring, and the return spring is arranged in the second chamber, and two ends of the return spring are respectively connected to the hydraulic cylinder and the piston assembly.

[0022] A brake pedal control method provided by the present invention is used for the above-mentioned brake pedal assembly, comprising:

[0023] Acquiring braking action data of the brake pedal;

[0024] According to the braking action data, the electromagnetic control module is controlled to operate and the damping force provided by the electromagnetic damper to the brake pedal is adjusted.

[0025] Preferably, the obtaining of the braking action data of the brake pedal comprises:

[0026] Obtaining the measured displacement and measured pedal force of the brake pedal;

[0027] The target displacement and target pedaling force of the brake pedal are determined according to the measured displacement and the measured pedaling force.

[0028] The step of controlling the electromagnetic control module to operate according to the braking action data and adjusting the damping force provided by the electromagnetic damper to the brake pedal comprises:

[0029] According to the target displacement and the target pedaling force, the electromagnetic control module is controlled to operate, and the damping force provided by the electromagnetic damper to the brake pedal is adjusted.

[0030] Preferably, determining the target displacement and target pedaling force of the brake pedal according to the measured displacement and the measured pedaling force comprises:

[0031] The measured displacement and the measured pedaling force are subjected to redundant processing to determine a target displacement and a target pedaling force of the brake pedal.

[0032] Preferably, performing redundant processing on the measured displacement and the measured pedaling force to determine the target displacement and the target pedaling force of the brake pedal comprises:

[0033] Performing validity judgment and signal conversion processing on the measured displacement to obtain a displacement judgment result and an estimated pedaling force corresponding to the measured displacement;

[0034] Performing validity judgment and signal conversion processing on the measured pedaling force to obtain a pedaling force judgment result and an estimated displacement corresponding to the measured pedaling force;

[0035] Determining the target displacement according to the displacement judgment result, the measured displacement and the estimated displacement;

[0036] The target pedaling force is determined according to the pedaling force judgment result, the measured pedaling force and the estimated pedaling force.

[0037] Preferably, determining the target displacement according to the displacement judgment result, the measured displacement and the estimated displacement includes:

[0038] If the displacement judgment result is that the measured displacement is valid, the measured displacement is determined as the target displacement; if the displacement judgment result is that the measured displacement is invalid, the estimated displacement is determined as the target displacement.

[0039] The step of determining the target pedaling force according to the pedaling force judgment result, the measured pedaling force and the estimated pedaling force comprises:

[0040] If the pedaling force judgment result is that the measured pedaling force is valid, the measured pedaling force is determined as the target pedaling force; if the pedaling force judgment result is that the measured pedaling force is invalid, the estimated pedaling force is determined as the target pedaling force.

[0041] Preferably, controlling the electromagnetic control module to operate and adjusting the damping force provided by the electromagnetic damper to the brake pedal according to the braking action data comprises:

[0042] determining a target braking mode of the brake pedal according to the braking action data;

[0043] Obtaining a damping control parameter corresponding to the target braking mode;

[0044] According to the braking action data and the damping control parameters corresponding to the target braking mode, the electromagnetic control module is controlled to operate and the damping force provided by the electromagnetic damper to the brake pedal is adjusted.

[0045] Preferably, determining the target braking mode of the brake pedal according to the braking action data includes:

[0046] If the target displacement is greater than the first preset displacement, determining that the target braking mode of the brake pedal is the first braking mode;

[0047] The obtaining of the damping control parameter corresponding to the target braking mode includes:

[0048] Obtaining a first preset pressure, a first preset duration, and a first displacement threshold corresponding to the first braking mode;

[0049] The controlling the electromagnetic control module to operate and adjusting the damping force provided by the electromagnetic damper to the brake pedal according to the braking action data and the damping control parameter corresponding to the target braking mode comprises:

[0050] If the first duration that the target pedaling force is less than the first preset pressure is greater than the first preset duration, and the target displacement is within the first displacement threshold, the electromagnetic control module is controlled to operate to increase the damping force provided by the electromagnetic damper to the brake pedal;

[0051] Wherein, the first preset displacement is greater than an upper limit value of the first displacement threshold.

[0052] Preferably, the braking action data includes measured acceleration;

[0053] Determining the target braking mode of the brake pedal according to the braking action data includes:

[0054] If the target pedaling force is greater than a second preset pressure, the target displacement is within a second displacement threshold, and the second duration for which the measured acceleration is greater than the first preset acceleration is greater than the second preset duration, then determining that the target braking mode of the brake pedal is the second braking mode;

[0055] The obtaining of the damping control parameter corresponding to the target braking mode includes:

[0056] Obtaining a preset growth rate and a second preset acceleration corresponding to the second braking mode;

[0057] The controlling the electromagnetic control module to operate and adjusting the damping force provided by the electromagnetic damper to the brake pedal according to the braking action data and the damping control parameter corresponding to the target braking mode comprises:

[0058] Based on a preset growth rate, controlling the electromagnetic control module to work, increasing the damping force provided by the electromagnetic damper to the brake pedal until the measured acceleration is less than the second preset acceleration;

[0059] Wherein, the second preset acceleration is smaller than the first preset acceleration.

[0060] The present invention provides a vehicle-mounted controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned brake pedal control method when executing the computer program.

[0061] A brake pedal control system provided by the present invention comprises a pressure detection component, a displacement detection component, the above-mentioned brake pedal assembly and the above-mentioned vehicle-mounted controller;

[0062] The displacement detection component is arranged on the push rod or the brake pedal and is used to obtain the measured displacement of the brake pedal;

[0063] The pressure detection component is arranged on the brake pedal and is used to obtain the measured pedaling force of the brake pedal;

[0064] The vehicle-mounted controller is connected to the electromagnetic damper, the pressure detection component and the displacement detection component, and is used to control the operation of the electromagnetic control module and adjust the damping force provided by the electromagnetic damper to the brake pedal according to the braking action data of the brake pedal.

[0065] Preferably, the brake pedal control system further includes:

[0066] An acceleration detection component, arranged on the mobile end of the electromagnetic damper, for collecting the measured acceleration of the mobile end;

[0067] The vehicle-mounted controller is connected to the acceleration detection component and is used to control the operation of the electromagnetic control module and adjust the damping force provided by the electromagnetic damper to the brake pedal according to the measured acceleration.

[0068] The present invention provides a car, comprising the above-mentioned brake pedal control system and a vehicle body assembly, wherein the brake pedal is mounted on the vehicle body assembly, and the fixed end of the electromagnetic damper is connected to the vehicle body assembly.

[0069] The beneficial effects of the above-mentioned brake pedal assembly, control method, vehicle-mounted controller, control system and automobile provided by the present invention are: an electromagnetic damper is used to apply damping force to the brake pedal, and an electromagnetic control module is provided to judge the actual braking situation according to action data such as the displacement, pedaling force and measured acceleration of the brake pedal, and the electromagnetic damper is controlled in real time to quickly and flexibly adjust the damping force, thereby effectively absorbing and offsetting the impact, vibration and noise of the brake pedal.

[0070] In addition, the driver can use the on-board controller to pre-set and adjust the damping force of the electromagnetic damper, and adjust the brake pedal feel by changing the mode judgment conditions and damping control parameters to improve the fit between the brake pedal and the driver's driving habits and meet the personalized needs of different drivers for the brake pedal feel. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] 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.

[0072] Figure 1 Schematic diagram of a brake pedal assembly in an embodiment of the present invention.

[0073] Figure 2 for Figure 1 A structural schematic diagram of the electromagnetic damper and the electromagnetic control module;

[0074] Figure 3 is a flow chart of a brake pedal control method in one embodiment of the present invention;

[0075] Figure 4 is another flow chart of a brake pedal control method in one embodiment of the present invention;

[0076] Figure 5 is another flow chart of a brake pedal control method in one embodiment of the present invention;

[0077] Figure 6 is another flow chart of a brake pedal control method in one embodiment of the present invention;

[0078] Figure 7 is another flow chart of a brake pedal control method in one embodiment of the present invention;

[0079] Figure 8 is another flow chart of a brake pedal control method in one embodiment of the present invention;

[0080] Fig. 9 for Figure 7 A flow chart of a specific implementation of the brake pedal control method;

[0081] Fig.10 for Figure 8 A flow chart of a specific implementation of the brake pedal control method in FIG.

