Pedal simulator and pedal feeling adjusting method

Abstract

The invention relates to a pedal simulator and a pedal feeling adjusting method, the pedal simulator comprises a motor, a push rod, a simulator piston and a brake valve body, the motor comprises a cylindrical pin and an electromagnetic mechanism, the electromagnetic mechanism is of a hollow structure, at least part of the push rod is located in the hollow structure, and the cylindrical pin is fixedly connected with the electromagnetic mechanism and the push rod; one end of the push rod in the moving direction is fixedly connected with the simulator piston; the cylindrical pin is used for transmitting electromagnetic force generated by the electromagnetic mechanism to the push rod, the push rod is used for moving in the moving direction based on the action of the electromagnetic force so that the simulator piston can move in the moving direction in the brake valve body, hydraulic change force is generated, and the pedal force of the preset pedal can be adjusted based on the hydraulic change force.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle braking, and in particular to a pedal simulator and a pedal feel adjustment method. Background Art

[0002] With the rapid electrification and intelligence of automobiles, the development of brake-by-wire technology has received great attention. The current mainstream pedal simulators that work with springs and rubber have the following problems: the static pedal feel is single and cannot meet the driver's demand for a variety of static pedal feels; in the process of matching different OEM models, the simulator device component design and structure need to be changed due to the difference in target pedal feel and multiple rounds of verification, which leads to a long development cycle, resulting in the existing pedal simulators having problems such as single static pedal feel and low development efficiency. Summary of the invention

[0003] The present disclosure provides a pedal simulator and a pedal feel adjustment method to at least solve the technical problems of the related art such as the single static pedal feel and low development efficiency. The technical solution of the present disclosure is as follows:

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a pedal simulator, comprising:

[0005] The pedal simulator comprises: a motor (1), a push rod (2), a simulator piston (3) and a brake valve body (4); the motor (1) comprises: a cylindrical pin (5) and an electromagnetic mechanism (6), wherein:

[0006] The electromagnetic mechanism (6) is a hollow structure, the push rod (2) is at least partially located in the hollow structure, and the cylindrical pin (5) is fixedly connected to the electromagnetic mechanism (6) and the push rod (2) respectively;

[0007] One end of the push rod (2) in the moving direction is fixedly connected to the simulator piston (3); the cylindrical pin (5) is used to transmit the electromagnetic force generated by the electromagnetic mechanism (6) to the push rod (2), and the push rod (2) is used to move in the moving direction based on the action of the electromagnetic force, so that the simulator piston (3) moves in the moving direction in the brake valve body (4) and generates a hydraulic change force to adjust the pedal force of the preset pedal based on the hydraulic change force.

[0008] In an optional embodiment, the electromagnetic mechanism (6) is respectively provided with a first hole and a second hole on both sides of a preset direction, and the push rod is provided with a third hole. The cylindrical pin (5) passes through the first hole, the third hole and the second hole in sequence to be fixedly connected to the electromagnetic mechanism (6) and the push rod (2), respectively, and the preset direction is perpendicular to the moving direction.

[0009] In an optional embodiment, the electromagnetic mechanism (6) further comprises: a coil assembly (7), a permanent magnet group (8), an outer motor yoke (9) and an inner motor yoke (10), wherein:

[0010] The coil assembly (7) comprises a coil winding (11) and a coil frame (12), wherein the coil frame (12) is used to fix the coil winding (11); the permanent magnet group (8) is arranged between the outer yoke (9) of the motor and the inner yoke (10) of the motor, wherein the permanent magnet group (8) is used to provide a constant magnetic field; the permanent magnet group (8) is arranged in a Halbach array; the coil frame (12) and the coil winding (11) are arranged on the outer side of the inner yoke (10) of the motor, wherein the coil winding (11) is used to generate a real-time electromagnetic field when current passes through; the electromagnetic force is generated by the interaction between the real-time electromagnetic field and the constant magnetic field; the coil assembly (7) is a hollow structure, the push rod (2) is at least partially located in the hollow structure, the cylindrical pin is fixedly connected to the coil assembly (7) and the push rod (2) respectively, and one cylindrical pin (2) can connect at most one coil assembly (7) and one push rod (2).

[0011] According to a second aspect of an embodiment of the present disclosure, a pedal feel adjustment method is provided, comprising:

[0012] Pushing a preset pedal and collecting current pedal feel data of the preset pedal under a preset pedal stroke;

[0013] Determine the first pedal force deviation data under the preset pedal stroke based on the current pedal feel data and the target pedal feel data, wherein the target pedal feel data is any one of a plurality of preset pedal feel data; the plurality of preset pedal feel data are relationship data between a plurality of different pedal forces and pedal strokes;

[0014] determining current current data under the preset pedal stroke based on the first pedal force deviation data;

[0015] Powering on the motor in the pedal simulator, and controlling the current of the electromagnetic mechanism in the motor based on the current current data to generate a current electromagnetic force;

[0016] Based on the cylindrical pin in the motor, the current electromagnetic force is transmitted to the push rod in the pedal simulator, and the push rod moves in the moving direction based on the action of the electromagnetic force, so that the simulator piston moves in the brake valve body in the pedal simulator in the moving direction and generates a hydraulic change force, and the pedal force of the preset pedal is adjusted based on the hydraulic change force;

[0017] In the process of adjusting the pedal force based on the hydraulic pressure change force, recollecting current pedal feel data of the preset pedal at the preset pedal stroke;

[0018] When the re-collected current pedal feel data and the second pedal force deviation data corresponding to the target pedal feel data meet a preset condition, the current current data is used as the pedal control current of the preset pedal under the target pedal feel data.

