Simulator, brake system, vehicle, pedal resistance control method and device

Abstract

The invention discloses a simulator, a braking system, a vehicle, a pedal resistance control method and device, a computer readable storage medium and a computer program product. The pedal aims at solving the problems that the treading force of a pedal is fixed, and different driving requirements are difficult to meet. The pressure intensity of gas in the elastic bag of the simulator is changed, so that when the same braking force is generated, the pressure provided by the elastic bag for brake oil in the main cylinder body through the auxiliary piston is changed, the pedal resistance is changed, different driving requirements are met, and the user experience is improved.

Description

Simulator, braking system, vehicle, pedal resistance control method and device Technical Field

[0001] The embodiments of the present application relate to the field of automotive technology, and specifically to a simulator, a braking system, a vehicle, a pedal resistance control method and device, a computer-readable storage medium, and a computer program product. Background Art

[0002] A vehicle's braking system includes a pedal, a master cylinder, a power assist system, and a brake pump. The pedal is connected to the piston in the master cylinder, which is in turn connected to the brake pump. The pedal is used to drive the piston, which in turn drives the brake fluid in the master cylinder to flow to the brake pump for braking. The power assist system detects the movement of the pedal and drives the brake pump accordingly, reducing the force required by the driver to step on the pedal. When braking, the pedal's pressure and the power assist system's pressure jointly drive the brake pump to apply the brake. When the brake pump generates the same braking force, the required pedal force is fixed, making it difficult to adapt to different driving needs.

[0003] Summary of the Invention

[0004] The embodiments of the present application provide a simulator, a braking system, a vehicle, a pedal resistance control method and device, a computer-readable storage medium, and a computer program product, thereby meeting different driving needs and improving user experience.

[0005] In the first aspect, an embodiment of the present application provides a simulator, comprising: a secondary cylinder, a secondary piston, an elastic bag and a controller, wherein the secondary cylinder is connected to the main cylinder of the braking system, and the main piston in the main cylinder is connected to the pedal; the secondary piston is arranged in the secondary cylinder; the elastic bag is arranged in the secondary cylinder, and the elastic bag is used to drive the secondary piston to move toward the bottom of the secondary cylinder; the elastic bag is used to be connected to the gas supply system, and the controller is used to connect to the gas supply system and control the gas supply system to deliver gas to the elastic bag to adjust the pressure of the gas in the elastic bag.

[0006] Through the above setting, the controller is connected to the gas supply system, and the controller controls the gas supply system to supply gas to the elastic bag, which can adjust the gas pressure in the elastic bag and then adjust the volume of the elastic bag; since the gas pressure in the elastic bag changes, when the same braking force is generated (the same pedal displacement), the pressure provided by the elastic bag to the brake oil in the master cylinder through the secondary piston changes, so as to change the pedal resistance, thereby meeting different driving needs and improving the user experience.

[0007] In some embodiments that may include the above embodiments, the simulator further includes a pressure detection device, which is disposed in the elastic sac and electrically connected to the controller, and is used to detect the pressure of the gas in the elastic sac.

[0008] With this setup, the pressure detection device transmits detected gas pressure data to the controller. Based on this feedback, the controller controls the gas supply system to deliver gas to the elastic bladder, achieving precise control of the gas pressure within the bladder and, consequently, the pedal resistance. This allows for precise adjustment of the pedal resistance curve to improve vehicle performance.

[0009] In some embodiments that may include the above embodiments, the elastic sac includes a first elastic sac and a second elastic sac, both of which are arranged in the auxiliary cylinder body, and the controller is used to control the gas supply system to deliver gas to the first elastic sac and the second elastic sac.

[0010] With this arrangement, the first elastic bag and the second elastic bag simultaneously press against the auxiliary piston to form pedal resistance; when the first elastic bag or the second elastic bag is damaged, the other elastic bag can still ensure the pressing force on the auxiliary piston to ensure stable pedal resistance.

[0011] In some embodiments that may include the above embodiments, the simulator further includes a first control valve, the controller is electrically connected to the first control valve, and the elastic bladder is connected to the gas supply system via the first control valve. With this arrangement, the controller can also control the gas supply system via the first control valve to inject gas into the elastic bladder to adjust the gas pressure within the elastic bladder, thereby adjusting the pedal resistance.

[0012] In some embodiments that may include the above embodiments, the first control valve comprises a three-way valve. When the valve core of the three-way valve is in a first position, the three-way valve connects the gas supply system and the elastic bladder. When the valve core of the three-way valve is in a second position, the three-way valve blocks the gas supply system from connecting to the elastic bladder. When the valve core of the three-way valve is in a third position, the three-way valve connects the elastic bladder to the external environment. In the first position, the gas supply system supplies gas to the elastic bladder, causing the brake fluid in the slave cylinder to flow into the master cylinder, increasing the brake fluid pressure in the master cylinder and thereby increasing the pedal resistance. In the second position, the gas supply system is disconnected from the elastic bladder, maintaining the gas pressure in the elastic bladder constant, thereby maintaining the brake fluid pressure in the master cylinder and the pedal resistance constant. In the third position, the gas in the elastic bladder is released to the outside through the first control valve, thereby reducing the gas pressure in the elastic bladder, thereby reducing the brake fluid pressure in the master cylinder and the pedal resistance. With the above configuration, the controller can adjust the gas pressure in the elastic bladder by controlling the valve core of the first control valve to different positions, thereby adjusting the pedal resistance.

[0013] In some embodiments that may include the above-mentioned embodiments, the pressure detection device constantly detects the gas pressure in the elastic bag. When delivering gas to the first elastic bag and the second elastic bag, the controller can obtain the rate at which the first elastic bag and the second elastic bag deliver gas (the ratio of the air pressure change to the corresponding time) through the pressure detection device in the first elastic bag and the second elastic bag, and then obtain the gas pressure in the gas tank. When the air pressure in the gas tank is lower than the set threshold, the controller controls the compressor to replenish gas into the gas tank, thereby realizing intelligent gas replenishment of the gas tank.

[0014] In some embodiments that may include the above embodiments, the simulator further includes a push-up spring connected to the secondary cylinder and the secondary piston, and configured to push the secondary piston toward the bottom of the secondary cylinder.

[0015] With this arrangement, the push-up spring can push the secondary piston toward the bottom of the cylinder at the same time as the elastic bag, so as to provide pedal resistance at the same time; in addition, when the elastic bag is severely damaged, the controller can control the gas supply system to stop replenishing gas to the elastic bag. At this time, the push-up spring can still provide a certain push-up force to the secondary piston, and then provide a certain pedal resistance, so as to avoid the pedal resistance disappearing or being very small when the elastic bag is severely damaged, thereby avoiding affecting normal driving.

[0016] In some embodiments that may include the above embodiments, the push-up spring may include a coil spring. The push-up spring may be disposed within the secondary cylinder body and located on a side of the secondary piston facing away from the cylinder bottom to push the secondary piston toward the cylinder bottom. The push-up spring has a predetermined inner diameter, and the corresponding elastic bladder is located within the cylindrical space enclosed by the push-up spring to improve the compactness of the simulator.

[0017] In some embodiments that may include the above-mentioned embodiments, the simulator also includes a limit block, which is arranged in the auxiliary cylinder body. There is a set distance between the limit block and the bottom of the auxiliary cylinder body. The limit block is used to limit the distance that the auxiliary piston moves away from the bottom of the auxiliary cylinder body, thereby avoiding the auxiliary piston from moving too far away from the bottom of the cylinder, resulting in too low pedal resistance, so as to avoid affecting normal driving.

[0018] In some embodiments including the above embodiments, the limit block is an elastic block. In this configuration, when the secondary piston contacts the limit block, the limit block can provide elastic force through its own elastic deformation to provide a certain pedal resistance.

