Driving control system, driving control method and related devices

Abstract

A driving control system, driving control method, and related devices belong to the field of vehicle technology. The driving control system includes an accelerator pedal position detection unit (1), a first electronic control unit (2), and a second electronic control unit (3). The accelerator pedal position detection unit (1) includes a position sensor (11), a first signal transmission circuit (12), and a second signal transmission circuit (13). The position sensor (11) can output position signals to the first electronic control unit (2) and the second electronic control unit (3) respectively through the first signal transmission circuit (12) and the second signal transmission circuit (13). In this way, when one of the electronic control units (2) and the second electronic control unit (3) fails, the other electronic control unit can still control the vehicle based on the position signal.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicles, and in particular, to a driving control system, a driving control method and related devices. BACKGROUND

[0002] During driving a vehicle, a driver controls the power output of the vehicle by controlling the angle of the acceleration pedal, thereby controlling the speed of the vehicle.

[0003] To achieve the above function, in the related art, a position sensor is arranged in the acceleration pedal, and the position sensor is electrically connected with an electronic control unit (ECU). The position sensor is configured to detect a position signal of the acceleration pedal, and the electronic control unit is configured to control the power output of the vehicle based on the position signal of the acceleration pedal.

[0004] Currently, if the electronic control unit fails, the vehicle cannot be driven normally, which makes the reliability of the vehicle poor. SUMMARY

[0005] The present disclosure provides a driving control system, a driving control method and related devices. In the driving control system, a position sensor is connected with a first electronic control unit and a second electronic control unit. When one of the first electronic control unit and the second electronic control unit fails, the other one can still control the vehicle, thereby improving the reliability of the vehicle. The technical solutions of the driving control system, the driving control method and the related devices are as follows:

[0006] In a first aspect, the present disclosure provides a driving control system, which includes an acceleration pedal position detection unit, a first electronic control unit (ECU) and a second electronic control unit. The acceleration pedal position detection unit includes a position sensor, a first signal transmission circuit and a second signal transmission circuit. The position sensor is connected with the first electronic control unit through the first signal transmission circuit, and the position sensor is connected with the second electronic control unit through the second signal transmission circuit.

[0007] The position sensor is configured to detect a position signal of the acceleration pedal, which can be an angle signal of the acceleration pedal. The type of the position sensor is not limited in the present disclosure. In one possible implementation, the position sensor is a resistive sensor. In another possible implementation, the position sensor is a non-contact sensor, for example, a Hall sensor.

[0008] The first signal transmission circuit is configured to transmit the position signal detected by the position sensor to the first electronic control unit, and the second signal transmission circuit is configured to transmit the position signal detected by the position sensor to the second electronic control unit.

[0009] The first electronic control unit and the second electronic control unit are both configured to control the power output of the vehicle based on the position signal of the accelerator pedal. When one of the first electronic control unit and the second electronic control unit fails, the other electronic control unit can still work normally.

[0010] The technical solution provided by the present disclosure can make the position signal of the accelerator pedal detected by the position sensor transmitted to the first electronic control unit and the second electronic control unit through the first signal transmission circuit and the second signal transmission circuit. In this way, when one of the first electronic control unit and the second electronic control unit fails, the other electronic control unit can still control the vehicle based on the position signal of the accelerator pedal, thereby improving the reliability of the vehicle.

[0011] In a possible implementation, the first signal transmission circuit includes a first position signal circuit and a first ground signal circuit. One end of the first position signal circuit is connected to the position sensor, and the other end is connected to a first signal collection end of the first electronic control unit. One end of the first ground signal circuit is connected to the position sensor, and the other end is connected to a first ground end of the first electronic control unit.