[0019] In an optional embodiment, the method further includes:

[0020] When the second pedal force deviation data does not meet the preset condition, the second pedal force deviation data is used as the first pedal force deviation data, and the process jumps to the step of determining the current current data under the preset pedal stroke based on the first pedal force deviation data.

[0021] In an optional embodiment, pushing the preset pedal and collecting current pedal feel data of the preset pedal under the preset pedal stroke includes:

[0022] pushing the preset pedal;

[0023] In the process of pushing the preset pedal, based on the preset displacement sensor, the displacement of the push rod is collected in real time;

[0024] Determining a first pedal stroke in real time based on the push rod displacement and a preset pedal ratio;

[0025] Based on a preset force sensor, collecting the pedal force corresponding to the first pedal stroke in real time;

[0026] The current pedal feel data is determined based on the first pedal travel and the pedal force.

[0027] In an optional embodiment, the current current data is a first current value corresponding to any pedal stroke under the preset pedal stroke, and the step of powering on the motor in the pedal simulator and controlling the current of the electromagnetic mechanism in the motor based on the current current data to generate the current electromagnetic force includes:

[0028] Powering on the motor to push the preset pedal;

[0029] In the process of pushing the preset pedal, obtaining a second pedal stroke in real time;

[0030] In a case where the second pedal stroke is equal to any pedal stroke in the current current data, determining a second current value corresponding to the second pedal stroke based on the current target current data;

[0031] Based on the second current value, the current of the electromagnetic mechanism is controlled to generate the current electromagnetic force.

[0032] In an optional embodiment, the first pedal force deviation data is a compensation force value corresponding to any pedal stroke under the preset pedal stroke, and determining the current current data under the preset pedal stroke based on the first pedal force deviation data includes:

[0033] Acquire electromagnetic parameters of the electromagnetic mechanism, geometric parameters of the motor, and structural parameters of the motor, wherein the electromagnetic parameters are parameters describing the magnetic field characteristics of the electromagnetic mechanism, the geometric parameters are parameters describing the coil geometric characteristics of the coil winding in the motor, and the structural parameters are coil configuration parameters describing the coil winding;

[0034] The current data is determined based on the electromagnetic parameters, the geometric parameters, the structural parameters and the compensation force value.

[0035] In an optional embodiment, the method further includes:

[0036] Based on a preset pressure sensor, a first hydraulic pressure value is collected in real time, where the hydraulic pressure value is a pressure value of a hydraulic chamber formed by the simulator piston and the brake valve body;

[0037] Based on the first pedal stroke and the first hydraulic pressure value, determining target hydraulic pressure data, the target hydraulic pressure data being a second hydraulic pressure value corresponding to any pedal stroke under the preset pedal stroke;

[0038] In the process of performing brake control on the preset pedal based on the pedal control current, the method further includes:

[0039] Based on the preset displacement sensor, obtaining the third pedal stroke in real time;

[0040] Based on the preset pressure sensor, real-time acquisition of a current hydraulic pressure value corresponding to the third pedal stroke;

[0041] In a case where the third pedal stroke is equal to any pedal stroke in the target hydraulic pressure data, searching for a third hydraulic pressure value corresponding to the third pedal stroke based on the target hydraulic pressure data;

[0042] The pedal control current is adjusted based on the third hydraulic pressure value and the current hydraulic pressure value.

[0043] In an optional embodiment, adjusting the pedal control current based on the third hydraulic pressure value and the current hydraulic pressure value includes:

[0044] When the third hydraulic pressure value is less than the current hydraulic pressure value, reducing the forward current of the pedal control current;

[0045] or,

[0046] Increase the negative current of the pedal control current.

[0047] In an optional embodiment, adjusting the pedal control current based on the third hydraulic pressure value and the current hydraulic pressure value includes:

[0048] In a case where the third hydraulic pressure value is equal to the current hydraulic pressure value, the pedal control current remains unchanged.

[0049] In an optional embodiment, adjusting the pedal control current based on the third hydraulic pressure value and the current hydraulic pressure value includes:

[0050] When the third hydraulic pressure value is greater than the current hydraulic pressure value, increasing the forward current of the pedal control current;

[0051] or,

[0052] The negative current of the pedal control current is reduced.

[0053] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects: the pedal feel is adjusted by the pedal simulator provided by the embodiments of the present application, the electromagnetic mechanism in the motor device is combined with the push rod in the mechanical structure by the cylindrical pin in the motor device, so that the electromagnetic force generated by the electromagnetic mechanism is transmitted to and acts on the push rod by the cylindrical pin, so that the push rod moves in the moving direction, and the simulator piston is driven by the push rod to move in the moving direction in the brake valve body, and a hydraulic change force is generated to adjust the pedal force of the preset pedal based on the hydraulic change force. The present application applies a compensation force on the simulator piston of the electronic control device to eliminate the deviation between the actual pedal force and the target pedal force, which can shorten the development cycle and achieve the diversity of pedal feel of a single product.