[0082] Among them: 1. brake pedal; 11. pedal base; 12. pedal shaft; 13. pedal swing arm; 14. pedal pad; 2. electromagnetic damper; 21. hydraulic cylinder; 211. first chamber; 212. second chamber; 213. throttling channel; 22. piston assembly; 221. piston rod; 222. valve body; 3. electromagnetic control module; 31. current control unit; 32. electromagnetic element; 321. electromagnetic coil; 33. solenoid valve; 4. push rod; 5. return assembly; 51. return spring; 6. acceleration detection assembly; 7. pressure detection assembly; 8. displacement detection assembly. DETAILED DESCRIPTION

[0083] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0084] An embodiment of the present invention provides a brake pedal assembly, referring to Figure 1 and Figure 2 As shown, the brake pedal assembly includes a brake pedal 1, an electromagnetic damper 2 and an electromagnetic control module 3. The electromagnetic damper 2 has a fixed end and a movable end. The fixed end is used to be connected to the vehicle body assembly, and the movable end is connected to the brake pedal 1 through a push rod 4 to provide a damping force to the brake pedal 1; the electromagnetic control module 3 is connected to the electromagnetic damper 2 to adjust the damping force provided by the electromagnetic damper 2 to the brake pedal 1.

[0085] As an example, refer to Figure 1 As shown, the brake pedal 1 includes a pedal base 11, a pedal shaft 12, a pedal swing arm 13 and a pedal pad 14. One end of the pedal swing arm 13 is hinged on the pedal base 11 through the pedal shaft 12. The pedal pad 14 is arranged at the end of the pedal swing arm 13 away from the pedal shaft 12. The push rod 4 is fixedly connected to the pedal swing arm 13. The position where the push rod 4 and the pedal swing arm 13 are fixedly connected is between the pedal shaft 12 and the pedal pad 14. When the driver applies a pedal force to the pedal pad 14, the pedal swing arm 13 can push the electromagnetic damper 2 through the push rod 4, and the electromagnetic damper 2 applies a damping force in the opposite direction to the push rod 4 to ensure the driver's pedaling feeling.

[0086] Among them, the electromagnetic damper 2 refers to a damper that can control the magnetic field by controlling the current, thereby adjusting the damping force, including but not limited to a damper that uses the attraction or repulsion of an electromagnet to provide the damping force, or a damper that uses a hydraulic fluid containing magnetic particles as the damping medium, etc.

[0087] As an example, in the process of the brake pedal 1 driving the push rod 4 to move, the electromagnetic damper 2 provides a damping force for the brake pedal 1 through the push rod 4, so that the driver can obtain the corresponding resistance feedback feeling (stepping feeling) when stepping on the brake pedal 1, which is convenient for the driver to control the stepping force and stepping depth according to the stepping feeling, and ensure the use experience and braking safety. In addition, the damping force provided by the electromagnetic damper 2 can provide effective buffering when the brake pedal 1 is reset and rebounded, eliminating the rebound sound and impact vibration of the brake pedal 1. The electromagnetic control module 3 is used to control the operation of the electromagnetic damper 2, and adjust the damping force provided by the electromagnetic damper 2 to the brake pedal 1, so as to facilitate the adjustment of parameters such as the damping force and stroke relationship of the electromagnetic damper 2, so that the stepping feeling provided by the electromagnetic damper 2 is more in line with the driving habits of the driver and meets the personalized driving needs of the driver.

[0088] In one embodiment, the electromagnetic damper 2 includes a hydraulic cylinder 21 and a piston assembly 22, either one of the hydraulic cylinder 21 and the piston assembly 22 is a fixed end of the electromagnetic damper 2, and the other is a movable end of the electromagnetic damper 2; the hydraulic cylinder 21 is filled with hydraulic fluid, and the piston assembly 22 is sealingly guided and assembled in the hydraulic cylinder 21 to separate the inner cavity of the hydraulic cylinder 21 into a first chamber 211 and a second chamber 212; a throttling channel 213 is provided on the piston assembly 22 and / or the hydraulic cylinder 21, and the throttling channel 213 connects the first chamber 211 and the second chamber 212.

[0089] As an example, any one of the hydraulic cylinder 21 and the piston assembly 22 is used as the fixed end of the electromagnetic damper 2, and the other is used as the movable end. The movable end is connected to the brake pedal 1 through the push rod 4, thereby providing a damping force for the brake pedal 1. During the movement of the brake pedal 1, driven by the push rod 4, the piston assembly 22 of the electromagnetic damper 2 and the hydraulic cylinder 21 are guided relative to each other, so that the hydraulic fluid in the hydraulic cylinder 21 flows between the first chamber 211 and the second chamber 212 through the throttling channel 213, providing a stable damping force for the brake pedal 1, thereby simulating a corresponding stepping feeling on the brake pedal 1. At the same time, the damping force provided by the hydraulic fluid filled in the hydraulic cylinder 21 can also absorb the impact energy generated when the brake pedal 1 rebounds, eliminate the vibration and rebound sound of the brake pedal 1, and ensure the stability of the brake pedal 1.

[0090] In one embodiment, magnetic particles are mixed in the hydraulic fluid in the hydraulic cylinder 21; the electromagnetic control module 3 includes a current control unit 31 and an electromagnetic element 32, and the electromagnetic element 32 is arranged opposite to the throttling channel 213; the current control unit 31 is connected to the electromagnetic element 32, and is used to adjust the current flowing through the electromagnetic element 32, thereby changing the arrangement of the magnetic particles in the throttling channel 213.

[0091] As an example, magnetic particles are mixed in the hydraulic fluid, and electromagnetic elements 32 are relatively arranged around the throttling channel 213. The current passing through the electromagnetic element 32 is controlled by the current control unit 31, and the magnetic field generated by the electromagnetic element 32 is adjusted. Through the influence of the magnetic field, the arrangement of the magnetic particles in the hydraulic fluid in the throttling channel 213 is changed, and the kinematic viscosity and fluidity of the hydraulic fluid in the throttling channel 213 are adjusted, thereby adjusting the damping force provided by the electromagnetic damper 2 to the brake pedal 1. The greater the current passing through the electromagnetic element 32, the greater the magnetic field intensity it generates. Under the influence of the magnetic field, the magnetic particles in the hydraulic fluid gradually change from a dispersed state to a regularly aggregated state, so that the fluidity of the hydraulic fluid is reduced and the kinematic viscosity is increased, thereby increasing the resistance generated by the hydraulic fluid flowing through the throttling channel 213, and increasing the damping force provided by the electromagnetic damper 2 to the brake pedal 1.

[0092] In one embodiment, the electromagnetic element 32 includes an electromagnetic coil 321 , and the electromagnetic coil 321 is wound on the throttling channel 213 .

[0093] As an example, the electromagnetic coil 321 is wound on the throttling channel 213. After the current is passed through the electromagnetic coil 321, a relatively regular magnetic field can be formed around the throttling channel 213, so that the magnetic particles are regularly gathered in the hydraulic fluid in the throttling channel 213. By controlling the current passing through the electromagnetic coil 321 and adjusting the magnetic field intensity distribution at the throttling channel 213, it is beneficial to accurately control the damping force provided by the electromagnetic damper 2.

[0094] In one embodiment, the piston assembly 22 includes a piston rod 221 and a valve body 222. The valve body 222 is installed at one end of the piston rod 221. The valve body 222 cooperates with the inner wall sealing guide of the hydraulic cylinder 21 to separate the inner cavity of the hydraulic cylinder 21 into a first chamber 211 and a second chamber 212. The throttling channel 213 and the electromagnetic element 32 are arranged on the valve body 222, and the current control unit 31 is arranged on the piston rod 221.

[0095] As an example, the valve body 222 is sealed and guided in the hydraulic cylinder 21, and is connected to the push rod 4 or the vehicle body assembly through the piston rod 221, which can ensure stable and reliable output of the damping force. In addition, the throttle channel 213 and the electromagnetic element 32 are arranged on the valve body 222. When the throttle channel 213 is blocked and the electromagnetic element 32 fails, the piston assembly 22 can be pulled out from the hydraulic cylinder 21 for inspection or replacement, which is easy to operate.