[0012] In a possible implementation, the second signal transmission circuit includes a second position signal circuit, a second ground signal circuit, and a differential operation circuit. The second position signal circuit includes a position signal input circuit and a position signal output circuit, and the second ground signal circuit includes a first ground circuit and a second ground circuit. One end of the position signal input circuit is connected to the position sensor, and the other end is connected to the differential operation circuit. One end of the first ground circuit is connected to the position sensor, and the other end is connected to the differential operation circuit. One end of the position signal output circuit is connected to the differential operation circuit, and the other end is connected to a second signal collection end of the second electronic control unit. One end of the second ground circuit is connected to the differential operation circuit, and the other end is connected to a second ground end of the second electronic control unit. The differential operation circuit is configured to adjust the position signal input by the position signal input circuit relative to a voltage V1 of the first ground circuit, so that the position signal output by the position signal output circuit relative to a voltage V2 of the second ground circuit has a linear relationship with V1.

[0013] The first ground circuit is connectable with the first ground signal circuit, and the position signal input circuit is connectable with the first position signal circuit, so that the voltage of the position signal input circuit relative to the first ground circuit is the same as the voltage of the first position signal circuit relative to the first ground signal circuit, both of which are V1, V1 is one-to-one corresponding to the position of the position sensor, and V1 is the voltage collected by the first signal collection end of the first electronic control unit.

[0014] The technical solution provided by the present disclosure adjusts V1 and V2 to be in a linear relationship through the differential operation circuit, so that the V2 collected by the second electronic control unit is not affected by the pressure difference between the first ground end and the second ground end, but is only related to V1, so that V1, V2 and the position of the accelerator pedal have a one-to-one corresponding relationship, thereby the position of the accelerator pedal determined by the second electronic control unit based on V2 is more accurate.

[0015] In a possible implementation, V2=k×V1+V0, where V0 is a target non-negative voltage, and k is a constant greater than 0.

[0016] The technical solution provided by the present disclosure adjusts V1 and V2 to satisfy the relationship V2=k×V1+V0 through the differential operation circuit, so that the V1 collected by the first electronic control unit and the V2 collected by the second electronic control unit are in a linear relationship, and there is no influence of other unknown parameters (such as the pressure difference between the first ground end and the second ground end), which makes V1, V2 and the position of the accelerator pedal have a one-to-one corresponding relationship, thereby the position of the accelerator pedal determined by the second electronic control unit based on V2 is more accurate.

[0017] In addition, since k is greater than 0 and V0 is greater than 0v, the voltage of the position signal output by the position signal output circuit relative to the second ground end is a non-negative voltage, so that the second signal collection end of the second electronic control unit cannot normally collect the position signal due to the input of negative voltage, thereby improving the robustness of the system.

[0018] In a possible implementation, k×V1max+V0≤V1max, where V1max is the maximum value of V1.

[0019] The technical solution provided by the present disclosure adjusts V1 and V2 to satisfy the relationship k×V1max+V0≤V1max through the differential operation circuit, so that the maximum voltage collected by the second electronic control unit will not exceed the maximum voltage allowed to be collected, thereby improving the accuracy and reliability of the system.

[0020] In one possible implementation, the differential operational circuit includes a first operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor. The first operational amplifier has a first positive input terminal, a first negative input terminal, and a first operational output terminal. The position signal input circuit is connected to the first positive input terminal via the first resistor. The first grounding circuit is connected to the first negative input terminal via the fourth resistor. The position signal output circuit is connected to the first operational output terminal, which is connected to the first negative input terminal via the third resistor. The second grounding circuit is connected to the first positive input terminal via the second resistor.

[0021] In one possible implementation, the differential operation circuit further includes a boost unit and a fifth resistor, wherein the boost unit is connected to the first positive input terminal through the fifth resistor.

[0022] The technical solution provided in this disclosure increases the voltage of the position signal input to the first positive input terminal of the first operational amplifier by setting a boost unit in the differential operational circuit. By reasonably designing the boost value of the boost unit, the occurrence of a negative voltage input to the first positive input terminal can be avoided. Therefore, the first operational amplifier can be selected that can only input a positive voltage to the first positive input terminal, which increases the selection range of the first operational amplifier and facilitates the implementation of the technical solution.

[0023] In one possible implementation, the boost unit is the power output from the second electronic control unit.

[0024] In one possible implementation, the position signal input circuit includes a voltage follower, the input of which is connected to the position sensor, and the output of which is connected to the differential operation circuit.