[0054] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0056] Figure 1 is a schematic diagram of a pedal simulator according to an exemplary embodiment;

[0057] Figure 2 is a schematic diagram showing a braking system architecture according to an exemplary embodiment;

[0058] Figure 3 is a flow chart of a pedal feel adjustment method according to an exemplary embodiment;

[0059] Figure 4 is a schematic diagram of a process for collecting current pedal feel data of a preset pedal under a preset pedal stroke according to an exemplary embodiment;

[0060] Figure 5 It is a schematic diagram of a process of generating current electromagnetic force according to an exemplary embodiment. DETAILED DESCRIPTION

[0061] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0062] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0063] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties.

[0064] The following first introduces an embodiment of a pedal simulator of the present application. Figure 1 The pedal simulator comprises: a motor 1, a push rod 2, a simulator piston 3 and a brake valve body 4. The motor 1 comprises: a cylindrical pin 5 and an electromagnetic mechanism 6. The functions of the various components in the device and the connection relationship between them are specifically described below to better understand the present application:

[0065] The electromagnetic mechanism 6 is a hollow structure, the push rod 2 is at least partially located in the hollow structure, and the cylindrical pin 5 is fixedly connected to the electromagnetic mechanism 6 and the push rod 2 respectively.

[0066] One end of the push rod 2 in the moving direction is fixedly connected to the simulator piston 3; the cylindrical pin 5 is used to transmit the electromagnetic force generated by the electromagnetic mechanism 6 to the push rod 2, and the push rod 2 is used to move in the moving direction based on the action of the electromagnetic force, so that the simulator piston 3 moves in the moving direction in the brake valve body 4 and generates a hydraulic change force to adjust the pedal force of the preset pedal based on the hydraulic change force.

[0067] In addition, the electromagnetic mechanism 6 also includes a coil assembly 7, a permanent magnet group 8, a motor outer yoke 9 and a motor inner yoke 10. The pedal simulator also includes: a housing 13, a large spring seat 14, a housing 2 15, a large rubber block 16, a pressure ring 17, a circular sealing ring 18, a rectangular sealing ring 19, a small spring seat 20, a transition rubber 21, a screw group 1 22, a screw group 23, a large spring 24 and a small spring 25. The motor 1 also includes: a motor upper end cover 26 and a motor lower end cover 27.

[0068] Furthermore, the electromagnetic mechanism 6 is respectively provided with a first hole and a second hole on both sides of a preset direction, and the push rod is provided with a third hole. The cylindrical pin 5 passes through the first hole, the third hole and the second hole in sequence to be fixedly connected with the electromagnetic mechanism 6 and the push rod 2 respectively. The preset direction is perpendicular to the moving direction.

[0069] More specifically, the motor inner yoke 10 is in the motor lower end cover 27, the coil assembly 7 includes a coil winding 11 and a coil frame 12, the coil frame 12 is used to fix the coil winding 11, and a permanent magnet group 8 is arranged between the motor outer yoke 9 and the motor inner yoke 10, wherein the motor inner yoke 10 is a hollow cylinder with a coil assembly 7 on the outside, the permanent magnet group 8 is close to the inner wall of the outer yoke, and a gap is left with the inner yoke; the permanent magnet group 8 is used to provide a constant magnetic field; the permanent magnet group 8 is arranged in a Halbach array; the outer side of the motor inner yoke 10 is provided with a coil frame 12 and a coil winding 11, and the coil winding 11 is used to generate a real-time electromagnetic field when current passes through; the electromagnetic force is generated by the interaction between the real-time electromagnetic field and the constant magnetic field, the coil assembly 7 is a hollow structure, the push rod 2 is at least partially located in the hollow structure, and the cylindrical pin 5 is fixedly connected to the coil assembly 7 and the push rod 2 respectively and can move along the moving direction. A cylindrical pin 5 can connect at most one coil assembly 7 and one push rod 2. Among them, the magnitude and direction of the current will change the magnitude and direction of the electromagnetic force, and determine whether the simulator piston 3 is assisted or resisted during movement in the moving direction. It is defined that the electromagnetic force applied to the simulator piston 3 is upward as positive, and the corresponding motor drive current direction is positive; the electromagnetic force applied to the piston is downward as negative, and the corresponding motor drive current direction is negative. Among them, the number of permanent magnet groups 8 and the number of coil assemblies 7 can be changed according to actual needs. If the electromagnetic force needs to be reduced, the number of permanent magnet groups 8 and the number of coil assemblies 7 can be reduced; if the electromagnetic force needs to be increased, the number of permanent magnet groups 8 and the number of coil assemblies 7 can be increased. The specific specifications are determined according to actual needs.