[0019] In some embodiments that may include the above embodiments, the simulator further includes a second control valve, the secondary cylinder being connected to the primary cylinder via the second control valve, and the second control valve being electrically connected to the controller. With this arrangement, when the simulator is required to provide pedal resistance, the controller controls the second control valve to connect the primary and secondary cylinders; when the simulator is not required to provide pedal resistance, the controller controls the second control valve to disconnect the primary and secondary cylinders, thereby meeting different driving requirements.

[0020] In the second aspect, an embodiment of the present application also provides a braking system, including: a master cylinder, a brake pump, a gas supply system and a simulator as described above; a master piston is provided in the master cylinder, and the master piston is used to connect to the pedal; the brake pump is connected to the master cylinder; the simulator is connected to the master cylinder; the controller in the simulator is connected to the gas supply system, and the controller is used to control the gas supply system to deliver gas to the elastic bag in the simulator.

[0021] In the braking system provided in the embodiment of the present application, the controller in the simulator is connected to the gas supply system. The controller controls the gas supply system to supply gas to the elastic bag, which can adjust the gas pressure in the elastic bag and thus adjust the volume of the elastic bag. Since the gas pressure in the elastic bag changes, when the same braking force is generated (the same pedal displacement), the pressure provided by the elastic bag to the brake oil in the master cylinder through the secondary piston changes, so as to change the pedal resistance, thereby meeting different driving needs and improving the user experience.

[0022] In some embodiments that may include the above embodiments, the gas supply system includes a gas tank and a compressor connected to the gas tank, the compressor being electrically connected to a controller, and the gas tank being connected to an elastic bladder. When the gas pressure in the gas tank is low, the controller can control the compressor to replenish gas into the gas tank to maintain the gas pressure within the gas tank. The controller can also control the gas tank to inject gas into the elastic bladder to adjust the gas pressure within the elastic bladder, thereby adjusting the pedal resistance.

[0023] In some embodiments, including those described above, the gas tank is also used to supply air to the vehicle's air suspension. This arrangement allows the gas supply system to supply gas to both the air springs and the simulator. Compared to separate air supply systems for the air springs and simulator, a shared gas supply system for both can simplify the vehicle's structure and reduce its weight. Furthermore, because the air springs require a higher air pressure, the gas pressure within the gas tank is higher. This increases the speed of gas delivery to the elastic bladder, enabling rapid adjustment of pedal resistance.

[0024] In some embodiments that may include the above-mentioned embodiments, the braking system also includes: a displacement detection device and a power-assisting system, both of which are electrically connected to the controller, the displacement detection device is used to detect the displacement of the pedal, and the controller is used to control the power-assisting system to drive the brake pump to work according to the displacement of the pedal.

[0025] With this setting, the power assist system can provide assistance to the brake pump, thereby reducing the brake oil pressure in the master cylinder, reducing the force of stepping on the pedal, and improving the user experience.

[0026] In a third aspect, an embodiment of the present application further provides a vehicle, comprising: wheels and the braking system as described above, wherein a brake pump is used to provide braking force to the wheels.

[0027] In the vehicle provided in the embodiment of the present application, the controller in the simulator is connected to the gas supply system. The controller controls the gas supply system to supply gas to the elastic bag, which can adjust the gas pressure in the elastic bag and thus adjust the volume of the elastic bag. Since the gas pressure in the elastic bag changes, when the same braking force is generated (the same pedal displacement), the pressure provided by the elastic bag to the brake oil in the master cylinder through the secondary piston changes, so as to change the pedal resistance, thereby meeting different driving needs and improving the user experience.

[0028] In a fourth aspect, an embodiment of the present application further provides a pedal resistance control method, comprising:

[0029] A mode is selected according to an input instruction; according to the selected mode, the gas supply system is controlled to deliver gas to the elastic bag, or the gas in the elastic bag is released into the external environment to adjust the gas pressure in the elastic bag; wherein, the elastic bag is arranged in the auxiliary cylinder body, and a secondary piston is also arranged in the auxiliary cylinder body, and the elastic bag is used to drive the secondary piston to move toward the bottom of the auxiliary cylinder body; the auxiliary cylinder body is connected to the main cylinder body of the braking system, and the main piston in the main cylinder body is connected to the pedal.

[0030] The pedal resistance control method provided in the embodiment of the present application controls the gas supply system to deliver gas to the elastic bag to adjust the gas pressure in the elastic bag, and then adjust the volume of the elastic bag; since the gas pressure in the elastic bag changes, when the same braking force (the same pedal displacement) is generated, the pressure provided by the elastic bag to the brake oil in the master cylinder through the secondary piston changes, so as to change the pedal resistance, thereby meeting different driving needs and improving the user experience.

[0031] In some embodiments that may include the above embodiments, controlling the gas supply system to deliver gas to the elastic bladder or releasing the gas in the elastic bladder into the external environment according to a selected mode includes: obtaining the pressure of the gas detected by a pressure detection device, wherein the pressure detection device is disposed within the elastic bladder and is configured to detect the pressure of the gas in the elastic bladder; and controlling the gas supply system to deliver gas to the elastic bladder or release the gas in the elastic bladder into the external environment according to the pressure and the selected mode. With this configuration, the pedal resistance curve can be accurately adjusted to obtain accurate pedal resistance, thereby obtaining accurate braking force during driving and improving vehicle performance.

[0032] In some embodiments that may include the above embodiments, the pressure detection device detects the pressure of the gas within the elastic bladder in real time, determines whether the elastic bladder is leaking based on the gas pressure within the elastic bladder, and controls the gas supply system to replenish gas into the elastic bladder if the elastic bladder is leaking. With the above arrangement, the pressure detection device detects the pressure of the gas within the elastic bladder in real time, determines whether the elastic bladder is leaking based on the gas pressure within the elastic bladder, and controls the gas supply system to replenish gas into the elastic bladder if the elastic bladder is leaking, thereby preventing the pedal resistance from being affected.

[0033] In some embodiments that may include the above embodiments, when the gas supply system delivers gas to the elastic bladder, a pressure detection device detects the rate at which the gas supply system delivers gas to the elastic bladder, and the gas pressure within the gas storage tank of the gas supply system is determined based on the rate. When the gas pressure within the gas storage tank falls below a set threshold, a compressor of the gas supply system is controlled to replenish gas to the gas storage tank; the compressor is in communication with the gas storage tank. This arrangement enables automatic refilling of the gas storage tank.

[0034] In some embodiments that may include the above-mentioned embodiments, controlling the gas supply system to deliver gas to the elastic bag according to the selected mode includes: controlling the valve core of the first control valve to be in the first position to connect the gas supply system with the elastic bag; wherein the first control valve is a three-position three-way valve, and when the valve core is in the second position, the first control valve prevents the gas supply system from connecting with the elastic bag; controlling the gas supply system to release the gas in the elastic bag to the external environment according to the selected mode includes: controlling the valve core of the first control valve to be in the third position, and the first control valve connects the elastic bag with the external environment.

[0035] With the above arrangement, the controller can adjust the air pressure in the elastic bag by controlling the valve core of the first control valve to be in different positions, so as to adjust the pedal resistance.

[0036] In the fifth aspect, an embodiment of the present application also provides a pedal resistance control device, including: a selection module for selecting a mode according to an input instruction; a control module for controlling the gas supply system to deliver gas to the elastic bag or release the gas in the elastic bag into the external environment according to the selected mode to adjust the gas pressure in the elastic bag; wherein the elastic bag is arranged in the auxiliary cylinder body, and a secondary piston is also arranged in the auxiliary cylinder body, and the elastic bag is used to drive the secondary piston to move toward the bottom of the cylinder of the auxiliary cylinder body; the auxiliary cylinder body is connected to the main cylinder body of the braking system, and the main piston in the main cylinder body is connected to the pedal.

[0037] In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the method described above when run.

[0038] In a seventh aspect, an embodiment of the present application further provides a computer program product, which, when executed on a computer, enables the computer to execute the signal processing method described above.