[0025] The input terminal of the voltage follower can be connected to the first position signal circuit. The voltage of the position signal input to the input terminal and the voltage of the position signal output to the output terminal of the voltage follower are the same.

[0026] The technical solution provided in this disclosure, due to the aforementioned characteristics of the voltage follower, can isolate the influence of the position sensor and the first signal transmission circuit on the differential operation circuit.

[0027] In one possible implementation, the accelerator pedal position detection unit further includes a power supply transmission circuit, one end of which is connected to the first power supply terminal of the first electronic control unit, and the other end is connected to the position sensor.

[0028] The technical solution provided in this disclosure enables the first power supply terminal of the first electronic control unit to supply power to the position sensor through the above settings, and the implementation method is simple and the circuit complexity is low.

[0029] In one possible implementation, the accelerator pedal position detection unit further includes a first input circuit, a second input circuit, a power supply selection circuit, and an output circuit. One end of the first input circuit is connected to a first power supply terminal of the first electronic control unit, and the other end is connected to the power supply selection circuit. One end of the second input circuit is connected to a second power supply terminal of the second electronic control unit, and the other end is connected to the power supply selection circuit. One end of the output circuit is connected to the power supply selection circuit, and the other end is connected to the position sensor. The power supply selection circuit is configured to output electrical energy input from the first input circuit, or electrical energy input from the second input circuit, from the output circuit.

[0030] The technical solution provided in this disclosure, through the above-mentioned settings, enables the other input circuit to still output power to the position sensor when one of the first input circuit and the second input circuit fails, thereby improving the reliability of the position sensor's power supply.

[0031] In one possible implementation, the power supply selection circuit is configured to output the power input from the second input circuit from the output circuit when the power input of the first input circuit fails and the power input of the second input circuit is normal.

[0032] In one possible implementation, the power supply selection circuit is configured to output the electrical energy input from the first input circuit from the output circuit when the electrical energy input of the first input circuit is normal.

[0033] In one possible implementation, the voltage at the input terminal of the second input circuit relative to the second ground terminal of the second electronic control unit is equal to the voltage at the output terminal of the second input circuit relative to the first ground terminal of the first electronic control unit.

[0034] In one possible implementation, the second input circuit includes an isolation circuit, the input of which is connected to the second power supply terminal, and the output of which is connected to the power supply selection circuit. The voltage at the input of the isolation circuit relative to the second ground terminal of the second electronic control unit is equal to the voltage at the output of the isolation circuit relative to the first ground terminal of the first electronic control unit.

[0035] The voltage of the first power supply terminal of the first electronic control unit relative to the first ground terminal can be equal to the voltage of the second power supply terminal of the second electronic control unit relative to the second ground terminal, for example, both being 5V.

[0036] The technical solution provided in this disclosure eliminates the influence of the voltage difference between the first grounding terminal and the second grounding terminal through the above settings, so that the power supply selection circuit outputs the same electrical energy input from both the first input circuit and the second input circuit, thereby improving the reliability of power supply and the stability of the voltage collected by the first electronic control unit and the second electronic control unit.

[0037] In one possible implementation, the isolation circuit includes a primary side circuit, a transformer, and a secondary side circuit, the primary side circuit and the secondary side circuit being coupled through the transformer. The primary side circuit is connected to the second power supply terminal of the second electronic control unit and grounded through the second ground terminal. The secondary side circuit is connected to the power supply selection circuit and grounded through the first ground terminal.

[0038] In one possible implementation, the transformer has a transformation ratio of 1:1.

[0039] In one possible implementation, there are two position sensors, two first signal transmission circuits, and two second signal transmission circuits. The two position sensors are each connected to the first electronic control unit via two first signal transmission circuits, and the two position sensors are each connected to the second electronic control unit via two second signal transmission circuits.

[0040] The technical solution provided in this disclosure improves the accuracy of control by setting two position sensors, a first signal transmission circuit, and a second signal transmission circuit, enabling the electronic control unit (either the first or second electronic control unit) to control the vehicle's power output based on the position signals detected by the two position sensors.