[0070] One end of the push rod 2 in the moving direction is fixedly connected to the simulator piston 3 by riveting; the simulator piston 3 is placed in the brake valve body 4 to form a hydraulic cavity with it, and is sealed by a rectangular sealing ring 19. When the driver steps on the brake pedal, the hydraulic oil in the brake master cylinder is pushed into the above hydraulic cavity, and the simulator piston 3 is pushed by the hydraulic pressure to move along the moving direction. At the same time, the spring and rubber combination inside the pedal simulator are squeezed to produce deformation and provide reaction force to the driver's pedal, forming brake pedal force feedback. Among them, the small spring 25, large spring 24, transition rubber 21, and large rubber block 16 inside the pedal simulator are the main parts for generating brake pedal force feedback. The transition rubber 21 is placed in the groove of the simulator piston 3, and a certain gap is left at the bottom of the small spring seat 20; the two ends of the small spring 25 are respectively connected to the simulator piston 3 and the bottom of the small spring seat 20; the two ends of the large spring 24 are respectively connected to the bottom of the small spring seat 20 and the bottom of the large spring seat 14; the large rubber block 16 is placed on the inner side of the end of the pedal simulator and maintains a certain gap with the push rod 2. When the simulator piston 3 moves forward as the driver steps on the brake pedal, the small spring 25, the transition rubber 21, the large spring 24, and the large rubber block 16 are squeezed in turn, and the above deformation parts either individually or in combination produce different stiffnesses to achieve brake pedal force feedback that changes with the pedal stroke. The pedal simulator housing is divided into two parts: one end of the housing 13 is fixed to the brake valve body 4 via a pressure ring 17, and the other end is fixed to the motor upper end cover 26 via a screw group 122. The two sides of the internal boss of the housing 13 serve as the bottom end of the large spring seat 14 and the limit surface of the motor upper end cover 26 respectively; the housing 2 15 is fixedly connected to the motor lower end cover 27 via a screw group 23. The cylindrical pin 5 is used to transmit the electromagnetic force generated by the electromagnetic mechanism 6 to the push rod 2, and the push rod 2 is used to move in the moving direction based on the action of the electromagnetic force, so that the simulator piston 3 moves in the moving direction in the brake valve body 4, and generates a hydraulic change force to adjust the pedal force of the preset pedal based on the hydraulic change force. Among them, the moving direction of the push rod 2 is consistent with the direction of the electromagnetic force.

[0071] As can be seen from the above content, the pedal feel can be adjusted by combining the pedal simulator provided in the embodiment of the present application. The permanent magnet group arranged in the Halbach array can optimize the magnetic field distribution and enhance the strength of the constant magnetic field. The constant magnetic field provided by the permanent magnet group interacts with the real-time magnetic field generated by the coil winding to generate electromagnetic force. Since the cylindrical pin fixes the coil assembly to the push rod, the cylindrical pin can transmit the electromagnetic force to the push rod. The push rod moves in the moving direction under the action of the electromagnetic force. Since the push rod is connected to the simulator piston by riveting, the movement of the push rod will cause the simulator piston to move in the moving direction in the brake valve body, thereby generating a hydraulic change force in the hydraulic chamber, and then adjusting the pedal force of the preset pedal. The present application combines the mechanical structure with the electronic control device, performs force compensation through the electronic control device, and applies a compensation force on the simulator piston by controlling the current to eliminate the deviation between the actual pedal force and the target pedal force, which can shorten the development cycle and achieve the diversity of pedal feel of a single product.

[0072] In a specific embodiment, Figure 2 As shown, Figure 2 The braking system architecture of the pedal simulator of the present application includes:

[0073] Brake pedal 1, push rod 2, brake master cylinder 3, pedal simulator isolation valve 4, pedal simulator 5, displacement sensor 6, force sensor 7, pressure sensor 8 and master cylinder piston 9.

[0074] In a specific embodiment, the pedal sensor 5, displacement sensor 6, force sensor 7, and pressure sensor 8 are connected to the electronic controller unit, and the motors in the solenoid valve and the pedal simulator are connected to their respective control drive circuits. The pedal sensor 5, displacement sensor 6, force sensor 7, and pressure sensor 8 return the collected data to the electronic controller unit, which, after data processing and control algorithm calculation, outputs corresponding control signals to the respective drive circuit modules of the motor and the solenoid valve, to achieve control of the electromagnetic force output by the motor and switching of the on / off state of the solenoid valve.

[0075] Combine the following Figures 3 to 5 A pedal feel adjustment method is described.

[0076] like Figure 3 As shown, Figure 3 is a flow chart of a pedal feel adjustment method according to an exemplary embodiment, the method may include the following steps:

[0077] Step S301 , pushing a preset pedal, and collecting current pedal feel data of the preset pedal within a preset pedal stroke.

[0078] In a specific embodiment, Figure 4As shown, the above-mentioned pushing of the preset pedal and collecting the current pedal feel data of the preset pedal under the preset pedal stroke includes:

[0079] Step S401, pushing a preset pedal.

[0080] In a specific embodiment, before pushing the preset pedal, the method may include: powering on the pedal simulator solenoid valve, connecting the brake master cylinder with the pedal simulator, and powering off the motor in the pedal simulator.

[0081] In a specific embodiment, pushing the preset pedal may include: pushing the preset pedal based on a preset rate.

[0082] Step S403: In the process of pushing the preset pedal, the displacement of the push rod is collected in real time based on the preset displacement sensor.

[0083] Step S405, determining the first pedal stroke in real time based on the push rod displacement and the preset pedal ratio.

[0084] In a specific embodiment, the real-time determination of the first pedal stroke based on the push rod displacement and the preset pedal ratio may include: multiplying the push rod displacement by the preset pedal ratio to obtain the first pedal stroke.

[0085] Step S407: Based on a preset force sensor, the pedal force corresponding to the first pedal stroke is collected in real time.

[0086] Step S409: determining current pedal feel data based on the first pedal stroke and the pedal force.

[0087] In a specific embodiment, the current pedal feel data is data describing the relationship between the current pedal force and the pedal travel.