[0096] In one embodiment, a solenoid valve 33 is disposed in the throttling channel 213 , and the solenoid valve 33 is used to control the opening and closing of the throttling channel 213 .

[0097] As an example, a solenoid valve 33 is provided in each throttling channel 213. The on and off of different throttling channels 213 are controlled by the solenoid valve 33, so that more damping force adjustment modes can be provided for selection. For example, all throttling channels 213 can be closed by the solenoid valve 33, so that the damping force provided by the electromagnetic damper 2 reaches a larger value, thereby increasing the upper limit of the damping force adjustment and further expanding the adjustment range of the damping force.

[0098] As an example, a plurality of throttling channels 213 are provided on the piston assembly 22 and / or the hydraulic cylinder 21, so as to increase the maximum flow area between the first chamber 211 and the second chamber 212 of the hydraulic cylinder 21, thereby providing a lower damping force adjustment lower limit and expanding the adjustment range of the damping force; a solenoid valve 33 can be provided on each throttling channel 213, and the magnitude of the damping force can be adjusted by controlling the on and off of different solenoid valves 33.

[0099] In one embodiment, the brake pedal assembly further includes a return component 5, two ends of which are respectively connected to the fixed end and the movable end of the electromagnetic damper 2, and the return component 5 is used to drive the brake pedal 1 to reset.

[0100] As an example, in the initial state, the pedal force on the brake pedal 1 is zero, and the return force provided by the return assembly 5 is also zero. When the driver steps on the brake pedal 1, as the brake pedal 1 moves, the return force applied by the return assembly 5 to the brake pedal 1 gradually increases. At the same time, the electromagnetic damper 2 applies a damping force to the brake pedal 1 through the push rod 4, so that the driver can feel the corresponding pedaling resistance, so that the driver can judge the braking degree and braking time, and thus adjust the braking method accordingly according to the road conditions and driving experience. When the driver releases the brake pedal 1, the return force provided by the return assembly 5 can drive the brake pedal 1 to quickly reset, so as to facilitate the next braking operation. At the same time, the electromagnetic damper 2 provides a damping force during the reset process of the brake pedal 1. The electromagnetic control module 3 controls the electromagnetic damper 2 to adjust the damping force according to the actual braking situation of the brake pedal 1, so as to limit the speed of the brake pedal 1 returning to the initial position, avoid the brake pedal 1 rebounding too fast and causing collision, vibration and rebound sound, and improve the driver's experience.

[0101] In one embodiment, the return assembly 5 includes a return spring 51 . The return spring 51 is disposed in the second chamber 212 . Two ends of the return spring 51 are respectively connected to the hydraulic cylinder 21 and the piston assembly 22 .

[0102] As an example, a return spring 51 is arranged in the second chamber 212 of the hydraulic cylinder 21, and the return spring 51 provides a return force to drive the brake pedal 1 to automatically return. The return spring 51 is arranged in the second chamber 212, which reduces the space occupied by the overall structure. At the same time, the hydraulic cylinder 21 can also be used to protect the return spring 51, which is conducive to improving the reliability of the structure.

[0103] Furthermore, in the electromagnetic damper 2, a plurality of throttling channels 213, electromagnetic coils 321 and electromagnetic valves 33 can be provided, and the currents passing through different electromagnetic coils 321 can also be adjusted within a preset range to expand the damping force adjustment range of the electromagnetic damper 2, so that the damping force provided by the electromagnetic damper 2 has more optional adjustment modes to meet the personalized needs of different drivers for the pedaling feel.

[0104] Taking the arrangement of two throttling channels 213, two solenoid valves 33 and two solenoid elements 32 (using solenoid coils 321) as an example, the working modes in which the electromagnetic damper 2 can provide different damping forces are briefly listed through a table. The contents of Table 1 and Table 2 are as follows:

[0105] Table 1 Working modes 1 to 7 of electromagnetic damper 2

[0106]

[0107] Table 2 Working modes 8 to 15 of electromagnetic damper 2

[0108]

[0109]

[0110] Before using the above-mentioned brake pedal assembly, the driver can freely switch and select the working mode of the electromagnetic damper 2 according to different braking situations, so that the damping force provided by the electromagnetic damper 2 can meet their own needs while ensuring the shock absorption and noise reduction effect of the electromagnetic damper 2.

[0111] In addition, in the specific implementation process, the hydraulic cylinder 21 of the electromagnetic damper 2 can be used as a moving end or a fixed end. When the hydraulic cylinder 21 is used as a moving end, the piston assembly 22 is used as a fixed end, and the hydraulic cylinder 21 is connected to the brake pedal 1 through the push rod 4. When the hydraulic cylinder 21 is used as a fixed end, the piston assembly 22 is used as a moving end and is connected to the push rod 4.

[0112] The embodiment of the present invention provides a brake pedal control method, which is applied to the above-mentioned brake pedal assembly, and can be specifically applied to a vehicle-mounted controller connected to the above-mentioned brake pedal assembly. The vehicle-mounted controller is set in the car and can be a vehicle-mounted controller integrated with other functions, or a vehicle-mounted controller dedicated to realizing the control of the brake pedal 1. Figure 3 As shown, the brake pedal control method includes:

[0113] S301: Acquire braking action data of brake pedal 1;

[0114] S302 : According to the braking action data, the electromagnetic control module 3 is controlled to operate, and the damping force provided by the electromagnetic damper 2 to the brake pedal 1 is adjusted.

[0115] The braking action data of the brake pedal 1 may be actual action data, or may be action data obtained after redundancy or verification processing of the actual action data. The actual action data here refers to data collected in real time.

[0116] As an example, in step S301, the vehicle-mounted controller may obtain the measured action data of the brake pedal 1 sent by the sensing device connected thereto. The measured action data include, but are not limited to, the measured displacement L1, the measured pedaling force F1 and the measured acceleration a0 of the brake pedal 1. The measured displacement L1 here refers to the data collected in real time to reflect the displacement change of the brake pedal 1, the measured pedaling force F1 refers to the data collected in real time to reflect the pedaling force of the driver stepping on the brake pedal 1, and the measured acceleration a0 refers to the data collected in real time to reflect the rate of change of the moving speed of the brake pedal 1, specifically the acceleration moving along the displacement direction. In this example, after measuring the action data, the vehicle-mounted controller may directly determine the measured action data as the braking action data, or may perform redundant processing or estimated action data correction processing on the measured action data to determine the processed data as the braking action data.

[0117] Of course, the braking action data of the brake pedal 1 is not limited to the above-mentioned displacement data and pedal force data. Other action data of the brake pedal 1 can also be obtained at the same time to judge the driver's operating intention and make corresponding feedback adjustments. These braking action data can also be displayed and stored for reference by drivers and maintenance personnel to accurately judge the vehicle status.

[0118] As an example, in step S302, after obtaining the braking action data, the on-board controller can query a pre-configured control signal mapping table or mapping function based on the braking action data to determine the control signal required to control the operation of the electromagnetic control module 3; then, based on the control signal, the electromagnetic control module 3 is controlled to operate so as to adjust the damping force provided to the brake pedal 1 by the electromagnetic damper 2.

[0119] In this embodiment, according to the braking action data, the electromagnetic control module 3 is controlled to work, and the damping force provided by the electromagnetic damper 2 to the brake pedal 1 is adjusted, so that the parameters such as the relationship between the damping force and the stroke of the electromagnetic damper 2 can be adjusted, so that the pedaling feeling provided by the electromagnetic damper 2 is more in line with the driving habits of the driver and meets the driver's personalized driving needs. In addition, the electromagnetic damper 2 provides damping force for the brake pedal 1 through the push rod, so that the driver can obtain the corresponding resistance feedback feeling (pedaling feeling) when stepping on the brake pedal 1, which is convenient for the driver to control the pedaling force and pedaling depth according to the pedaling feeling, and ensure the use experience and braking safety; and the damping force provided by the electromagnetic damper 2 can provide effective buffering when the brake pedal 1 is reset and rebounded, eliminating the rebound sound and impact vibration energy of the brake pedal 11, and achieving a good shock absorption and noise reduction effect.