[0039] Among them, the technical effects brought about by any design method in the fifth to seventh aspects can refer to the technical effects brought about by different design methods in the fourth aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] FIG1 is a schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0041] FIG2 is a first structural diagram of a braking system provided in an embodiment of the present application;

[0042] FIG3 is a second structural diagram of a braking system provided in an embodiment of the present application;

[0043] FIG4 is a third structural diagram of a braking system provided in an embodiment of the present application;

[0044] FIG5 is a fourth structural diagram of a braking system provided in an embodiment of the present application;

[0045] FIG6 is a fifth structural diagram of a braking system provided in an embodiment of the present application;

[0046] FIG7 is a sixth structural diagram of a braking system provided in an embodiment of the present application;

[0047] FIG8 is a seventh structural diagram of a braking system provided in an embodiment of the present application;

[0048] FIG9 is a structural schematic diagram eight of a braking system provided in an embodiment of the present application;

[0049] FIG10 is a ninth structural diagram of a braking system provided in an embodiment of the present application;

[0050] FIG11 is a flow chart of a pedal resistance control method provided in an embodiment of the present application.

[0051] Explanation of reference numerals: 1: vehicle; 10: brake system; 11: wheel; 110: master cylinder; 111: master piston; 112: first master piston; 113: second master piston; 114: first space; 115: second space; 116: return spring; 120: oil tank; 130: pedal; 131: displacement detection device; 140: power assist system; 141: anti-lock braking system; 142: electronic stability control system; 150: brake pump; 151 : Brake wheel cylinder; 152: Brake disc; 20: Simulator; 210: Auxiliary cylinder; 211: Auxiliary piston; 212: Sealing ring; 213: Elastic bag; 214: First elastic bag; 215: Second elastic bag; 220: Controller; 230: First control valve; 240: Second control valve; 250: Pressure detection device; 260: Counter spring; 270: Limit block; 30: Gas supply system; 301: Gas tank; 302: Compressor; 40: Air spring. DETAILED DESCRIPTION

[0052] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0053] It should be noted that, in the description of the embodiments of the present application, unless otherwise clearly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or an integral connection; it can also be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a communication between two components. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0054] Please refer to Figure 1. An embodiment of the present application provides a vehicle 1, which includes a body, a power system (not shown in Figure 1) and wheels 11. The power system and the wheels 11 are arranged on the body, and the power system is connected to the wheels 11 in a transmission manner to drive the wheels 11 to rotate, thereby providing power for the travel of the vehicle 1. The number of wheels 11 may include 4, 6, 8, etc., and the embodiment of the present application will be introduced as an example in which the number of wheels 11 is 4. However, it is understandable that the embodiment of the present application does not limit the number of wheels 11. Accordingly, two of the four wheels 11 (two front wheels 11) are arranged on the front side of the body in the longitudinal direction (the travel direction of the vehicle 1), and the remaining two wheels 11 (two rear wheels 11) are arranged on the rear side of the body in the longitudinal direction.

[0055] It is understandable that the power system can be connected to the two front wheels 11 (front drive); or, the power system can be connected to the two rear wheels 11 (rear drive); or, the power system can be connected to all four wheels 11 (four-wheel drive), and the embodiment of the present application does not limit this. In the embodiment of the present application, the vehicle 1 can be a fuel vehicle, and the corresponding power system includes an internal combustion engine and a gearbox connected to the internal combustion engine, the gearbox is connected to the wheels 11, and the internal combustion engine drives the wheels 11 to rotate through the gearbox, thereby driving the vehicle 1 to travel. Of course, the vehicle 1 in the embodiment of the application can also be an electric vehicle, and the corresponding power system includes an electric motor and a power battery electrically connected to the electric motor, the electric motor is connected to the wheels 11, and when driving, the power battery drives the electric motor to work, thereby driving the wheels 11 to rotate to provide driving force.

[0056] Referring to Figure 2 , to achieve braking of the vehicle 1 shown in Figure 1 , the vehicle 1 in the embodiment of the present application further includes a braking system 10, brake pads, and brake discs 152. The braking system 10 includes a brake pump 150, which includes multiple brake wheel cylinders 151. Each brake wheel cylinder 151 corresponds to a wheel 11, and a brake pad is connected to each brake wheel cylinder 151. Accordingly, a brake disc 152 is coaxially mounted on each wheel 11. During braking, the brake wheel cylinder 151 can drive the brake pad to contact the brake disc 152 on the corresponding wheel 11. The friction between the brake pad and the brake disc 152 prevents the wheel 11 from rotating, thereby providing braking force for the vehicle 1 and achieving braking.

[0057] Exemplarily, the brake cylinder 151 may include a brake cylinder body and a brake piston, the brake piston is arranged in the brake cylinder body, and the brake pad is connected to the brake piston; when braking, the brake piston can be driven to move by injecting brake oil into the brake cylinder body, and then the brake pad is driven to contact the brake disc 152.

[0058] 2 , the braking system 10 provided in the embodiment of the present application further includes a master cylinder 110, a master piston 111, and a pedal 130. The master piston 111 is disposed within the master cylinder 110, and the pedal 130 is disposed in the cab. The master piston 111 is connected to the pedal 130, and the master piston 111 can be driven to move within the master cylinder 110 by stepping on the pedal 130. The master cylinder 110 is in communication with each brake cylinder 151. When the master piston 111 moves, the brake fluid within the master cylinder 110 can be driven into each brake cylinder 151, thereby applying the brakes.

[0059] Exemplarily, the master piston 111 may include a first master piston 112 and a second master piston 113, both of which are arranged in the master cylinder body 110, and the first master piston 112 and the second master piston 113 are arranged at intervals along the center line direction of the master cylinder body 110. Accordingly, a first space 114 is formed between the second master piston 113 and the first master piston 112, and a second space 115 is formed between the second master piston 113 and the bottom of the master cylinder body 110 (the left end in the orientation shown in Figure 2). The first space 114 and the second space 115 are both connected to each brake cylinder 151. The first master piston 112 is connected to a pedal 130. A return spring 116 is disposed between the second master piston 113 and the bottom of the master cylinder 110. Another return spring 116 connects the second master piston 113 to the first master piston 112. When the driver steps on the pedal 130, the pedal 130 drives the first and second master pistons 112, 113 toward the cylinder bottom, thereby compressing the first and second spaces 114, 115. This transfers the brake fluid in the first and second spaces 114, 115 to the brake cylinders 151, thereby actuating the brake cylinders 151 for braking. Return springs 116 connect the second master piston 113 to the bottom of the master cylinder 110 and the first master piston 112. When the driver releases the pedal 130, the elastic force of the return springs 116 drives the first and second master pistons 112, 113, back to their original positions.

[0060] 2 , it can be understood that the brake system 10 can further include an oil reservoir 120 . The oil reservoir 120 can be in communication with the first space 114 and the second space 115 to replenish brake oil into the first space 114 and the second space 115 .

[0061] The braking system 10 provided in the embodiment of the present application also includes a displacement detection device 131 and a power-assisting system 140. The displacement detection device 131 is connected to the pedal 130 and the power-assisting system 140. The displacement detection device 131 is used to detect the displacement of the pedal 130, and the power-assisting system 140 is used to drive each brake cylinder 151 to work according to the displacement of the pedal 130; that is, the power-assisting system 140 can provide power assistance to each brake cylinder 151, thereby reducing the brake oil pressure in the master cylinder 110, reducing the force of stepping on the pedal 130, and improving the user experience.

[0062] In some embodiments, when the driver steps on the pedal 130, the master cylinder 110 and the power assist system 140 can simultaneously deliver brake oil to each brake cylinder 151, that is, the brake oil pressure of the brake cylinder 151 is equal to the sum of the brake oil pressure delivered to it by the master cylinder 110 and the brake oil pressure delivered to it by the power assist system 140.