[0088] Step S303: determining first pedal force deviation data under a preset pedal stroke based on the current pedal feel data and the target pedal feel data.

[0089] In a specific embodiment, the target pedal feel data is any one of a plurality of preset pedal feel data. In a specific embodiment, the plurality of preset pedal feel data are relationship data between a plurality of different pedal forces and pedal travels. Specifically, the plurality of preset pedal feel data can be preset in combination with actual application requirements.

[0090] Step S305: determining current current data under a preset pedal stroke based on the first pedal force deviation data.

[0091] In a specific embodiment, the first pedal force deviation data is a compensation force value corresponding to any pedal stroke under a preset pedal stroke, and the determining of the current current data under the preset pedal stroke based on the first pedal force deviation data includes:

[0092] Obtaining electromagnetic parameters of the electromagnetic mechanism, geometric parameters of the motor, and structural parameters of the motor;

[0093] Based on electromagnetic parameters, geometric parameters, structural parameters and compensation force values, current data are determined.

[0094] In a specific embodiment, the electromagnetic parameter is a parameter describing the magnetic field characteristics of the electromagnetic mechanism, the geometric parameter is a parameter describing the coil geometric characteristics of the coil winding in the motor, and the structural parameter is a coil configuration parameter describing the coil winding. Specifically, the electromagnetic parameter is the induced magnetic field strength, the geometric parameter is the length of a single turn of the coil winding, and the structural parameter is the number of coil winding groups. Accordingly, based on the electromagnetic parameter, the geometric parameter, the structural parameter and the compensation force value, determining the current current data may include: based on the formula ΔF=F e =BLNi, where ΔF is the compensation force value, F e is the electromagnetic force, B is the induced magnetic field strength, L is the length of a single turn of the coil winding, and N is the number of coil winding groups, and the current current data i is determined. Specifically, the induced magnetic field strength can be the magnetic field strength of the constant magnetic field provided by the permanent magnet group.

[0095] Step S307, powering on the motor in the pedal simulator, and controlling the current of the electromagnetic mechanism in the motor based on the current current data to generate the current electromagnetic force.

[0096] In a specific embodiment, Figure 5 As shown, the above current current data is a first current value corresponding to any pedal stroke under a preset pedal stroke, and the above powering on the motor in the pedal simulator and controlling the current of the electromagnetic mechanism in the motor based on the current current data to generate the current electromagnetic force includes:

[0097] Step S501, power on the motor to push the preset pedal.

[0098] In a specific embodiment, pushing the preset pedal may include: pushing the preset pedal based on a preset rate.

[0099] Step S503, in the process of pushing the preset pedal, obtaining the second pedal stroke in real time.

[0100] In a specific embodiment, in the process of pushing the preset pedal, the real-time acquisition of the second pedal stroke can refer to the real-time determination of the first pedal stroke, which will not be repeated here.

[0101] Step S505 , when the second pedal stroke is equal to any pedal stroke in the current current data, a second current value corresponding to the second pedal stroke is determined based on the current target current data.

[0102] Step S507: Based on the second current value, control the current of the electromagnetic mechanism to generate the current electromagnetic force.

[0103] In a specific embodiment, the above-mentioned control of the current of the electromagnetic mechanism based on the second current value to generate the current electromagnetic force may include: the electronic controller unit outputs the second current value to the drive control circuit of the motor to make the coil winding generate a real-time magnetic field, and the real-time magnetic field and the constant magnetic field provided by the permanent magnet group interact to generate the current electromagnetic force.

[0104] Step S309, based on the cylindrical pin in the motor, the current electromagnetic force is transmitted to the push rod in the pedal simulator, and the push rod moves in the moving direction based on the action of the electromagnetic force, so that the simulator piston moves in the moving direction in the brake valve body in the pedal simulator, and generates a hydraulic change force, and adjusts the pedal force of the preset pedal based on the hydraulic change force.

[0105] In a specific embodiment, the cylindrical pin in the motor is used to transmit the current electromagnetic force to the push rod in the pedal simulator, and the push rod moves in the moving direction (for example, Figure 1 The invention relates to a pedal simulator that is adapted to move the simulator piston in the brake valve body in the pedal simulator in the moving direction and generate a hydraulic changing force. The pedal force of the preset pedal can be adjusted based on the hydraulic changing force. The method comprises: based on the cylindrical pin in the motor, transmitting the electromagnetic force from the coil assembly in the motor to the push rod in the pedal simulator, and the push rod moves in the moving direction under the action of the electromagnetic force. Since the push rod is connected to the simulator piston by riveting, the movement of the push rod causes the simulator piston to move in the moving direction in the brake valve body in the pedal simulator, thereby causing the hydraulic cavity formed by the simulator piston and the brake valve body to generate a hydraulic changing force, and transmitting the hydraulic changing force of the hydraulic cavity to the brake master cylinder in the braking system, resulting in the generation of a hydraulic changing force in the brake master cylinder, and based on the master cylinder piston in the braking system, transmitting the hydraulic changing force of the brake master cylinder to the preset pedal, so that the hydraulic changing force of the brake master cylinder adjusts the pedal force of the preset pedal, wherein the moving direction is consistent with the direction of the electromagnetic force.

[0106] Step S311 , in the process of adjusting the pedal force based on the hydraulic pressure change force, re-collecting the current pedal feel data of the preset pedal under the preset pedal stroke.