[0041] Furthermore, when one position sensor fails, the other position sensor can still transmit position signals to the electronic control unit, improving the reliability of the driving control system.

[0042] In one possible implementation, the position sensor, the first signal transmission circuit, and the second signal transmission circuit are integrated on the same circuit board.

[0043] In one possible implementation, the first signal transmission circuit is connected to the first electronic control unit via a first wiring harness, and the second signal transmission circuit is connected to the second electronic control unit via a second wiring harness.

[0044] The technical solution provided in this disclosure uses a first wiring harness to connect the position sensor and the first electronic control unit, and a second wiring harness to connect the position sensor and the second electronic control unit. This ensures that when one of the first and second wiring harnesses fails, the other wiring harness can still transmit the position signal to the corresponding electronic control unit, thereby improving the reliability of the driving system.

[0045] In one possible implementation, one of the first and second electronic control units is a vehicle control unit (VCU), and the other is an autonomous driving controller. Alternatively, one of the first and second electronic control units is an engine management system (EMS), and the other is an autonomous driving controller. The autonomous driving controller is configured to control the vehicle's power output based on the accelerator pedal position signal detected by the position sensor when the vehicle control unit or the engine control unit malfunctions.

[0046] In electric vehicles, the vehicle controller refers to the controller that controls the vehicle based on the position signal of the accelerator pedal in manual driving mode. In gasoline vehicles, the engine controller refers to the controller that controls the vehicle based on the position signal of the accelerator pedal in manual driving mode. The autonomous driving controller refers to the controller that automatically controls the vehicle in autonomous driving mode. Autonomous driving controllers can also be called driver assistance controllers or automated driving solution (ADS) controllers.

[0047] The technical solution provided in this disclosure, by selecting the vehicle controller (or engine controller) and autonomous driving controller already present in the vehicle as the first and second electronic control units, eliminates the need to add new electronic control units to the vehicle, reducing implementation costs and facilitating the realization of the technical solution. Furthermore, through the above arrangement, the autonomous driving controller is reused as a controller in manual driving mode, improving the reliability of the driving system.

[0048] In one possible implementation, the first electronic control unit and the second electronic control unit are connected.

[0049] Secondly, this disclosure provides an accelerator pedal position detection unit, which includes a position sensor, a first signal transmission circuit, and a second signal transmission circuit. The position sensor is connected to the first signal transmission circuit and the second signal transmission circuit. The first signal transmission circuit is used to connect to a first electronic control unit, and the second signal transmission circuit is used to connect to a second electronic control unit.

[0050] In one possible implementation, the first signal transmission circuit includes a first position signal circuit and a first ground signal circuit; one end of the first position signal circuit is connected to the position sensor, and the other end is used to connect to the first signal acquisition terminal of the first electronic control unit; one end of the first ground signal circuit is connected to the position sensor, and the other end is used to connect to the first ground terminal of the first electronic control unit.

[0051] In one possible implementation, the second signal transmission circuit includes a second position signal circuit, a second ground signal circuit, and a differential operation circuit. The second position signal circuit includes a position signal input circuit and a position signal output circuit, and the second ground signal circuit includes a first ground circuit and a second ground circuit. One end of the position signal input circuit is connected to the position sensor, and the other end is connected to the differential operation circuit. One end of the first ground circuit is connected to the position sensor, and the other end is connected to the differential operation circuit. One end of the position signal output circuit is connected to the differential operation circuit, and the other end is used to connect to the second signal acquisition terminal of the second electronic control unit. One end of the second ground circuit is connected to the differential operation circuit, and the other end is used to connect to the second ground terminal of the second electronic control unit. The differential operation circuit is configured to adjust the position signal input to the position signal input circuit relative to the voltage V1 of the first ground circuit, such that the position signal output by the position signal output circuit has a linear relationship with the voltage V2 of the second ground circuit relative to V1.

[0052] In one possible implementation, V2 = k × V1 + V0, where V0 is the target non-negative voltage and k is a constant greater than 0.

[0053] In one possible implementation, k×V1max+V0≤V1max, where V1max is the maximum value of V1.