[0063] For example, the power-assisting system 140 may include a power-assisting pump, which is in communication with each brake cylinder 151. The power-assisting pump and the master cylinder 110 simultaneously deliver brake fluid to each brake cylinder 151 to drive each brake cylinder 151 for braking. Alternatively, the power-assisting system 140 may include a power-assisting cylinder and a power-assisting piston disposed within the power-assisting cylinder. The power-assisting cylinder is in communication with each brake cylinder 151. By driving the power-assisting piston to move within the power-assisting cylinder, the brake fluid within the power-assisting cylinder can be driven into each brake cylinder 151 to provide power assistance to each brake cylinder 151.

[0064] 2 , in the embodiment of the present application, the braking system 10 may further include an anti-lock braking system (ABS) 141. The ABS 141 is configured to control the braking force applied by the brake cylinder 151 to the wheel 11 shown in FIG1 , thereby preventing the wheel 11 from stopping rotating (locking) during braking. Exemplarily, the ABS 141 includes a wheel speed sensor connected to each wheel 11 and valves connecting the brake cylinder 151 to the master cylinder and the power assist pump. The wheel speed sensor is configured to detect the rotational speed of the corresponding wheel 11. During braking, the ABS 141 can control the brake oil pressure of the brake cylinder 151 through the valves based on data from the wheel speed sensor, thereby preventing excessive friction between the brake pad and the brake disc 152, which would cause the wheel 11 to stop rotating and thus prevent the vehicle 1 from swaying.

[0065] Referring to FIG3 , of course, in some embodiments, the braking system 10 may also include an electronic stability control system (ESC) 142. The ESC 142 can control the braking force of the wheel 11 shown in FIG1 by the brake cylinder 151, thereby preventing the wheel 11 from stopping rotating (locking) during braking, while also controlling the driving force of the wheel 11 to ensure lateral stability of the vehicle 1 during driving. In other words, the difference between the ESC 142 and the anti-lock braking system 141 is that the ESC 142 not only prevents yaw caused by the wheel 11 stopping rotating during braking, but also controls the driving force of the wheel 11 when the wheel 11 slips, thereby reducing slip and further preventing yaw.

[0066] Exemplarily, the vehicle electronic stability control system 142 includes an electronic control unit (ECU), and wheel speed sensors, lateral acceleration sensors, and yaw rate sensors electrically connected to the ECU. The wheel speed sensors are connected to wheels 11 to detect the rotational speed of wheels 11, while the lateral acceleration sensors and yaw rate sensors are used to detect the yaw of vehicle 1. The ECU receives signals from the wheel speed sensors to adjust the brake fluid pressure in the brake cylinder 151 during braking to prevent wheel 11 from locking. The ECU is also connected to the engine management system (EMS) to control the driving force of wheels 11 through the EMS. This control can reduce wheel slippage by controlling the driving force of wheels 11.

[0067] Continuing with reference to Figure 3, the braking system 10 in the embodiment of the present application also includes a simulator 20, which is connected to the master cylinder 110. When the driver steps on the pedal 130, the first master piston 112 and the second master piston 113 move toward the bottom of the master cylinder 110, and the brake oil in the master cylinder 110 will enter the simulator 20, so that the brake oil in the master cylinder 110 has a certain oil pressure, thereby ensuring that when the driver steps on the pedal 130, the pedal 130 has a certain resistance (pedal feel) to improve the user experience.

[0068] Continuing with reference to Figure 3, in some embodiments, the master cylinder 110 can be connected to each brake cylinder 151. Accordingly, when the driver steps on the pedal 130, the master cylinder 110 and the power assist system 140 can simultaneously deliver brake oil to each brake cylinder 151. That is, the brake oil pressure of the brake cylinder 151 is equal to the sum of the brake oil pressure delivered to it by the master cylinder 110 and the brake oil pressure delivered to it by the power assist system 140.

[0069] Please refer to Figure 4. In other embodiments, the master cylinder 110 can be connected only to the simulator 20. Accordingly, when the driver steps on the pedal 130, the simulator 20 provides resistance to the pedal 130 through the master cylinder 110, and the power-assisting system 140 delivers brake oil to each brake cylinder 151 for braking; that is, the brake oil pressure of the brake cylinder 151 is equal to the brake oil pressure delivered to it by the power-assisting system 140, thereby achieving decoupling of power-assisted braking and pedal braking.

[0070] 5 , the simulator 20 in the embodiment of the present application includes a secondary cylinder 210 and a secondary piston 211 disposed within the secondary cylinder 210. The space between the secondary piston 211 and the bottom of the secondary cylinder 210 (the top in the orientation shown in FIG5 ) is connected to the main cylinder 110. The bottom of the cylinder serves as a sealing end for the secondary piston 211, so that when the secondary piston 211 moves toward the bottom of the secondary cylinder 210, the brake fluid in the secondary cylinder 210 is driven to flow into the main cylinder 110. Exemplarily, the simulator 20 further includes a sealing ring 212, which is sleeved on the outer wall of the secondary piston 211 and contacts the inner wall of the secondary cylinder 210 to achieve a seal between the secondary piston 211 and the secondary cylinder 210, thereby preventing brake fluid from entering the side of the secondary piston 211 facing away from the bottom of the secondary cylinder 210. The material of the sealing ring 212 may include rubber, plastic, etc., which is not limited in the embodiment of the present application.

[0071] The simulator 20 in the embodiment of the present application also includes an elastic bag 213, which is arranged in the auxiliary cylinder 210, and the elastic bag 213 is located on the side of the auxiliary piston 211 away from the bottom of the auxiliary cylinder 210; the braking system 10 also includes a gas supply system 30, and the elastic bag 213 is connected to the gas supply system 30. The gas supply system 30 is used to transport gas into the elastic bag 213 so that the elastic bag 213 presses against the auxiliary piston 211 toward the bottom of the auxiliary cylinder 210, so as to drive the auxiliary piston 211 to move toward the bottom of the auxiliary cylinder 210, and then drive the brake oil in the auxiliary cylinder 210 to move into the main cylinder 110, so as to adjust the brake oil pressure in the main cylinder 110, and then adjust the resistance of the pedal 130.

[0072] It is understood that the elastic bladder 213 is a sealed bladder with a certain elasticity. After the gas supply system 30 delivers gas to it, the volume of the elastic bladder 213 is maintained within a substantially constant range, thereby maintaining the position of the secondary piston 211 within the secondary cylinder 210, maintaining the brake oil pressure within the master cylinder 110 stable, and thus maintaining the resistance of the pedal 130 substantially constant. For example, the material of the elastic bladder 213 may include rubber, etc., and the present embodiment of the application does not limit the material of the elastic bladder 213.

[0073] The simulator 20 provided in the embodiment of the present application further includes a controller 220, which is connected to the gas supply system 30. The controller 220 controls the gas supply system 30 to deliver gas to the elastic bladder 213 to adjust the gas pressure within the elastic bladder 213, thereby adjusting the size of the elastic bladder 213, thereby adjusting the position of the secondary piston 211 within the secondary cylinder 210, and thereby adjusting the pressure of the brake fluid within the master cylinder 110 to adjust the resistance of the pedal 130. It is understood that the controller 220 may include a device capable of implementing control functions, such as a single-chip microcomputer and a programmable logic controller, and the embodiment of the present application is not limited thereto.

[0074] In the embodiment of the present application, the gas supply system 30 may include a gas tank 301 and a compressor 302 connected to the gas tank 301. The compressor 302 delivers gas to the gas tank 301 to maintain a certain pressure. The simulator 20 also includes a first control valve 230. The gas tank 301 may be connected to the elastic bladder 213 via the first control valve 230. The compressor 302 and the first control valve 230 are both electrically connected to the controller 220. When the pressure in the gas tank 301 is low, the controller 220 may control the compressor 302 to replenish gas to the gas tank 301 to ensure the pressure in the gas tank 301. The controller 220 may also control the gas tank 301 to inject gas into the elastic bladder 213 via the first control valve 230 to adjust the gas pressure in the elastic bladder 213, thereby adjusting the resistance of the pedal 130.