[0107] In a specific embodiment, the above-mentioned re-collection of the current pedal feel data of the preset pedal under the preset pedal stroke can refer to the above-mentioned collection of the current pedal feel data of the preset pedal under the preset pedal stroke, which will not be repeated here.

[0108] Step S313 , when the second pedal force deviation data corresponding to the re-collected current pedal feel data and the target pedal feel data meet a preset condition, the current current data is used as the pedal control current of the preset pedal under the target pedal feel data.

[0109] In a specific embodiment, the above-mentioned use of the current current data as the pedal control current of the preset pedal under the target pedal feel data may include: when the second pedal force deviation data corresponding to the current pedal feel data and the target pedal feel data after re-collection of the adjusted pedal force meets the preset conditions, using the target current data corresponding to the second pedal force deviation data that currently meets the preset conditions as the pedal control current of the preset pedal under the target pedal feel data, so that in the subsequent actual use of the preset pedal, the current can be output in real time based on the pedal control current.

[0110] In a specific embodiment, the above method further includes:

[0111] When the second pedal force deviation data does not meet the preset condition, the second pedal force deviation data is used as the first pedal force deviation data, and the process jumps to the step of determining the current current data under the preset pedal stroke based on the first pedal force deviation data.

[0112] In a specific embodiment, the above-mentioned step of using the second pedal force deviation data as the first pedal force deviation data and jumping to the step of determining the current current data under the preset pedal stroke based on the first pedal force deviation data when the second pedal force deviation data does not meet the preset conditions may include: when the current pedal feel data after re-collecting and adjusting the pedal force and the second pedal force deviation data corresponding to the target pedal feel data meet the non-preset conditions, using the second pedal force deviation data as the first pedal force deviation data, recalculating the target current data, and adjusting the pedal force until the pedal feel data after re-collecting and the pedal force deviation data corresponding to the target pedal feel data meet the preset conditions.

[0113] In a specific embodiment, during the actual use of the preset pedal, even if the preset pedal is brake controlled according to the pedal control current, the pedal feel data may be offset to a certain extent due to a certain degree of component wear, hydraulic chamber leakage, sealing ring aging, pedal speed changes, brake fluid gas content, water content changes, vehicle ambient temperature changes (brake fluid, seals, rubber damping parts working characteristics are affected), etc., reducing the stability and consistency of the pedal simulation function. Therefore, the above method also includes:

[0114] Based on a preset pressure sensor, a first hydraulic pressure value is collected in real time;

[0115] Based on the first pedal stroke and the first hydraulic pressure value, a target hydraulic pressure data is determined, where the target hydraulic pressure data is a second hydraulic pressure value corresponding to any pedal stroke under a preset pedal stroke.

[0116] In a specific embodiment, the hydraulic pressure value is a pressure value of a hydraulic chamber formed by a simulator piston and a brake valve body.

[0117] In a specific embodiment, during the process of performing brake control on a preset pedal based on the pedal control current, the method further includes:

[0118] Based on a preset displacement sensor, the third pedal stroke is obtained in real time;

[0119] Based on a preset pressure sensor, the current hydraulic pressure value corresponding to the third pedal stroke is collected in real time;

[0120] When the third pedal stroke is equal to any pedal stroke in the target hydraulic pressure data, searching for a third hydraulic pressure value corresponding to the third pedal stroke based on the target hydraulic pressure data;

[0121] Based on the third hydraulic pressure value and the current hydraulic pressure value, the pedal control current is adjusted.

[0122] In a specific embodiment, the above-mentioned real-time acquisition of the third pedal stroke may refer to the above-mentioned real-time determination of the first pedal stroke, which will not be repeated here.

[0123] In the above embodiment, during the actual use of the preset pedal, after the current is output in real time based on the pedal control current, the third pedal stroke and the current hydraulic value corresponding to the third pedal stroke are also obtained in real time. In combination with the target hydraulic data, the third hydraulic value corresponding to the third pedal stroke is determined, and based on the third hydraulic value and the current hydraulic value, the pedal control current is adjusted. This can eliminate the deviation in the brake pedal feel caused by the tolerances of the brake master cylinder and the pedal simulator during the manufacturing and assembly process, the operating status of the device, and the vehicle driving environment, thereby improving the stability and consistency of the pedal simulator function.

[0124] In a specific embodiment, adjusting the pedal control current based on the third hydraulic pressure value and the current hydraulic pressure value includes:

[0125] When the third hydraulic pressure value is less than the current hydraulic pressure value, reducing the forward current of the pedal control current;

[0126] or,

[0127] When the pressure difference is greater than a preset value, the negative current of the pedal control current is increased.

[0128] In a specific embodiment, the above-mentioned reduction of the positive current of the pedal control current, or the increase of the negative current of the pedal control current, can cause the simulator piston to move downward and reduce the pressure in the hydraulic chamber.

[0129] In a specific embodiment, adjusting the pedal control current based on the third hydraulic pressure value and the current hydraulic pressure value includes:

[0130] When the third hydraulic pressure value is equal to the current hydraulic pressure value, the pedal control current remains unchanged.

[0131] In a specific embodiment, the above-mentioned pedal control current remains unchanged so that the simulator piston remains stationary and the hydraulic pressure in the hydraulic chamber remains unchanged.