[0120] As an example, Figure 4 As shown, step S301, i.e. obtaining the braking action data of the brake pedal 1, includes:

[0121] S401: Obtaining the measured displacement L1 and the measured pedaling force F1 of the brake pedal 1;

[0122] S402: Determine a target displacement L3 and a target pedaling force F3 of the brake pedal 1 according to the measured displacement L1 and the measured pedaling force F1;

[0123] S403 : According to the target displacement L3 and the target pedal force F3 of the brake pedal 1 , the electromagnetic control module 3 is controlled to operate, and the damping force provided by the electromagnetic damper 2 to the brake pedal 1 is adjusted.

[0124] Among them, step S401 and step S402 are a specific implementation of step S301 in the above embodiment, and step S403 is a specific implementation of step S302 in the above embodiment.

[0125] As an example, in step S401, the vehicle-mounted controller can obtain the measured displacement L1 collected in real time by the displacement detection component connected to it, and obtain the measured pedaling force F1 collected in real time by the pressure detection component 7 connected to it, where the measured displacement L1 refers to the data collected in real time to reflect the displacement change of the brake pedal 1, and the measured pedaling force F1 refers to the data collected in real time to reflect the pedaling force of the driver stepping on the brake pedal 1.

[0126] As an example, in step S402, after obtaining the measured displacement L1 and the measured pedaling force F1, the onboard controller can directly determine the measured displacement L1 as the target displacement L3 of the brake pedal 1, and directly determine the measured pedaling force F1 as the target pedaling force F3, so as to simplify the logical steps. The measured displacement L1 and the measured pedaling force F1 of the brake pedal 1 can also be processed to obtain the target displacement L3 and the target pedaling force F3, so as to improve the accuracy of the acquired data and reduce the failure rate.

[0127] As an example, in step S403, after obtaining the target displacement L3 and the target pedaling force F3 of the brake pedal 1, the on-board controller may query the pre-configured control signal mapping table or mapping function according to the target displacement L3 and the target pedaling force F3 to determine the control signal required to control the electromagnetic control module 3 to work; then, based on the control signal, the electromagnetic control module 3 is controlled to work to adjust the damping force provided by the electromagnetic damper 2 to the brake pedal 1. In this example, the pre-configured control signal mapping table or mapping function can reflect the three-dimensional relationship between displacement-pedaling force-current, so that according to the determined target displacement L3 and target pedaling force F3, the target current output by the electromagnetic control module 3 can be quickly determined, the control signal corresponding to the target current can be obtained, and the control signal can be sent to the electromagnetic control module 3 so that the electromagnetic control module 3 outputs the target current to change the magnetic field formed by the electromagnetic control module 3, thereby achieving the purpose of adjusting the damping force provided by the electromagnetic damper 2 to the brake pedal 1.

[0128] In this embodiment, based on the real-time acquisition of the measured displacement L1 and the measured pedaling force F1, the target displacement L3 and the target pedaling force F3 for achieving braking control are determined, and the target current is quickly determined based on the target displacement L3 and the target pedaling force F3. According to the target current, the damping force provided by the electromagnetic damper 2 to the brake pedal 1 is adjusted, so that parameters such as the relationship between the damping force and stroke of the electromagnetic damper 2 can be adjusted, so that the pedaling feeling provided by the electromagnetic damper 2 is more in line with the driver's driving habits and meets the driver's personalized driving needs.

[0129] In one embodiment, step S402, i.e., determining the target displacement L3 and the target pedaling force F3 of the brake pedal 1 according to the measured displacement L1 and the measured pedaling force F1, comprises:

[0130] The measured displacement L1 and the measured pedal force F1 are subjected to redundancy processing to determine the target displacement L3 and the target pedal force F3 of the brake pedal 1 .

[0131] As an example, after obtaining the measured displacement L1 and the measured pedaling force F1, the on-board controller can use a pre-set redundant processing logic to perform redundant processing on the two data, the measured displacement L1 and the measured pedaling force F1, and use the processed target displacement L3 and target pedaling force F3 as input parameters for determining the target current in the control step, thereby improving data accuracy, helping to reduce the control failure rate and ensure braking safety.

[0132] In one embodiment, if Figure 5 As shown, redundant processing is performed on the measured displacement L1 and the measured pedaling force F1 to determine the target displacement L3 and the target pedaling force F3 of the brake pedal 1, including:

[0133] S501: performing validity judgment and signal conversion processing on the measured displacement L1 to obtain a displacement judgment result and an estimated pedaling force F2 corresponding to the measured displacement L1;

[0134] S502: performing validity judgment and signal conversion processing on the measured pedaling force F1 to obtain a pedaling force judgment result and an estimated displacement L2 corresponding to the measured pedaling force F1;

[0135] S503: Determine the target displacement L3 according to the displacement judgment result, the measured displacement L1 and the estimated displacement L2;

[0136] S504: Determine the target pedaling force F3 according to the pedaling force judgment result, the measured pedaling force F1 and the estimated pedaling force F2.

[0137] As an example, in step S501, after obtaining the measured displacement L1, the on-board controller may perform validity judgment on the measured displacement L1 based on the preset validity judgment logic, and obtain the displacement judgment result corresponding to the measured displacement L1. The validity judgment logic here is the logic used to evaluate whether the data is true and valid. For example, when multiple measured displacements L1 are continuously collected within a preset time period, there is a large difference between individual measured displacements L1 and other displacement data, it can be determined that there is an abnormality, and its displacement judgment result can be determined to be that the measured displacement L1 is invalid. On the contrary, if there is no abnormality, its displacement judgment result is determined to be that the measured displacement L1 is valid.

[0138] Accordingly, after obtaining the measured displacement L1, the vehicle-mounted controller can perform signal conversion processing on the measured displacement L1 based on the preset displacement-pressure conversion logic, and obtain the estimated pedaling force F2 corresponding to the measured displacement L1. The displacement-pressure conversion logic here is a processing logic used to reflect the mapping relationship between displacement and pressure.

[0139] As an example, in step S502, after obtaining the measured pedaling force F1, the on-board controller may perform validity judgment on the measured pedaling force F1 based on the preset validity judgment logic, and obtain the pedaling force judgment result corresponding to the measured pedaling force F1. The validity judgment logic here is the logic used to evaluate whether the data is true and valid, which may be the same as the processing steps in step S501. For example, when multiple measured pedaling forces F1 are continuously collected within a preset time period, there are large differences between individual measured pedaling forces F1 and other pedaling force data, it can be determined that there is an abnormality, and the pedaling force judgment result can be determined to be that the measured pedaling force F1 is invalid. On the contrary, if there is no abnormality, the pedaling force judgment result is determined to be that the measured pedaling force F1 is valid.

[0140] Accordingly, after obtaining the measured pedaling force F1, the vehicle-mounted controller can perform signal conversion processing on the measured pedaling force F1 based on the pre-set pressure-displacement conversion logic, and obtain the estimated displacement L2 corresponding to the measured pedaling force F1. The pressure-displacement conversion logic here is a processing logic used to reflect the mapping relationship between pressure and displacement.

[0141] As an example, in step S503, the vehicle controller can determine the target displacement L3 based on the displacement judgment result, the measured displacement L1 and the estimated displacement L2. Specifically, based on the displacement judgment result, the estimated displacement L2 and the measured displacement L1 can be comprehensively judged and corrected to obtain a target displacement L3 with higher accuracy.

[0142] As an example, step S503, i.e., determining the target displacement L3 according to the displacement judgment result, the measured displacement L1 and the estimated displacement L2, includes: if the displacement judgment result is that the measured displacement L1 is valid, then determining the measured displacement L1 as the target displacement L3; if the displacement judgment result is that the measured displacement L1 is invalid, then determining the estimated displacement L2 as the target displacement L3.

[0143] As an example, the vehicle-mounted controller directly selects the measured displacement L1 or the estimated displacement L2 as the target displacement L3 based on whether the displacement judgment result is valid. The data processing process is simple and the processing speed is fast. The estimated displacement L2 is determined by the measured pedaling force F1 and is irrelevant to the measured displacement L1. This can avoid the measured displacement L1 with a large deviation from affecting the estimated displacement L2, thereby ensuring the accuracy of the target displacement L3.