[0054] In one possible implementation, the differential operational circuit includes a first operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor; the first operational amplifier has a first positive input terminal, a first negative input terminal, and a first operational output terminal; the position signal input circuit is connected to the first positive input terminal through the first resistor; the first grounding circuit is connected to the first negative input terminal through the fourth resistor; the position signal output circuit is connected to the first operational output terminal, and the first operational output terminal is connected to the first negative input terminal through the third resistor; the second grounding circuit is connected to the first positive input terminal through the second resistor.

[0055] In one possible implementation, the differential operation circuit further includes a boost unit and a fifth resistor; the boost unit is connected to the first positive input terminal through the fifth resistor, and the boost unit is used to make the voltage input to the first positive input terminal greater than or equal to 0.

[0056] In one possible implementation, the boost unit is the power output from the second electronic control unit.

[0057] In one possible implementation, the position signal input circuit includes a voltage follower; the input of the voltage follower is connected to the position sensor, and the output of the voltage follower is connected to the differential operation circuit.

[0058] In one possible implementation, the accelerator pedal position detection unit further includes a power supply transmission circuit, one end of which is connected to the first power supply terminal of the first electronic control unit, and the other end is connected to the position sensor.

[0059] In one possible implementation, the accelerator pedal position detection unit further includes a first input circuit, a second input circuit, a power supply selection circuit, and an output circuit. One end of the first input circuit is connected to a first power supply terminal of the first electronic control unit, and the other end is connected to the power supply selection circuit. One end of the second input circuit is connected to a second power supply terminal of the second electronic control unit, and the other end is connected to the power supply selection circuit. One end of the output circuit is connected to the power supply selection circuit, and the other end is connected to the position sensor. The power supply selection circuit is configured to output electrical energy input from the first input circuit, or electrical energy input from the second input circuit, from the output circuit.

[0060] In one possible implementation, the power supply selection circuit is configured to output the power input from the second input circuit from the output circuit when the power input of the first input circuit fails and the power input of the second input circuit is normal.

[0061] In one possible implementation, the power supply selection circuit is configured to output the electrical energy input from the first input circuit from the output circuit when the electrical energy input of the first input circuit is normal.

[0062] In one possible implementation, the second input circuit includes an isolation circuit, the input of which is connected to the second power supply terminal, and the output of which is connected to the power supply selection circuit. The voltage at the input of the isolation circuit relative to the second ground terminal of the second electronic control unit is equal to the voltage at the output of the isolation circuit relative to the first ground terminal of the first electronic control unit.

[0063] In one possible implementation, the isolation circuit includes a primary side circuit, a transformer, and a secondary side circuit, the primary side circuit and the secondary side circuit being coupled through the transformer. The primary side circuit is connected to a second power supply terminal of the second electronic control unit and grounded through a second ground terminal. The secondary side circuit is connected to the power supply selection circuit and grounded through a first ground terminal.

[0064] In one possible implementation, the transformer has a transformation ratio of 1:1.

[0065] In one possible implementation, there are two position sensors, two first signal transmission circuits, and two second signal transmission circuits. The two position sensors are each connected to the first electronic control unit via two first signal transmission circuits, and the two position sensors are each connected to the second electronic control unit via two second signal transmission circuits.

[0066] In one possible implementation, the position sensor, the first signal transmission circuit, and the second signal transmission circuit are integrated on the same circuit board.

[0067] In one possible implementation, the first signal transmission circuit is configured to be connected to the first electronic control unit via a first wiring harness, and the second signal transmission circuit is configured to be connected to the second electronic control unit via a second wiring harness.

[0068] In one possible implementation, one of the first electronic control unit and the second electronic control unit is a vehicle controller, and the other is an autonomous driving controller. Alternatively, one of the first electronic control unit and the second electronic control unit is an engine controller, and the other is an autonomous driving controller. The autonomous driving controller is used to control the vehicle's power output based on the accelerator pedal position signal detected by the position sensor when the vehicle controller or the engine controller malfunctions.

[0069] Thirdly, this disclosure provides an accelerator pedal, the accelerator pedal including an accelerator pedal structure and an accelerator pedal position detection unit as described in any of the second aspects.