[0132] In a specific embodiment, adjusting the pedal control current based on the third hydraulic pressure value and the current hydraulic pressure value includes:

[0133] When the third hydraulic pressure value is greater than the current hydraulic pressure value, increasing the forward current;

[0134] or,

[0135] Reduce negative current.

[0136] In a specific embodiment, the above-mentioned increase in the positive current or the decrease in the negative current can cause the simulator piston to move upward and increase the pressure in the hydraulic chamber.

[0137] In a specific embodiment, after adjusting the pedal control current based on the third hydraulic value and the current hydraulic value, the method further includes: collecting the third hydraulic value after adjusting the pedal control current in real time, and when the absolute value of the pressure difference between the third hydraulic value after adjusting the pedal control current and the current hydraulic value is less than a preset threshold, the pedal control current adjustment under the current pedal stroke ends. In a specific embodiment, after adjusting the pedal control current based on the third hydraulic value and the current hydraulic value, the method further includes: when the absolute value of the pressure difference between the third hydraulic value after adjusting the pedal control current and the current hydraulic value is greater than a preset threshold, the pedal control current is readjusted based on the pressure difference between the third hydraulic value after adjusting the pedal control current and the current hydraulic value until the third hydraulic value after adjusting the pedal control current and the current hydraulic value are less than the preset threshold.

[0138] It can be seen from the technical solutions provided by the above embodiments of the pedal simulator and pedal feel adjustment method of the present application that the pedal feel is adjusted by the pedal simulator provided by the present application. First, the preset pedal is pushed, and the current pedal feel data is collected under the preset pedal stroke, which can accurately reflect the state of the current pedal and provide raw data support for the subsequent pedal feel adjustment. Based on the current pedal feel data and the target pedal feel data, the pedal force deviation data is determined to obtain the difference between the current pedal feel and the ideal pedal feel, which provides a basis for the subsequent electronic control adjustment. According to the pedal force deviation data, the corresponding target current data is determined, the mechanical force deviation is converted into current, and the electromagnetic force is generated by powering on the motor and controlling the current, and then the electromagnetic force is transmitted to the push rod through the cylindrical pin. The push rod moves in the moving direction under the action of the electromagnetic force, so that the simulator piston is pushed to move in the moving direction in the brake valve body, thereby generating a hydraulic change force, and the pedal force is adjusted based on the hydraulic change force. Under the premise of not changing the master cylinder and the simulator design, the mechanical force can be converted into current to generate electromagnetic force for force compensation, thereby achieving the target pedal feel requirement, effectively shortening the pedal simulation matching development cycle, and realizing the pedal feel diversity of a single product.

[0139] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0140] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A pedal simulator, characterized in that: The pedal simulator comprises: a motor (1), a push rod (2), a simulator piston (3) and a brake valve body (4); the motor (1) comprises: a cylindrical pin (5) and an electromagnetic mechanism (6), wherein: The electromagnetic mechanism (6) is a hollow structure, the push rod (2) is at least partially located in the hollow structure, and the cylindrical pin (5) is fixedly connected to the electromagnetic mechanism (6) and the push rod (2) respectively; One end of the push rod (2) in the moving direction is fixedly connected to the simulator piston (3); the cylindrical pin (5) is used to transmit the electromagnetic force generated by the electromagnetic mechanism (6) to the push rod (2), and the push rod (2) is used to move in the moving direction based on the action of the electromagnetic force, so that the simulator piston (3) moves in the moving direction in the brake valve body (4) and generates a hydraulic change force to adjust the pedal force of the preset pedal based on the hydraulic change force.

2. A pedal simulator according to claim 1, characterized in that: The electromagnetic mechanism (6) is provided with a first hole and a second hole on both sides of a preset direction, respectively; the push rod is provided with a third hole; the cylindrical pin (5) passes through the first hole, the third hole and the second hole in sequence to be fixedly connected to the electromagnetic mechanism (6) and the push rod (2), respectively; and the preset direction is perpendicular to the moving direction.

3. A pedal simulator according to claim 1, characterized in that: The electromagnetic mechanism (6) further comprises: a coil assembly (7), a permanent magnet group (8), an outer motor yoke (9) and an inner motor yoke (10), wherein: The coil assembly (7) comprises a coil winding (11) and a coil frame (12), wherein the coil frame (12) is used to fix the coil winding (11); the permanent magnet group (8) is arranged between the outer yoke (9) of the motor and the inner yoke (10) of the motor, wherein the permanent magnet group (8) is used to provide a constant magnetic field; the permanent magnet group (8) is arranged in a Halbach array; the coil frame (12) and the coil winding (11) are arranged on the outer side of the inner yoke (10) of the motor, wherein the coil winding (11) is used to generate a real-time electromagnetic field when current passes through; the electromagnetic force is generated by the interaction between the real-time electromagnetic field and the constant magnetic field; the coil assembly (7) is a hollow structure, the push rod (2) is at least partially located in the hollow structure, the cylindrical pin is fixedly connected to the coil assembly (7) and the push rod (2) respectively, and one cylindrical pin (2) can connect at most one coil assembly (7) and one push rod (2).