[0144] As an example, in step S504, the vehicle-mounted controller can determine the target pedaling force F3 based on the pedaling force judgment result, the measured pedaling force F1 and the estimated pedaling force F2. Specifically, based on the pedaling force judgment result, the data of the estimated pedaling force F2 and the measured pedaling force F1 can be comprehensively judged and corrected to obtain a target pedaling force F3 with higher accuracy.

[0145] In one embodiment, step S504, i.e., determining the target pedaling force F3 based on the pedaling force judgment result, the measured pedaling force F1 and the estimated pedaling force F2, includes: if the pedaling force judgment result is that the measured pedaling force F1 is valid, then the measured pedaling force F1 is determined as the target pedaling force F3; if the pedaling force judgment result is that the measured pedaling force F1 is invalid, then the estimated pedaling force F2 is determined as the target pedaling force F3.

[0146] As an example, the vehicle-mounted controller directly selects the measured pedaling force F1 or the estimated pedaling force F2 as the target pedaling force F3 based on the pedaling force judgment result. The data processing process is simple, which is conducive to improving the data processing speed. The estimated pedaling force F2 is determined by the measured displacement L1 and is not related to the measured pedaling force F1. This can avoid the measured pedaling force F1 with excessive deviation from affecting the estimated pedaling force F2, thereby ensuring the accuracy of the target pedaling force F3.

[0147] In this embodiment, the effectiveness of the measured displacement L1 and the measured pedaling force F1 are first judged respectively to determine the corresponding effectiveness judgment results (i.e., the displacement judgment result and the pedaling force judgment result), and the measured displacement L1 and the measured pedaling force F1 are respectively subjected to signal conversion processing to respectively determine the estimated pedaling force F2 and the estimated displacement L2. Finally, the target displacement L3 is determined based on the displacement judgment result and the two displacement data, and the target pedaling force F3 is determined based on the pedaling force judgment result and the two pedaling force data. This is beneficial to improving the accuracy of the target pedaling force F3 and the target displacement L3 and reducing the errors of the displacement data and the pedaling force data.

[0148] In brief, after obtaining the measured action data of the brake pedal 1 (including the measured displacement L1 and the measured pedaling force F1), the effectiveness judgment logic is first used to judge the effectiveness of the measured action data of the brake pedal 1 to obtain the effectiveness judgment result (including the displacement judgment result and the pedaling force judgment result); and, based on the measured action data, different conversion logics are used to estimate the estimated action data corresponding to the measured action data (including the estimated displacement L2 and the estimated pedaling force F2), and then based on the effectiveness judgment result, one of the measured action data or the estimated action data is selected as the target action data (including the target displacement L3 and the target pedaling force F3). According to this method of redundant processing and mutual verification of the measured action data, the effectiveness and accuracy of the final acquired data can be effectively improved, the control failure rate can be reduced, and the driver's braking intention can be more accurately identified, thereby improving the driver's user experience and the safety level of the braking function.

[0149] In this embodiment, the vehicle-mounted controller has built-in validity judgment module, signal conversion module and signal selection module. After the vehicle-mounted controller obtains the measured action data, the validity judgment module is used to judge the validity of the measured action data, and the signal conversion module is used to perform signal conversion processing on the measured action data.

[0150] Among them, the validity judgment module determines the validity of the measured action data based on the measured action data and the pre-set validity judgment logic, and obtains the corresponding validity judgment result; the validity judgment logic here is a judgment logic used to evaluate whether the measured action data is true and valid, and its judgment basis includes but is not limited to data detection failures, the size and form of the measured action data and other evaluation factors.

[0151] The signal conversion module determines the corresponding estimated motion data based on the measured motion data and the pre-set measured motion data conversion logic; the measured motion data conversion logic here is a processing logic used to reflect the mapping relationship between various measured motion data, including but not limited to pressure-displacement conversion logic and displacement-pressure conversion logic and other processing logic.

[0152] The signal selection module determines the target action data based on the validity judgment result, the measured action data, the estimated action data and the pre-set signal selection logic; the signal selection logic here is a processing logic used to reflect the "mapping relationship between the measured action data, the estimated action data and the target action data under different validity judgment results", including but not limited to "measured displacement-estimated displacement-target displacement" and "measured pedaling force-estimated pedaling force-target pedaling force" and other processing logics.

[0153] In one embodiment, if Figure 6 As shown, step S302, i.e., controlling the electromagnetic control module 3 to work according to the braking action data, and adjusting the damping force provided by the electromagnetic damper 2 to the brake pedal 1, includes:

[0154] S601: determining a target braking mode of a brake pedal according to braking action data;

[0155] S602: Obtaining damping control parameters corresponding to the target braking mode;

[0156] S603: According to the braking action data and the damping control parameters corresponding to the target braking mode, the electromagnetic control module is controlled to operate, and the damping force provided by the electromagnetic damper to the brake pedal is adjusted.

[0157] The target braking mode refers to a mode corresponding to the braking action of the brake pedal determined by evaluating the braking action data of the brake pedal.

[0158] As an example, in step S601, the vehicle-mounted controller may compare the acquired braking action data, for example, one or more of the target displacement L3, the target pedaling force F3 and the measured acceleration a0, with the mode determination conditions corresponding to different pre-set braking modes; if the braking action data meets the mode determination conditions corresponding to any braking mode, the braking mode is determined to be the target braking mode of the brake pedal.

[0159] The damping control parameter corresponding to the target braking mode refers to the control parameter used to control the resistance damper to adjust the damping force when the brake pedal is in the target braking mode. It should be noted that the damping control parameter corresponding to the target braking mode includes but is not limited to displacement value, pressure value, acceleration value, damping force adjustment speed, damping force adjustment method and current size.

[0160] As an example, in step S602, after determining the target braking mode of the brake pedal, the on-board controller can obtain the damping control parameters corresponding to the target braking mode. Specifically, the system memory or other memory can be queried through the target braking mode to determine the damping control parameters used to control the electromagnetic damper to adjust the output damping force under the target braking mode.

[0161] As an example, in step S603, when the brake pedal operates in the target braking mode, the on-board controller needs to control the electromagnetic control module to operate according to the pre-set damping control parameters to increase or decrease the damping force provided by the electromagnetic damper to the brake pedal so as to meet the driver's operating requirements and the shock absorption and noise reduction requirements of the brake pedal 1.

[0162] In this embodiment, the mode determination conditions and damping control parameters corresponding to various braking modes of the brake pedal 1 are predetermined to make it more in line with personal operating habits. When performing a braking operation, the on-board controller analyzes and determines the target braking mode of the brake pedal 1 based on the braking action data obtained in real time and the pre-set mode determination conditions, accurately obtains the driver's operating intention, and then controls the electromagnetic control module 3 to work according to the damping control parameters and braking action data corresponding to the braking mode, and adjusts the damping force provided to the brake pedal 1 by the electromagnetic damper 2 to make it meet the driver's operating requirements and the shock absorption and noise reduction requirements of the brake pedal 1.

[0163] In one embodiment, if Figure 7 As shown, step S403, i.e., controlling the electromagnetic control module 3 to work and adjusting the damping force provided by the electromagnetic damper 2 to the brake pedal 1 according to the target displacement L3 and the target pedal force F3 of the brake pedal 1, includes:

[0164] S701: If the target displacement L3 is greater than the first preset displacement L4, determining that the target braking mode of the brake pedal is the first braking mode;

[0165] S702: Obtaining a first preset pressure F4, a first preset time t3, and a first displacement threshold corresponding to a first braking mode;

[0166] S703: If the first duration t1 during which the target pedaling force F3 is less than the first preset pressure F4 is greater than the first preset duration t3, and the target displacement L3 is within the first displacement threshold, the electromagnetic control module is controlled to operate to increase the damping force provided by the electromagnetic damper to the brake pedal;

[0167] The first preset displacement L4 is greater than an upper limit value of the first displacement threshold.

[0168] Among them, step S701 is a specific implementation of step S601, step S702 is a specific implementation of step S602, and step S703 is a specific implementation of step S603.

[0169] The first preset displacement L4 is a preset displacement data, specifically displacement data used to evaluate whether the brake pedal enters the first braking mode, and is a mode determination condition corresponding to the first braking mode. The first braking mode here refers to a braking mode in which the movement amplitude of the brake pedal is large.