[0075] In the above-described implementation, the first control valve 230 includes a first state connecting the gas supply system 30 and the elastic bladder 213, a second state preventing the gas supply system 30 from connecting to the elastic bladder 213, and a third state connecting the elastic bladder 213 to the external environment. It is understood that in the first state, the gas supply system 30 supplies gas to the elastic bladder 213, causing the brake fluid in the secondary cylinder 210 to flow into the main cylinder 110, increasing the brake fluid pressure in the main cylinder 110 and thereby increasing the resistance of the pedal 130. In the second state, the gas supply system 30 is disconnected from the elastic bladder 213, maintaining the gas pressure in the elastic bladder 213 constant, thereby maintaining the brake fluid pressure in the main cylinder 110 and the resistance of the pedal 130 constant. In the third state, the gas in the elastic bladder 213 is released to the outside through the first control valve 230, thereby reducing the gas pressure in the elastic bladder 213, thereby reducing the brake fluid pressure in the main cylinder 110 and reducing the resistance of the pedal 130. Through the above configuration, the controller 220 can adjust the air pressure in the elastic bag 213 by controlling the first control valve 230 to be in different states, so as to adjust the resistance of the pedal 130.

[0076] It can be understood that when the vehicle 1 shown in Figure 1 is driving normally, the first control valve 230 is in the second state to ensure that the resistance of the pedal 130 is stable during normal driving; when the driver adjusts the resistance of the pedal 130, the control valve is in the first state or the second state to change the resistance of the pedal 130; after the adjustment of the resistance of the pedal 130 is completed, the first control valve 230 returns to the second state (during normal driving) to ensure that the adjusted resistance of the pedal 130 is constant.

[0077] Exemplarily, the first control valve 230 may include a three-position three-way valve. Taking the orientation shown in FIG6 as an example, when the valve core of the three-position three-way valve is located in the first position on the far left, the first control valve 230 is in the first state; taking the orientation shown in FIG7 as an example, when the valve core of the three-position three-way valve is located in the second position in the middle, the first control valve 230 is in the second state; taking the orientation shown in FIG8 as an example, when the valve core of the three-position three-way valve is located in the third position on the right, the first control valve 230 is in the third state.

[0078] 5 , in the present application, the simulator 20 may further include a second control valve 240 , which is electrically connected to the controller 220 , and the secondary cylinder 210 is connected to the primary cylinder 110 via the second control valve 240 . With this arrangement, when the simulator 20 is required to provide pedal resistance, the controller 220 controls the second control valve 240 to connect the primary cylinder 110 and the secondary cylinder 210 . When the simulator 20 is not required to provide pedal resistance, the controller 220 controls the second control valve 240 to disconnect the primary cylinder 110 and the secondary cylinder 210 , thereby meeting different driving requirements.

[0079] It is understood that the controller 220 can also be electrically connected to the power-assisting pump and the displacement detection device 131 in the power-assisting system 140. The controller 220 controls the power-assisting pump to provide power to each brake cylinder 151 based on the displacement of the pedal 130 detected by the displacement detection device 131. With this arrangement, the controller 220 can control the power-assisting system 140 while simultaneously controlling the resistance of the pedal 130, thereby simplifying the structure of the vehicle 1 shown in FIG1 and reducing the weight of the vehicle 1.

[0080] In some embodiments, the vehicle 1 shown in FIG1 further includes a vehicle body and an air suspension. The vehicle body is configured to form a driver's cab and a passenger compartment. The wheel 11 shown in FIG1 is connected to the vehicle body via the air suspension. In other words, the weight of the vehicle body acts on the wheel 11 via the air suspension. The air suspension may include an air spring 40 shown in FIG5 , which is connected to both the vehicle body and the wheel 11. With this arrangement, the connection between the wheel 11 and the vehicle body via the air suspension can improve the comfort of the vehicle 1. At the same time, the distance between the wheel 11 and the vehicle body (the vehicle body height) can be changed by varying the gas pressure within the air spring 40, thereby enhancing the user experience.

[0081] In an embodiment where the gas supply system 30 includes a gas tank 301 and a compressor 302, the gas tank 301 can be connected to the air spring 40 to deliver gas to the air spring 40 via the gas tank 301. With this arrangement, the gas supply system 30 can provide gas to both the air spring 40 and the simulator 20. Compared to having separate gas supply devices for the air spring 40 and the simulator 20, the air spring 40 and the simulator 20 share the gas supply system 30, simplifying the structure of the vehicle 1 and reducing the weight of the vehicle 1. Furthermore, because the air spring 40 requires a higher air pressure, the gas pressure within the gas tank 301 is higher, which can increase the speed of gas delivery to the elastic bladder 213 and enable rapid adjustment of the resistance of the pedal 130.

[0082] In the simulator 20 provided by the implementation of the present application, the secondary cylinder 210 is connected to the main cylinder 110, the secondary piston 211 is arranged in the secondary cylinder 210, the elastic bag 213 is arranged in the secondary cylinder 210, and the controller 220 is connected to the gas supply system 30. The controller 220 controls the gas supply system 30 to supply gas to the elastic bag 213, which can adjust the gas pressure in the elastic bag 213 and thus adjust the volume of the elastic bag 213; since the gas pressure in the elastic bag 213 changes, when the same braking force is generated (the same pedal displacement), the pressure of the brake oil provided by the elastic bag 213 to the main cylinder 110 through the secondary piston 211 changes, so as to change the pedal resistance, thereby meeting different driving needs and improving the user experience.

[0083] 5 , the simulator 20 provided in the embodiment of the present application further includes a pressure detection device 250, which is disposed within the elastic capsule 213 and is used to detect the gas pressure within the elastic capsule 213. The pressure detection device 250 is electrically connected to the controller 220 to transmit the detected gas pressure data to the controller 220. The controller 220 controls the gas supply system 30 to transmit gas to the elastic capsule 213 based on the gas pressure data fed back by the pressure detection device 250, thereby achieving accurate control of the gas pressure within the elastic capsule 213 and accurate control of the resistance of the pedal 130. Through the above-mentioned arrangement, the resistance curve of the pedal 130 can be accurately adjusted to obtain accurate pedal resistance, and accurate braking force can be obtained during driving, thereby improving the performance of the vehicle 1 shown in FIG1 . The resistance curve of the pedal 130 is a curve showing the change of the resistance of the pedal 130 with the displacement of the pedal 130.

[0084] Illustratively, the pressure detection device 250 may include a device such as a pressure sensor that can detect the gas pressure value in the elastic bag 213. The embodiment of the present application does not limit the pressure detection device 250.

[0085] Continuing with FIG6 , in some embodiments, the elastic bladder 213 includes a first elastic bladder 214 and a second elastic bladder 215 . Both the first elastic bladder 214 and the second elastic bladder 215 are disposed within the secondary cylinder 210 and are located on the side of the secondary piston 211 facing away from the bottom of the secondary cylinder 210 . The controller 220 controls the gas supply system 30 to deliver gas to the first elastic bladder 214 and the second elastic bladder 215 . With this arrangement, the first elastic bladder 214 and the second elastic bladder 215 simultaneously press against the secondary piston 211 to form resistance to the pedal 130 . Even if the first elastic bladder 214 or the second elastic bladder 215 is damaged, the other elastic bladder can still maintain the force against the secondary piston 211 to ensure stable resistance to the pedal 130 .

[0086] In an implementation where the simulator 20 includes a pressure detection device 250 and a first control valve 230, the pressure detection device 250 is installed in both the first elastic bladder 214 and the second elastic bladder 215. The first elastic bladder 214 is connected to the gas supply system 30 via one first control valve 230, while the second elastic bladder 215 is connected to the gas supply system 30 via another first control valve 230. This allows for independent control of the first and second elastic bladders 214, 215. Furthermore, the first elastic bladder 214 and the second elastic bladder 215 are redundant. If either the first elastic bladder 214 or the second elastic bladder 215 is damaged, the corresponding first control valve 230 can be used to prevent the gas supply system 30 from supplying air to the corresponding bladder, thereby preventing the vehicle's driving from being affected by the damage to one bladder.