[0070] Fourthly, this disclosure provides a vehicle that includes a driving control system as described in any of the first aspects.

[0071] Fifthly, this disclosure provides a driving control method applied in a driving control system as described in any of the first aspects, the driving control method comprising: a second electronic control unit detecting a fault in the first electronic control unit; and the second electronic control unit controlling the power output of the vehicle based on a position signal received through the second signal transmission circuit.

[0072] The technical solution provided in this disclosure, through the above-mentioned settings, enables the second electronic control unit to control the vehicle's power output based on the accelerator pedal position signal even when the first electronic control unit fails, thereby improving the vehicle's reliability.

[0073] In one possible implementation, before the second electronic control unit controls the vehicle's power output based on the position signal received through the second signal transmission circuit, the driving control method further includes: the second electronic control unit restarting after detecting that the vehicle is off.

[0074] The technical solution provided in this disclosure improves vehicle driving safety by having the second electronic control unit take over the vehicle's power output control when the vehicle is restarted after the first electronic control unit fails. This avoids situations where the second electronic control unit suddenly takes over the vehicle's power output control and causes the vehicle to accelerate instantly when the driver suddenly presses the accelerator pedal due to a malfunction in the accelerator pedal.

[0075] In one possible implementation, the driving control method further includes: when the first electronic control unit is functioning normally, the first electronic control unit controls the power output of the vehicle based on the position signal received through the first signal transmission circuit.

[0076] In one possible implementation, after the second electronic control unit controls the vehicle's power output based on the position signal received through the second signal transmission circuit, the driving control method further includes: the first electronic control unit operating normally. The first electronic control unit controls the vehicle's power output based on the position signal received through the first signal transmission circuit.

[0077] In one possible implementation, before the first electronic control unit controls the vehicle's power output based on the position signal received through the first signal transmission circuit, the driving control method further includes: the first electronic control unit restarting after detecting that the vehicle is off.

[0078] In a sixth aspect, this disclosure provides a driving control method applied in a second electronic control unit of a driving control system as described in any of the first aspects, the driving control method comprising: detecting a fault in the first electronic control unit; and controlling the power output of the vehicle based on a position signal received through the second signal transmission circuit.

[0079] When the first electronic control unit is functioning normally, it can control the vehicle's power output.

[0080] The technical solution provided in this disclosure, through the above-mentioned settings, enables the second electronic control unit to control the vehicle's power output based on the accelerator pedal position signal even when the first electronic control unit fails, thereby improving the vehicle's reliability.

[0081] In one possible implementation, before controlling the vehicle's power output based on the position signal received through the second signal transmission circuit, the method further includes: restarting the vehicle after detecting that it is turned off.

[0082] The technical solution provided in this disclosure improves vehicle driving safety by having the second electronic control unit take over the vehicle's power output control when the vehicle is restarted after the first electronic control unit fails. This avoids situations where the second electronic control unit suddenly takes over the vehicle's power output control and causes the vehicle to accelerate instantly when the driver suddenly presses the accelerator pedal due to a malfunction in the accelerator pedal.

[0083] In a seventh aspect, this disclosure provides a driving control device disposed in a second electronic control unit of a driving control system as described in any of the first aspects, the driving control device comprising:

[0084] The detection module is used to detect faults in the first electronic control unit.

[0085] The control module is used to control the power output of the vehicle based on the position signal received through the second signal transmission circuit.

[0086] In one possible implementation, before the control module controls the vehicle's power output based on the position signal received through the second signal transmission circuit, the detection module is further configured to restart the vehicle after detecting that it has been turned off.

[0087] Eighthly, this disclosure provides a computer-readable storage medium storing at least one instruction that is loaded and executed by a controller to implement the driving control method as described in any of the sixth aspects.

[0088] In a ninth aspect, this disclosure provides a computer program product comprising at least one instruction that is executed by an electronic control unit to cause the electronic control unit to implement the driving control method as described in any of the sixth aspects.