[0170] As an example, in step S701, the vehicle-mounted controller compares the acquired target displacement L3 with the mode determination condition corresponding to the pre-set first braking mode; if the target displacement L3 meets the mode determination condition corresponding to the first braking mode, that is, the target displacement L3 is greater than the first preset displacement L4, then the target braking mode of the brake pedal is determined to be the first braking mode.

[0171] Among them, the damping control parameters corresponding to the first braking mode include a first preset pressure F4, a first preset time t3 and a first displacement threshold. The first preset pressure F4 is a preset pressure data, which is the pressure data of the brake pedal in the first braking mode used to evaluate whether the damping force needs to be increased. The first preset time t3 is a preset time data, which is the time length of the brake pedal in the first braking mode used to evaluate whether the damping force needs to be increased. The first displacement threshold is a preset displacement range, which is the displacement threshold of the brake pedal in the first braking mode used to evaluate whether the damping force needs to be increased. The first preset pressure F4, the first preset time t3 and the first displacement threshold here are specifically the judgment basis for the vehicle-mounted controller to "control the operation of the electromagnetic control module 3 and increase the damping force provided to the brake pedal by the electromagnetic damper 2".

[0172] As an example, in step S702, after determining that the target braking mode of the brake pedal is the first braking mode, the on-board controller can obtain the damping control parameters corresponding to the first braking mode. Specifically, the system memory or other memory can be queried through the first braking mode to determine the damping control parameters for controlling the electromagnetic damper to adjust the output damping force under the first braking mode.

[0173] As an example, in step S703, after the brake pedal 1 enters the first braking mode, the on-board controller controls the brake pedal 1 according to the damping control parameters corresponding to the first braking mode (the first preset pressure F4, the first preset time t3 and the first displacement threshold), specifically when the first duration t1 of the target pedaling force F3 is less than the first preset pressure F4 and is greater than the first preset time t3, and the target displacement L3 is within the first displacement threshold, it means that after the driver deeply steps on and quickly releases the brake pedal 1, the brake pedal 1 quickly returns to its original position and approaches its initial position, and a large impact vibration is about to be generated. At this time, the on-board controller controls the electromagnetic control module 3 to increase the damping force provided to the brake pedal by the electromagnetic damper 2, so as to ensure the shock absorption and noise reduction requirements of the brake pedal 1 during the return process.

[0174] As an example, the first braking mode corresponds to the braking operation of the driver "deeply pressing the brake pedal 1 first, and then quickly releasing the brake pedal 1". Fig. 9 As shown, this situation is explained with specific data as an example. In this embodiment, the mode determination condition of the first braking mode includes a first preset displacement, and the first preset displacement L4=10mm. The damping control parameters corresponding to the first braking mode include a first preset pressure F4, a first preset time t3, a first displacement threshold and a first control signal. The first preset pressure F4=0, the first displacement threshold is between 2mm and 5mm, and the first preset time t3=0.1s. According to the first control signal corresponding to the first braking mode, the electromagnetic control module 3 adopts mode 14 in the above Table 2 to increase the damping force provided to the brake pedal 1 by the electromagnetic damper 2.

[0175] The following is a further explanation of the specific process. During the driving process of the vehicle, the driver steps on the brake pedal 1 to start braking, so that the target displacement L3 of the brake pedal 1 is greater than 10mm, indicating that the brake pedal 1 is in the first braking mode at this time, and subsequent control is performed according to the damping control parameters corresponding to the first braking mode. When the first duration t1 of the target pedaling force F3 of the brake pedal 1 equals 0 is greater than 0.1s, and the target displacement L3 of the brake pedal 1 is within the first displacement threshold range, that is, when 2mm<L3<5mm, the electromagnetic control module 3 is controlled to work according to the first control signal, and the electromagnetic damper 2 is adjusted to switch to the state of mode 14 to increase the damping force provided by the electromagnetic damper 2 to the brake pedal 1, and slow down the return speed of the brake pedal 1 until the brake pedal 1 is completely reset, and the target displacement L3=0 at this time. During this process, the electromagnetic control module 3 determines whether the target braking mode of the brake pedal is the first braking mode according to the mode determination conditions. If the brake pedal is in the first braking mode, it means that the brake pedal first moves significantly and then returns quickly. The brake pedal that returns quickly will produce greater impact and vibration. At this time, the on-board controller controls the electromagnetic control module 3 to operate according to the damping control parameters corresponding to the first braking mode. During the process of the brake pedal returning, the damping force provided to the brake pedal 1 by the electromagnetic damper 2 is correspondingly increased. This can effectively eliminate the return impact and return noise generated by the brake pedal 1 during the return process without affecting the braking process of the brake pedal 1.

[0176] As an example, the braking action data of the brake pedal 1 includes the measured acceleration, such as Figure 8 As shown, step S302, i.e., controlling the electromagnetic control module 3 to work according to the braking action data, and adjusting the damping force provided by the electromagnetic damper 2 to the brake pedal 1, includes:

[0177] S801: If the target pedaling force F3 is greater than the second preset pressure F5, the target displacement L3 is within the second displacement threshold, and the second duration t2 during which the measured acceleration a0 is greater than the first preset acceleration a1 is greater than the second preset duration t4, then the target braking mode of the brake pedal 1 is determined to be the second braking mode;

[0178] S802: Obtaining a preset growth rate and a second preset acceleration a2 corresponding to the second braking mode;

[0179] S803: Based on the preset growth rate, the electromagnetic control module 3 is controlled to work, and the damping force provided by the electromagnetic damper 2 to the brake pedal 1 is increased until the measured acceleration a0 is less than the second preset acceleration a2;

[0180] Wherein, the second preset acceleration is smaller than the first preset acceleration.

[0181] Among them, step S801 is a specific implementation of step S601, step S802 is a specific implementation of step S602, and step S803 is a specific implementation of step S603. The second braking mode here refers to a braking mode of "the brake pedal moves back and forth quickly (vibrates) for a long time within a relatively small displacement range". In the second braking mode, the brake pedal that moves back and forth quickly will produce a more obvious vibration.

[0182] Among them, the second preset pressure F5 is a pre-set pressure data, the second displacement threshold is a pre-set displacement range, the first preset acceleration a1 is a pre-set displacement acceleration data, and the second preset duration a2 is a pre-set time data. These data are specifically used to evaluate whether the brake pedal enters the second braking mode, which belongs to the mode judgment condition corresponding to the second braking mode.

[0183] As an example, in step S801, the vehicle-mounted controller compares the acquired target displacement L3 and the measured acceleration a0 with the mode determination conditions corresponding to the pre-set second braking mode; if the target displacement L3 meets the mode determination conditions corresponding to the second braking mode, that is, the target pedaling force F3 is greater than the second preset pressure F5, the target displacement L3 is within the second displacement threshold, and the second duration t2 during which the measured acceleration a0 is greater than the first preset acceleration a1 is greater than the second preset duration t4, it means that the brake pedal moves back and forth rapidly for a long time within a smaller displacement range. At this time, it can be determined that the target braking mode of the brake pedal is the second braking mode.

[0184] Among them, the damping control parameters corresponding to the second braking mode include a preset growth rate and a second preset acceleration a2. The second preset acceleration a2 is a preset displacement acceleration data, which is specifically used by the on-board controller to "control the operation of the electromagnetic control module 3 to increase the damping force provided by the electromagnetic damper 2 to the brake pedal 1". The preset growth rate is a preset damping force change speed data, which is specifically used by the on-board controller to control the operation of the electromagnetic control module to increase the damping force provided by the electromagnetic damper 2 to the brake pedal 1.

[0185] As an example, in step S802, after determining that the target braking mode of the brake pedal is the second braking mode, the on-board controller can obtain the damping control parameters corresponding to the second braking mode. Specifically, the system memory or other memory can be queried through the target braking mode to determine the damping control parameters for controlling the electromagnetic damper to adjust the output damping force in the second braking mode.