[0087] It is understandable that the number of elastic capsules 213 in the embodiment of the present application may be more than two. For example, the number of elastic capsules 213 may be 3, 4, 5, etc., and the embodiment of the present application does not limit this.

[0088] Continuing with FIG6 , in the above embodiment, the vehicle 1 shown in FIG1 can have multiple driving modes. For example, the vehicle 1 can have a sport mode, a comfort mode, and a personalized mode. In the sport mode, the controller 220 can control the gas in the first elastic bladder 214 and the second elastic bladder 215 to be at a higher pressure, thereby causing the pedal 130 to have a greater resistance. In the comfort mode, the controller 220 controls the gas in the first elastic bladder 214 and the second elastic bladder 215 to be at a lower pressure, thereby causing the pedal 130 to have a lower resistance. In the personalized mode, the driver can adjust the resistance curve of the pedal 130 via the vehicle system connected to the controller 220 to meet the driver's personalized needs. It is understood that the controller 220 can be upgraded via over-the-air (OTA) technology to modify the resistance of the pedal 130.

[0089] The process of adjusting the resistance of the pedal 130 by the braking system 10 provided in the embodiment of the present application is as follows:

[0090] As shown in FIG6 , the controller 220 controls each first control valve 230 to be in the first state. At this time, the gas tank 301 delivers gas to the first elastic bag 214 and the second elastic bag 215 to increase the gas pressure of the first elastic bag 214 and the second elastic bag 215, thereby increasing the resistance of the pedal 130.

[0091] 8 , the controller 220 controls each first control valve 230 to be in the third state. At this time, the gas in the first elastic bladder 214 and the second elastic bladder 215 is released to the external environment to reduce the gas pressure in the first elastic bladder 214 and the second elastic bladder 215, thereby reducing the resistance of the pedal 130.

[0092] It can be understood that the controller 220 can reasonably control the above process based on the data of each pressure detection device 250, and can accurately adjust the gas pressure in the first elastic bag 214 and the second elastic bag 215, thereby achieving accurate control of the resistance of the pedal 130; after adjusting the gas pressure in the first elastic bag 214 and the second elastic bag 215, the first control valve 230 can be controlled to be in the second state to maintain the gas pressure in the first elastic bag 214 and the second elastic bag 215 constant, so as to keep the pedal resistance constant during driving.

[0093] 6 , in the above embodiment, the pressure detection device 250 constantly detects the gas pressure within the elastic bladder 213. When delivering gas to the first elastic bladder 214 and the second elastic bladder 215, the controller 220 can obtain the gas delivery rate (the ratio of the air pressure change to the corresponding time) of the first elastic bladder 214 and the second elastic bladder 215 through the pressure detection device 250 within the first elastic bladder 214 and the second elastic bladder 215, and further obtain the gas pressure within the gas storage tank 301. When the air pressure within the gas storage tank 301 falls below a set threshold, the controller 220 controls the compressor 302 to replenish gas into the gas storage tank 301, thereby realizing intelligent gas replenishment of the gas storage tank 301. It will be understood that the set threshold is the minimum air pressure value that ensures that the gas storage tank 301 can normally supply air to the air spring 40, the first elastic bladder 214, and the second elastic bladder 215.

[0094] The simulator 20 includes a pressure detection device 250 and a first control valve 230. The pressure detection device 250 constantly monitors the gas pressure within the elastic bladder 213, allowing the controller 220 to detect leaks in the first and second elastic bladders 214, 213. If the controller 220 determines that the first and second elastic bladders 214, 215 are leaking, it controls the gas supply system 30 to supply gas to the leaking bladder. The pressure is then maintained for a period of time while the gas pressure in the first and second elastic bladders 214, 215 is constantly monitored. If the leaking bladder is detected again, the controller 220 notifies the vehicle system of a bladder 213 failure and indicates which bladder is faulty, prompting the driver to promptly replace it.

[0095] If one of the first elastic bag 214 and the second elastic bag 215 leaks, and the controller 220 prompts the driver through the vehicle system, the controller 220 can enter the redundant backup mode, that is, control the gas supply system 30 to supply gas to the elastic bag that has not leaked, so as to ensure that the resistance of the pedal 130 remains basically unchanged to avoid affecting normal driving.

[0096] If both the first elastic bag 214 and the second elastic bag 215 have a slight leak, and the controller 220 prompts the driver through the vehicle system, the controller 220 can shorten the interval time of replenishing air to the first elastic bag 214 and the second elastic bag 215, and at the same time reduce the control accuracy of the pedal 130 resistance to ensure a certain pedal 130 resistance during driving.

[0097] Continuing with FIG9 , the braking system 10 provided in the embodiment of the present application, when the driver steps on the pedal 130, drives the first master piston 112 and the second master piston 113 toward the bottom of the master cylinder 110, thereby driving brake fluid into each brake cylinder 151. Simultaneously, the displacement detection device 131 detects the displacement of the pedal 130, and the controller 220 controls the power assist system 140 to provide power to each brake cylinder 151 based on the displacement of the pedal 130, thereby driving each brake pad into contact with the brake disc 152 on the corresponding wheel 11, thereby achieving braking. During this process, the brake fluid in the master cylinder 110 also flows into the secondary cylinder 210, thereby squeezing the secondary piston 211. The secondary piston 211 then presses against the first elastic bladder 214 and the second elastic bladder 215, thereby generating pedal resistance.

[0098] Referring to FIG. 10 , the simulator 20 in the embodiment of the present application may further include a push-up spring 260 connected to the secondary cylinder 210 and the secondary piston 211. The push-up spring 260 is used to push the secondary piston 211 against the secondary cylinder 210 to transfer the brake fluid in the secondary cylinder 210 to the primary cylinder 110. In other words, the push-up spring 260 pushes the secondary piston 211 against the bottom of the secondary cylinder 210. With this configuration, the push-up spring 260 and the elastic bladder 213 can simultaneously push the secondary piston 211 against the bottom of the cylinder, thereby simultaneously providing resistance to the pedal 130. Furthermore, if the elastic bladder 213 is severely damaged, the controller 220 can control the gas supply system 30 to stop replenishing gas to the elastic bladder 213. At this time, the push-up spring 260 can still provide a certain amount of push-up force to the secondary piston 211, thereby providing a certain amount of resistance to the pedal 130. This prevents the pedal 130 from being completely or very weakly resisted when the elastic bladder 213 is severely damaged, thereby preventing normal driving from being affected.

[0099] For example, the push-up spring 260 may include a coil spring. The push-up spring 260 may be disposed within the secondary cylinder 210 and located on the side of the secondary piston 211 facing away from the cylinder bottom to push the secondary piston 211 toward the cylinder bottom. The push-up spring 260 has a certain inner diameter, and the corresponding elastic bag 213 may be located within the cylindrical space enclosed by the push-up spring 260 to improve the structural compactness of the simulator 20.

[0100] Continuing to refer to FIG10 , in the above implementation, the simulator 20 further includes a limit block 270, which is disposed within the secondary cylinder 210. A set distance is provided between the limit block 270 and the bottom of the secondary cylinder 210. The limit block 270 is used to limit the distance that the secondary piston 211 moves in the direction of squeezing the elastic capsule 213. In other words, the limit block 270 can limit the distance that the secondary piston 211 moves in the direction away from the bottom of the secondary cylinder 210, thereby preventing the secondary piston 211 from moving too far in the direction away from the bottom of the cylinder, which would result in the pedal 130 having too low resistance, thereby preventing normal driving from being affected. It is understandable that a reasonable setting of the set distance can result in different limits on the distance that the secondary piston 211 moves in the direction of squeezing the elastic capsule 213.