4. A pedal feel adjustment method, characterized in that: The pedal feel is adjusted by the pedal simulator device according to any one of claims 1 to 3, the method comprising: Pushing a preset pedal and collecting current pedal feel data of the preset pedal under a preset pedal stroke; Determine the first pedal force deviation data under the preset pedal stroke based on the current pedal feel data and the target pedal feel data, wherein the target pedal feel data is any one of a plurality of preset pedal feel data; the plurality of preset pedal feel data are relationship data between a plurality of different pedal forces and pedal strokes; determining current current data under the preset pedal stroke based on the first pedal force deviation data; Powering on the motor in the pedal simulator, and controlling the current of the electromagnetic mechanism in the motor based on the current current data to generate a current electromagnetic force; Based on the cylindrical pin in the motor, the current electromagnetic force is transmitted to the push rod in the pedal simulator, and the push rod moves in the moving direction based on the action of the electromagnetic force, so that the simulator piston moves in the brake valve body in the pedal simulator in the moving direction and generates a hydraulic change force, and the pedal force of the preset pedal is adjusted based on the hydraulic change force; In the process of adjusting the pedal force based on the hydraulic pressure change force, recollecting current pedal feel data of the preset pedal at the preset pedal stroke; When the re-collected current pedal feel data and the second pedal force deviation data corresponding to the target pedal feel data meet a preset condition, the current current data is used as the pedal control current of the preset pedal under the target pedal feel data.

5. The pedal feel adjustment method according to claim 4, characterized in that: The method further comprises: When the second pedal force deviation data does not meet the preset condition, the second pedal force deviation data is used as the first pedal force deviation data, and the process jumps to the step of determining the current current data under the preset pedal stroke based on the first pedal force deviation data.

6. The pedal feel adjustment method according to claim 4, characterized in that: The pushing of the preset pedal and collecting the current pedal feel data of the preset pedal under the preset pedal stroke includes: pushing the preset pedal; In the process of pushing the preset pedal, based on the preset displacement sensor, the displacement of the push rod is collected in real time; Determining a first pedal stroke in real time based on the push rod displacement and a preset pedal ratio; Based on a preset force sensor, collecting the pedal force corresponding to the first pedal stroke in real time; The current pedal feel data is determined based on the first pedal travel and the pedal force.

7. The pedal feel adjustment method according to claim 4, characterized in that: The current current data is a first current value corresponding to any pedal stroke under the preset pedal stroke, and the step of powering on the motor in the pedal simulator and controlling the current of the electromagnetic mechanism in the motor based on the current current data to generate the current electromagnetic force includes: Powering on the motor to push the preset pedal; In the process of pushing the preset pedal, obtaining a second pedal stroke in real time; In a case where the second pedal stroke is equal to any pedal stroke in the current current data, determining a second current value corresponding to the second pedal stroke based on the current target current data; Based on the second current value, the current of the electromagnetic mechanism is controlled to generate the current electromagnetic force.

8. The pedal feel adjustment method according to claim 4, characterized in that: The first pedal force deviation data is a compensation force value corresponding to any pedal stroke under the preset pedal stroke, and the determining of the current current data under the preset pedal stroke based on the first pedal force deviation data includes: Acquire electromagnetic parameters of the electromagnetic mechanism, geometric parameters of the motor, and structural parameters of the motor, wherein the electromagnetic parameters are parameters describing the magnetic field characteristics of the electromagnetic mechanism, the geometric parameters are parameters describing the coil geometric characteristics of the coil winding in the motor, and the structural parameters are coil configuration parameters describing the coil winding; The current data is determined based on the electromagnetic parameters, the geometric parameters, the structural parameters and the compensation force value.

9. The pedal feel adjustment method according to any one of claims 4 to 8, characterized in that: The method further comprises: Based on a preset pressure sensor, a first hydraulic pressure value is collected in real time, where the hydraulic pressure value is a pressure value of a hydraulic chamber formed by the simulator piston and the brake valve body; Based on the first pedal stroke and the first hydraulic pressure value, determining target hydraulic pressure data, the target hydraulic pressure data being a second hydraulic pressure value corresponding to any pedal stroke under the preset pedal stroke; In the process of performing brake control on the preset pedal based on the pedal control current, the method further includes: Based on the preset displacement sensor, obtaining the third pedal stroke in real time; Based on the preset pressure sensor, real-time acquisition of a current hydraulic pressure value corresponding to the third pedal stroke; When the third pedal stroke is equal to any pedal stroke in the target hydraulic pressure data, searching for a third hydraulic pressure value corresponding to the third pedal stroke based on the target hydraulic pressure data; The pedal control current is adjusted based on the third hydraulic pressure value and the current hydraulic pressure value.

10. The pedal feel adjustment method according to claim 9, characterized in that: The adjusting the pedal control current based on the third hydraulic pressure value and the current hydraulic pressure value comprises: When the third hydraulic pressure value is less than the current hydraulic pressure value, reducing the forward current of the pedal control current; or, Increase the negative current of the pedal control current.

11. The pedal feel adjustment method according to claim 9, characterized in that: The adjusting the pedal control current based on the third hydraulic pressure value and the current hydraulic pressure value comprises: When the third hydraulic pressure value is equal to the current hydraulic pressure value, the pedal control current remains unchanged.

12. The pedal feel adjustment method according to claim 9, characterized in that: The adjusting the pedal control current based on the third hydraulic pressure value and the current hydraulic pressure value comprises: When the third hydraulic pressure value is greater than the current hydraulic pressure value, increasing the forward current of the pedal control current; or, The negative current of the pedal control current is reduced.

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