[0186] As an example, in step S803, after the brake pedal 1 enters the second braking mode, the on-board controller controls the electromagnetic control module 3 to operate according to the damping control parameters corresponding to the second braking mode (the preset growth rate and the second preset acceleration a2), and increases the damping force provided to the brake pedal by the electromagnetic damper 2 based on the preset growth rate, so that it meets the shock absorption and noise reduction requirements of the brake pedal 1, thereby ensuring the operating stability of the brake pedal.

[0187] As an example, the second braking mode corresponds to a braking mode in which the brake pedal 1 moves back and forth quickly for a long time within a relatively small displacement range. For example, during normal driving, the front panel of the vehicle will be stimulated by the ground or various components in the cabin (such as pipes, electronic boosters) and produce a certain amplitude of vibration. Especially when the vehicle is idling or slightly decelerating for a long time, the vibration of the front panel will be transmitted to the brake pedal, causing the brake pedal to produce more obvious vibration. Fig.10 As shown in the figure, this situation is explained with specific data examples.

[0188] In one embodiment, the mode determination conditions corresponding to the second braking mode include a second preset pressure F5, a second displacement threshold, a second preset time t4, and a first preset acceleration a1. Among them, the second preset pressure F5 = 0, the second displacement threshold is 0 mm to 5 mm, the second preset time t4 = 2s, and the first preset acceleration a1 = 0.2 m / s 2 The damping control parameters corresponding to the second braking mode include a second preset acceleration a2 and a second control signal, wherein a2=0.2 m / s 2 According to the damping control parameters corresponding to the second braking mode, the electromagnetic control module 3 increases the damping force provided by the electromagnetic damper 2 to the brake pedal 1 at a preset increasing speed until the damping force reaches the target damping value or the measured acceleration a0 of the mobile end is less than the second preset acceleration a2.

[0189] To further illustrate the specific process, in one embodiment, when the driver brakes lightly for a long time or the brake pedal 1 vibrates violently, the target pedal force F3>0, and the target displacement L3 of the brake pedal 1 is within the range of the second displacement threshold, that is, 0mm<L3<5mm, and the measured acceleration a0 of the moving end of the electromagnetic damper 2>0.2m / s 2 The second duration t2>2s indicates that the brake pedal 1 is in the second braking mode at this time; the on-board controller controls the electromagnetic control module 3 to work according to the damping control parameters corresponding to the second braking mode, so that the damping force provided by the electromagnetic damper 2 to the brake pedal 1 increases at a preset increasing speed to buffer and reduce the shock of the brake pedal 1 until the measured acceleration a0 of the moving end of the electromagnetic damper 2 is less than 0.2m / s 2 , effectively eliminating the vibration of the brake pedal 1 and ensuring the stability of the brake pedal 1.

[0190] In one embodiment, taking the electromagnetic element 32 including the electromagnetic coil 321 as an example, the specific means by which the on-board controller controls the electromagnetic damper 2 to increase the damping force provided to the brake pedal 1 at a preset increasing speed may be: through the current control unit 31 in the electromagnetic control module 3, the current passing through the electromagnetic coil 321 is increased at a speed of 0.1A / s, so as to continuously increase the damping force provided to the brake pedal 1 by the electromagnetic damper 2, effectively absorbing the vibration energy of the brake pedal 1, until the measured acceleration a0 of the moving end of the electromagnetic damper 2 is less than 0.2m / s 2 .

[0191] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0192] In one embodiment, a vehicle-mounted controller is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the brake pedal control method in the above embodiment is implemented, for example Figure 3 S301-S302 as shown, or Figures 4 to 8 To avoid repetition, it will not be described here.

[0193] In one embodiment, a brake pedal control system is provided, which includes a brake pedal assembly, a pressure detection component 7, a displacement detection component 8, and a vehicle-mounted controller. The brake pedal assembly and the vehicle-mounted controller refer to the definitions of the brake pedal assembly and the vehicle-mounted controller above, and will not be described here to avoid repetition.

[0194] In one embodiment, referring to Figure 1 and Figure 2 As shown, the displacement detection component 8 is arranged on the push rod or the brake pedal 1, and is used to obtain the measured displacement of the brake pedal 1. The pressure detection component 7 is arranged on the brake pedal 1, and is used to obtain the measured pedaling force of the brake pedal 1. The displacement detection component 8 and the pressure detection component 7 respectively feed back the obtained action data to the vehicle controller.

[0195] The vehicle-mounted controller (ECU, Electronic Control Unit) is connected to the electromagnetic damper 2, the pressure detection component 7 and the displacement detection component 8, and is used to control the operation of the electromagnetic control module 3 according to the braking action data of the brake pedal 1, and adjust the damping force provided by the electromagnetic damper 2 to the brake pedal 1 to ensure that the pedaling feedback provided by the brake pedal 1 is more in line with the driver's personalized needs. It can also eliminate the vibration and rebound sound of the brake pedal 1 while ensuring the reliable return of the brake pedal 1, thereby ensuring the stability of the brake pedal 1.

[0196] Among them, the displacement detection component 8 can be fixedly set on the pedal base, and the measured displacement of the brake pedal 1 can be obtained by detecting the displacement of the push rod. The displacement detection component 8 can also be set on the pedal shaft, and the measured displacement of the brake pedal 1 can be obtained by detecting the swing angle of the pedal swing arm. Alternatively, the displacement detection component 8 can also be set on the moving end of the push rod or the electromagnetic damper 2, and the measured displacement of the brake pedal 1 can be obtained by detecting the relative displacement between the push rod or the moving end and the pedal base. Of course, the displacement detection component 8 and the pressure detection component 7 can adopt a mechanical linkage structure, or directly adopt the corresponding displacement sensor and pressure sensor.

[0197] As an example, refer to Figure 1 As shown, the brake pedal control system also includes an acceleration detection component 6, which is arranged on the mobile end of the electromagnetic damper 2 and is used to collect the measured acceleration of the mobile end. The vehicle-mounted controller is connected to the acceleration detection component 6, and is used to control the operation of the electromagnetic control module 3 according to the measured acceleration, and adjust the damping force provided by the electromagnetic damper 2 to the brake pedal 1. The measured acceleration obtained by the acceleration detection component 6 provides an additional type of braking action data for the vehicle-mounted controller as a reference, so that the vehicle-mounted controller can more comprehensively analyze the action state of the brake pedal 1, thereby more accurately judging the braking purpose of the driver, and also enables the electromagnetic control module 3 to more flexibly adjust the damping force of the electromagnetic damper 2 to better meet the needs of the driver.

[0198] In one embodiment, the acceleration detection component 6 is arranged on the fixed end of the electromagnetic damper 2, and the acceleration detection component 6 is an acceleration sensor. The pressure detection component 7 is arranged on the pedal pad of the brake pedal 1 to directly obtain the pedal force applied by the driver on the pedal pad, and the detection data is more accurate and the error is smaller.

[0199] The above-mentioned brake pedal control system adopts multiple detection components such as pressure detection component 7, displacement detection component 8 and acceleration detection component 6 to collect the measured action data of the brake pedal 1, so that the vehicle-mounted controller can more accurately identify the driver's braking intention, thereby matching the corresponding damping control parameters and improving the driver's user experience.

[0200] As an example, the present invention provides a car, which includes a body assembly and a brake pedal control system, wherein a brake pedal 1 is mounted on the body assembly, and a fixed end of an electromagnetic damper 2 is connected to the body assembly. The brake pedal control system refers to the definition of the brake pedal control system above, and will not be described here again to avoid repeated description.

[0201] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related 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 may 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. By way of 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), synchronization link DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0202] 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.

[0203] The embodiments described above 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 all be included in the protection scope of the present invention.

Claims

1. A brake pedal assembly, characterized in that: Includes brake pedal, electromagnetic damper and electromagnetic control module; The electromagnetic damper comprises a fixed end and a movable end, wherein the fixed end is used to be connected to the vehicle body assembly, and the movable end is connected to the brake pedal via a push rod to provide a damping force to the brake pedal; The electromagnetic control module is connected to the electromagnetic damper and is used to adjust the damping force provided by the electromagnetic damper to the brake pedal.