[0101] Exemplarily, the limit block 270 can be set on the side wall of the auxiliary cylinder body 210, and the limit block 270 can be connected to the auxiliary cylinder body 210 by bolt connection or clamping. Of course, the limit block 270 can also be connected to the auxiliary cylinder body 210 by welding.

[0102] In the above embodiment, the limit block 270 may be an elastic block. When the secondary piston 211 contacts the limit block 270 , the limit block 270 may provide elastic force through its own elastic deformation to provide a certain resistance to the pedal 130 .

[0103] Exemplarily, the material of the elastic block may include rubber, plastic with a certain elasticity, etc. The embodiment of the present application does not limit the material of the elastic block.

[0104] An embodiment of the present application also provides a pedal resistance control method, which can be used for the vehicle in the above embodiment.

[0105] Referring to FIG. 11 , the pedal resistance control method provided in the embodiment of the present application includes:

[0106] S101: System Check. As shown in FIG10 , a system check can be performed by the vehicle's onboard computer and / or controller 220. For example, the compressor 302, displacement detection device 131, first elastic bladder 214, second elastic bladder 215, first control valve 230, second control valve 240, etc. can be checked to determine the safety and functional selectivity of each component. Simultaneously, the pressure detection device 250 and displacement detection device 131 are calibrated and initialized. The pressure detection device 250 is used to detect the gas pressure within the first elastic bladder 214 and the second elastic bladder 215, and to detect whether the first elastic bladder 214 and the second elastic bladder 215 are leaking.

[0107] S102: Selecting a mode based on the input command. For example, the driver can select a mode using a display on the vehicle computer or other buttons in the cab. The driver can choose between a sport mode, a comfort mode, and a personalized mode. When selecting a personalized mode, the driver can set a pedal resistance curve to adjust the pedal resistance curve to suit their driving needs.

[0108] S103: Controlling the gas supply system to deliver gas to the elastic bladder or releasing the gas within the elastic bladder into the external environment based on the selected mode to adjust the gas pressure within the elastic bladder. For example, after the driver selects a mode, controller 220 controls the operation of related components (e.g., inflating or deflating first elastic bladder 214 and second elastic bladder 215) based on the corresponding mode. Pressure detection device 250 may then perform air pressure detection to provide feedback on the adjusted state and parameters.

[0109] Continuing with reference to FIG10 , in an embodiment of the present application, controlling the gas supply system 30 to deliver gas to the elastic capsule 213 or releasing the gas in the elastic capsule 213 into the external environment according to the selected mode includes: obtaining the pressure of the gas detected by the pressure detection device 250; and controlling the gas supply system 30 to deliver gas to the elastic capsule 213 or releasing the gas in the elastic capsule 213 into the external environment according to the pressure and the selected mode. Exemplarily, if the gas pressure in the elastic capsule 213 is lower than the gas pressure required for the selected mode, the gas supply system 30 is controlled to deliver gas to the elastic capsule 213; if the gas pressure in the elastic capsule 213 is higher than the gas pressure required for the selected mode, the elastic capsule 213 is controlled to release the gas into the external environment.

[0110] In an embodiment of the present application, the first control valve 230 can be a three-position three-way valve. Accordingly, controlling the gas supply system 30 to deliver gas to the elastic bag 213 according to the selected mode includes: controlling the valve core of the first control valve 230 to be in the first position so that the gas supply system 30 is connected with the elastic bag 213; when the valve core is in the second position, the first control valve 230 prevents the gas supply system 30 from being connected with the elastic bag 213.

[0111] Controlling the gas supply system 30 to release the gas in the elastic bag 213 to the external environment according to the selected mode includes: controlling the valve core of the first control valve 230 to be in the third position, and the first control valve 230 connects the elastic bag 213 with the external environment.

[0112] With the above arrangement, the air pressure in the elastic bag 213 can be adjusted by controlling the first control valve 230 to be in different states, so as to adjust the resistance of the pedal 130 .

[0113] The pedal resistance control method provided in the embodiment of the present application controls the gas supply system 30 to supply gas to the elastic bag 213 to adjust the gas pressure in the elastic bag 213, and then adjust the volume of the elastic bag 213; since the gas pressure in the elastic bag 213 changes, when the same braking force (the same pedal displacement) is generated, the pressure provided by the elastic bag 213 to the brake oil in the main cylinder body 110 through the secondary piston 211 changes, so as to change the pedal resistance, thereby meeting different driving needs and improving the user experience.

[0114] Through the above arrangement, the resistance curve of pedal 130 can be accurately adjusted to obtain accurate pedal resistance, thereby achieving accurate braking force during driving, thereby improving the performance of vehicle 1 shown in Figure 1. Furthermore, pressure detection device 250 detects the gas pressure within elastic bladder 213 in real time, and determines whether elastic bladder 213 is leaking based on the gas pressure within elastic bladder 213. If leakage is determined to be occurring, gas supply system 30 is controlled to replenish gas within elastic bladder 213 to prevent impact on pedal resistance.

[0115] Continuing with FIG10 , in an embodiment where the elastic bladder 213 includes a first elastic bladder 214 and a second elastic bladder 215 , the pressure detection device 250 can constantly monitor the gas pressure within the elastic bladder 213 , allowing the controller 220 to detect whether the first elastic bladder 214 or the second elastic bladder 213 is leaking. If the controller 220 determines that the first elastic bladder 214 or the second elastic bladder 215 is leaking, it controls the gas supply system 30 to supply gas to the leaking elastic bladder to replenish the gas. The pressure is then maintained for a period of time while the gas pressure in the first elastic bladder 214 and the second elastic bladder 215 is constantly monitored. If the leaking elastic bladder is detected to be leaking again, the controller 220 notifies the vehicle system of a faulty elastic bladder 213 and indicates which elastic bladder is faulty, prompting the driver to promptly replace it.

[0116] If one of the first elastic bag 214 and the second elastic bag 215 leaks, and the controller 220 prompts the driver through the vehicle system, the controller 220 can enter the redundant backup mode, that is, control the gas supply system 30 to supply gas to the elastic bag that has not leaked, so as to ensure that the resistance of the pedal 130 remains basically unchanged to avoid affecting normal driving.

[0117] If both the first elastic bag 214 and the second elastic bag 215 have a slight leak, and the controller 220 prompts the driver through the vehicle system, the controller 220 can shorten the interval time of replenishing air to the first elastic bag 214 and the second elastic bag 215, and at the same time reduce the control accuracy of the pedal 130 resistance to ensure a certain pedal 130 resistance during driving.

[0118] Continuing with FIG10 , in an implementation where the gas supply system 30 includes a gas storage tank 301 and a compressor 302, when the gas supply system 30 delivers gas to the elastic bladder 213, the pressure detection device 250 detects the rate at which the gas supply system 30 delivers gas to the elastic bladder 213. Based on the rate, the gas pressure within the gas storage tank 301 of the gas supply system 30 is determined. When the gas pressure within the gas storage tank 301 falls below a set threshold, the compressor 302 of the gas supply system 30 is controlled to replenish gas to the gas storage tank 301. This arrangement enables automatic gas replenishment of the gas storage tank 301.

[0119] For example, when delivering gas to the first elastic bladder 214 and the second elastic bladder 215, the controller 220 can obtain the gas delivery rate (the ratio of the air pressure change to the corresponding time) of the first elastic bladder 214 and the second elastic bladder 215 through the pressure detection device 250 in the first elastic bladder 214 and the second elastic bladder 215, and then obtain the gas pressure in the gas tank 301. When the air pressure in the gas tank 301 is lower than a set threshold, the controller 220 controls the compressor 302 to replenish gas in the gas tank 301, thereby realizing intelligent gas replenishment of the gas tank 301. It is understandable that the set threshold is the minimum air pressure value that ensures that the gas tank 301 can normally supply air to the air spring 40, the first elastic bladder 214 and the second elastic bladder 215.