2. The brake pedal assembly according to claim 1, characterized in that: The electromagnetic damper comprises a hydraulic cylinder and a piston assembly, either one of the hydraulic cylinder and the piston assembly is a fixed end of the electromagnetic damper, and the other is a movable end of the electromagnetic damper; The hydraulic cylinder is filled with hydraulic fluid; The piston assembly seal guide is assembled in the hydraulic cylinder to separate the inner cavity of the hydraulic cylinder into a first chamber and a second chamber; The piston assembly and / or the hydraulic cylinder is provided with a throttling channel, and the throttling channel is connected with the first chamber and the second chamber.

3. The brake pedal assembly according to claim 2, characterized in that: Magnetic particles are mixed in the hydraulic fluid in the hydraulic cylinder; The electromagnetic control module includes a current control unit and an electromagnetic element, and the electromagnetic element is arranged opposite to the throttling channel; The current control unit is connected to the electromagnetic element and is used to adjust the current flowing through the electromagnetic element and change the arrangement of the magnetic particles in the throttling channel.

4. The brake pedal assembly according to claim 3, characterized in that: The electromagnetic element comprises an electromagnetic coil, and the electromagnetic coil is wound on the throttling channel.

5. The brake pedal assembly according to claim 3, characterized in that: The piston assembly comprises a piston rod and a valve body; The valve body is installed at one end of the piston rod, and the valve body cooperates with the inner wall of the hydraulic cylinder in a sealing guide to separate the inner cavity of the hydraulic cylinder into the first chamber and the second chamber; The throttling channel and the electromagnetic element are both arranged on the valve body, and the current control unit is arranged on the piston rod.

6. The brake pedal assembly according to claim 2, characterized in that: A solenoid valve is arranged in the throttling channel, and the solenoid valve is used to control the on-off of the throttling channel.

7. The brake pedal assembly according to claim 2, characterized in that: The brake pedal assembly also includes a return component, the two ends of which are respectively connected to the fixed end and the movable end of the electromagnetic damper, and the return component is used to drive the brake pedal to reset.

8. The brake pedal assembly according to claim 7, characterized in that: The return assembly includes a return spring, which is disposed in the second chamber, and two ends of the return spring are respectively connected to the hydraulic cylinder and the piston assembly.

9. A brake pedal control method, characterized in that: The brake pedal assembly according to any one of claims 1 to 8 comprises: Acquiring braking action data of the brake pedal; According to the braking action data, the electromagnetic control module is controlled to operate and the damping force provided by the electromagnetic damper to the brake pedal is adjusted.

10. The brake pedal control method according to claim 9, characterized in that: The step of obtaining the braking action data of the brake pedal comprises: Obtaining the measured displacement and measured pedaling force of the brake pedal; Determining a target displacement and a target pedaling force of the brake pedal according to the measured displacement and the measured pedaling force; The step of controlling the electromagnetic control module to operate according to the braking action data and adjusting the damping force provided by the electromagnetic damper to the brake pedal comprises: According to the target displacement and the target pedaling force, the electromagnetic control module is controlled to operate, and the damping force provided by the electromagnetic damper to the brake pedal is adjusted.

11. The brake pedal control method according to claim 10, characterized in that: The step of determining the target displacement and the target pedaling force of the brake pedal according to the measured displacement and the measured pedaling force comprises: The measured displacement and the measured pedaling force are subjected to redundant processing to determine a target displacement and a target pedaling force of the brake pedal.

12. The brake pedal control method according to claim 11, characterized in that: The redundant processing of the measured displacement and the measured pedaling force to determine the target displacement and the target pedaling force of the brake pedal includes: Performing validity judgment and signal conversion processing on the measured displacement to obtain a displacement judgment result and an estimated pedaling force corresponding to the measured displacement; Performing validity judgment and signal conversion processing on the measured pedaling force to obtain a pedaling force judgment result and an estimated displacement corresponding to the measured pedaling force; Determining the target displacement according to the displacement judgment result, the measured displacement and the estimated displacement; The target pedaling force is determined according to the pedaling force judgment result, the measured pedaling force and the estimated pedaling force.

13. The brake pedal control method according to claim 12, characterized in that: The step of determining the target displacement according to the displacement judgment result, the measured displacement and the estimated displacement comprises: If the displacement judgment result is that the measured displacement is valid, the measured displacement is determined as the target displacement; if the displacement judgment result is that the measured displacement is invalid, the estimated displacement is determined as the target displacement; The step of determining the target pedaling force according to the pedaling force judgment result, the measured pedaling force and the estimated pedaling force comprises: If the pedaling force judgment result is that the measured pedaling force is valid, the measured pedaling force is determined as the target pedaling force; if the pedaling force judgment result is that the measured pedaling force is invalid, the estimated pedaling force is determined as the target pedaling force.

14. The brake pedal control method according to claim 10, characterized in that: The step of controlling the electromagnetic control module to operate according to the braking action data and adjusting the damping force provided by the electromagnetic damper to the brake pedal comprises: determining a target braking mode of the brake pedal according to the braking action data; Obtaining a damping control parameter corresponding to the target braking mode; According to the braking action data and the damping control parameters corresponding to the target braking mode, the electromagnetic control module is controlled to operate and the damping force provided by the electromagnetic damper to the brake pedal is adjusted.

15. The brake pedal control method according to claim 14, characterized in that: Determining the target braking mode of the brake pedal according to the braking action data includes: If the target displacement is greater than a first preset displacement, determining that the target braking mode of the brake pedal is a first braking mode; The obtaining of the damping control parameter corresponding to the target braking mode includes: Obtaining a first preset pressure, a first preset duration, and a first displacement threshold corresponding to the first braking mode; The controlling the electromagnetic control module to operate and adjusting the damping force provided by the electromagnetic damper to the brake pedal according to the braking action data and the damping control parameter corresponding to the target braking mode comprises: If the first duration that the target pedaling force is less than the first preset pressure is greater than the first preset duration, and the target displacement is within the first displacement threshold, the electromagnetic control module is controlled to operate to increase the damping force provided by the electromagnetic damper to the brake pedal; Wherein, the first preset displacement is greater than an upper limit value of the first displacement threshold.

16. The brake pedal control method according to claim 14, characterized in that: The braking action data includes measured acceleration; Determining the target braking mode of the brake pedal according to the braking action data includes: If the target pedaling force is greater than a second preset pressure, the target displacement is within a second displacement threshold, and the second duration for which the measured acceleration is greater than the first preset acceleration is greater than the second preset duration, then determining that the target braking mode of the brake pedal is the second braking mode; The obtaining of the damping control parameter corresponding to the target braking mode includes: Obtaining a preset growth rate and a second preset acceleration corresponding to the second braking mode; The controlling the electromagnetic control module to operate and adjusting the damping force provided by the electromagnetic damper to the brake pedal according to the braking action data and the damping control parameter corresponding to the target braking mode comprises: Based on a preset growth rate, controlling the electromagnetic control module to work, increasing the damping force provided by the electromagnetic damper to the brake pedal until the measured acceleration is less than the second preset acceleration; Wherein, the second preset acceleration is smaller than the first preset acceleration.

17. 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 described in any one of claims 9 to 16 is implemented.

18. A brake pedal control system, characterized in that: It comprises a pressure detection component, a displacement detection component, a brake pedal assembly according to any one of claims 1 to 8, and a vehicle-mounted controller according to claim 17; The displacement detection component is arranged on the push rod or the brake pedal and is used to obtain the measured displacement of the brake pedal; The pressure detection component is arranged on the brake pedal and is used to obtain the measured pedaling force of the brake pedal; The vehicle-mounted controller is connected to the electromagnetic damper, the pressure detection component and the displacement detection component, and is used to control the operation of the electromagnetic control module and adjust the damping force provided by the electromagnetic damper to the brake pedal according to the braking action data of the brake pedal.

19. The brake pedal control system according to claim 18, characterized in that: The brake pedal control system further includes: An acceleration detection component, arranged on the mobile end of the electromagnetic damper, for collecting the measured acceleration of the mobile end; The vehicle-mounted controller is connected to the acceleration detection component and is used to control the operation of the electromagnetic control module and adjust the damping force provided by the electromagnetic damper to the brake pedal according to the measured acceleration.

20. An automobile, characterized in that: It comprises a brake pedal control system and a vehicle body assembly as described in any one of claims 18 to 19, wherein the brake pedal is mounted on the vehicle body assembly, and the fixed end of the electromagnetic damper is connected to the vehicle body assembly.

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