[0120] The present application also provides a pedal resistance control device, comprising: a selection module for selecting a mode based on an input command and executing step S102 of the method shown in FIG11; a control module for controlling a gas supply system to deliver gas to an elastic bladder or release the gas in the elastic bladder into the external environment, in accordance with the selected mode, to adjust the gas pressure within the elastic bladder; and executing step S103 of the method shown in FIG11. The elastic bladder is disposed within a secondary cylinder, which also includes a secondary piston. The elastic bladder is configured to drive the secondary piston toward the bottom of the secondary cylinder. The secondary cylinder is connected to the main cylinder of the brake system, and the main piston within the main cylinder is connected to the pedal.

[0121] All relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0122] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed, the pedal resistance control method and related steps in the above method embodiment are performed.

[0123] An embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the relevant steps of the pedal resistance control method in the above method embodiment.

[0124] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0125] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0126] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0127] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0128] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the contributing part or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A simulator, characterized in that: include: A secondary cylinder, the secondary cylinder being connected to a primary cylinder of a brake system, wherein a primary piston in the primary cylinder is connected to a pedal; A secondary piston, the secondary piston is arranged in the secondary cylinder; An elastic bag is disposed in the auxiliary cylinder body, the elastic bag is used to drive the auxiliary piston to move toward the cylinder bottom of the auxiliary cylinder body; the elastic bag is used to communicate with the gas supply system; Controller; the controller is used to connect with the gas supply system and control the gas supply system to deliver gas to the elastic bag to adjust the pressure of the gas in the elastic bag.

2. The simulator according to claim 1, wherein The simulator further includes a pressure detection device, which is disposed in the elastic bag and electrically connected to the controller. The pressure detection device is used to detect the pressure of the gas in the elastic bag.

3. The simulator according to claim 1 or 2, characterized in that The elastic bag includes a first elastic bag and a second elastic bag. The first elastic bag and the second elastic bag are both arranged in the auxiliary cylinder. The controller is used to control the gas supply system to deliver gas to the first elastic bag and the second elastic bag.

4. The simulator according to any one of claims 1 to 3, characterized in that The simulator further includes a first control valve, the controller is electrically connected to the first control valve, and the elastic bag is connected to the gas supply system through the first control valve.

5. The simulator according to claim 4, characterized in that The first control valve includes a three-position three-way valve. When the valve core of the three-position three-way valve is in a first position, the three-position three-way valve connects the gas supply system and the elastic bag; when the valve core of the three-position three-way valve is in a second position, the three-position three-way valve prevents the gas supply system from being connected to the elastic bag; when the valve core of the three-position three-way valve is in a third position, the three-position three-way valve connects the elastic bag with the external environment.

6. The simulator according to any one of claims 1 to 5, characterized in that The simulator further includes a push-up spring connected to the secondary cylinder and the secondary piston, and configured to push the secondary piston toward the cylinder bottom of the secondary cylinder.

7. The simulator according to any one of claims 1 to 6, characterized in that The simulator further includes a limit block, which is disposed in the secondary cylinder body. There is a set distance between the limit block and the cylinder bottom of the secondary cylinder body, and the limit block is used to limit the distance that the secondary piston moves in the direction away from the cylinder bottom of the secondary cylinder body.

8. The simulator according to claim 7, characterized in that The limiting block is an elastic block.

9. The simulator according to any one of claims 1 to 8, characterized in that The simulator further includes a second control valve, the slave cylinder is connected to the master cylinder via the second control valve, and the second control valve is electrically connected to the controller.

10. A braking system, characterized in that: include: A master cylinder body, wherein a master piston is provided in the master cylinder body, and the master piston is used to connect with the pedal; a brake pump, the brake pump being in communication with the master cylinder; The simulator according to any one of claims 1 to 9, wherein the simulator is in communication with the master cylinder; A gas supply system is provided. The controller in the simulator is connected to the gas supply system. The controller is used to control the gas supply system to deliver gas to the elastic bag in the simulator.

11. The braking system according to claim 10, characterized in that: The gas supply system includes a gas storage tank and a compressor communicated with the gas storage tank, the compressor is electrically connected to the controller, and the gas storage tank is communicated with the elastic bag.

12. The braking system according to claim 10 or 11, characterized in that: The braking system also includes: a displacement detection device and a power-assisting system, both of which are electrically connected to the controller. The displacement detection device is used to detect the displacement of the pedal, and the power-assisting system is connected to the brake pump. The controller is used to control the power-assisting system to drive the brake pump to work according to the displacement of the pedal.

13. A vehicle, characterized in that: include: A vehicle body, wheels arranged on the vehicle body, and a braking system according to any one of claims 10 to 12, wherein the brake pump is used to provide braking force to the wheels.

14. A pedal resistance control method, characterized in that: include: Select mode according to input instructions; Controlling the gas supply system to deliver gas to the elastic bladder or releasing the gas in the elastic bladder into the external environment according to the selected mode to adjust the gas pressure in the elastic bladder; Among them, the elastic bag is arranged in the auxiliary cylinder body, and a secondary piston is also arranged in the auxiliary cylinder body. The elastic bag is used to drive the secondary piston to move toward the bottom of the auxiliary cylinder body; the auxiliary cylinder body is connected to the main cylinder body of the braking system, and the main piston in the main cylinder body is connected to the pedal.

15. The pedal resistance control method according to claim 14, characterized in that: Controlling the gas supply system to deliver gas to the elastic bag or releasing the gas in the elastic bag into the external environment according to the selected mode includes: Acquiring the pressure of the gas detected by a pressure detection device, wherein the pressure detection device is disposed in the elastic bladder and is used to detect the pressure of the gas in the elastic bladder; The gas supply system is controlled according to the pressure and the selected mode to deliver gas to the elastic bag, or to release the gas in the elastic bag into the external environment.

16. The pedal resistance control method according to claim 15, characterized in that: The pressure detection device detects the pressure of the gas in the elastic bag in real time, and determines whether the elastic bag is leaking according to the gas pressure of the elastic bag. If it is determined that the elastic bag is leaking, the gas supply system is controlled to replenish gas to the elastic bag.

17. The pedal resistance control method according to claim 15 or 16, characterized in that: When the gas supply system delivers gas to the elastic bag, the rate at which the gas supply system delivers gas to the elastic bag is obtained through the pressure detection device, and the gas pressure in the gas storage tank of the gas supply system is determined based on the rate. When the gas pressure in the gas storage tank is lower than a set threshold, the compressor of the gas supply system is controlled to replenish gas to the gas storage tank; wherein the compressor is connected to the gas storage tank.

18. The pedal resistance control method according to any one of claims 14 to 17, characterized in that: Controlling the gas supply system to deliver gas to the elastic bag according to the selected mode includes: controlling the valve core of the first control valve to be in a first position so that the gas supply system is in communication with the elastic bag; Wherein, the first control valve is a three-position three-way valve, and when the valve core is in the second position, the first control valve prevents the gas supply system from communicating with the elastic bag; Controlling the gas supply system to release the gas in the elastic bag into the external environment according to the selected mode includes: The valve core of the first control valve is controlled to be in a third position, and the first control valve connects the elastic bag with the external environment.

19. A pedal resistance control device, characterized in that: include: A selection module for selecting a mode according to an input instruction; a control module, configured to control the gas supply system to deliver gas to the elastic bladder or release the gas in the elastic bladder into the external environment according to the selected mode, so as to adjust the gas pressure in the elastic bladder; Among them, the elastic bag is arranged in the auxiliary cylinder body, and a secondary piston is also arranged in the auxiliary cylinder body. The elastic bag is used to drive the secondary piston to move toward the bottom of the auxiliary cylinder body; the auxiliary cylinder body is connected to the main cylinder body of the braking system, and the main piston in the main cylinder body is connected to the pedal.

20. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 14 to 18 when executed.

21. A computer program product, characterized in that When the computer program product is run on a computer, the computer is caused to perform the method according to any one of claims 14 to 18.

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