[0089] In a tenth aspect, this disclosure provides a chip including a controller, the controller being configured to retrieve and execute instructions stored in a memory, causing an electronic control unit on which the chip is mounted to perform the driving control method described in any of the sixth aspects above.

[0090] Eleventhly, this disclosure provides another chip, the chip comprising: an input interface, an output interface, a controller, and a memory, wherein the input interface, the output interface, the controller, and the memory are connected via an internal connection path, and the controller is used to execute code in the memory, wherein when the code is executed, the controller is used to execute the driving control method described in any of the sixth aspects above.

[0091] In a twelfth aspect, this disclosure provides an electronic control unit, the electronic control unit including a controller coupled to a memory; the memory storing at least one instruction, the at least one instruction being loaded and executed by the controller to implement the driving control method as described in any of the sixth aspects. Attached Figure Description

[0092] Figure 1 This is a schematic diagram of a driving control system for an electric vehicle provided in an embodiment of this disclosure;

[0093] Figure 2 This is a schematic diagram of a driving control system for a fuel-powered vehicle provided in an embodiment of this disclosure;

[0094] Figure 3 This is a schematic diagram of a driving control system provided in an embodiment of this disclosure;

[0095] Figure 4 This is a schematic diagram of a driving control system provided in an embodiment of this disclosure;

[0096] Figure 5 This is a schematic diagram of a differential operation circuit provided in an embodiment of this disclosure;

[0097] Figure 6 This is a schematic diagram of a differential operation circuit provided in an embodiment of this disclosure;

[0098] Figure 7 This is a schematic diagram of a differential operation circuit provided in an embodiment of this disclosure;

[0099] Figure 8This is a schematic diagram of a differential operation circuit provided in an embodiment of this disclosure;

[0100] Figure 9 This is a schematic diagram of a differential operation circuit provided in an embodiment of this disclosure;

[0101] Figure 10 This is a schematic diagram of a driving control system provided in an embodiment of this disclosure;

[0102] Figure 11 This is a schematic diagram of a voltage follower provided in an embodiment of this disclosure;

[0103] Figure 12 This is a schematic diagram of a voltage follower provided in an embodiment of this disclosure;

[0104] Figure 13 This is a schematic diagram of a driving control system provided in an embodiment of this disclosure;

[0105] Figure 14 This is a schematic diagram of a power supply selection circuit provided in an embodiment of this disclosure;

[0106] Figure 15 This is a schematic diagram of a power supply selection circuit provided in an embodiment of this disclosure;

[0107] Figure 16 This is a schematic diagram of a driving control system provided in an embodiment of this disclosure;

[0108] Figure 17 This is a schematic diagram of an isolation circuit provided in an embodiment of this disclosure;

[0109] Figure 18 This is a schematic diagram of a driving control system provided in an embodiment of this disclosure;

[0110] Figure 19 This is a schematic diagram of an electric vehicle driving control system provided in an embodiment of this disclosure;

[0111] Figure 20 This is a schematic diagram of a driving control system for a fuel-powered vehicle provided in an embodiment of this disclosure;

[0112] Figure 21 This is a flowchart of a driving control method provided in an embodiment of this disclosure;

[0113] Figure 22 This is a flowchart of a driving control method provided in an embodiment of this disclosure;

[0114] Figure 23 This is a schematic diagram of a driving control device provided in an embodiment of this disclosure;

[0115] Figure 24This is a schematic diagram of an electronic control unit provided in an embodiment of this disclosure.

[0116] Legend

[0117] 1. Accelerator pedal position detection unit; 10. Circuit board; 11. Position sensor;

[0118] 12. First signal transmission circuit; 121. First position signal circuit; 122. First ground signal circuit;

[0119] 13. Second signal transmission circuit; 131. Second position signal circuit; 1311. Position signal input circuit; 13111. Voltage follower; 131111. Second operational amplifier; 131111a. Second positive input terminal; 131111b. Second negative input terminal; 131111c. Second operational output terminal; 1312. Position signal output circuit.

[0120] 132. Second ground signal circuit; 1321. First grounding circuit; 1322. Second grounding circuit;

[0121] 133. Differential operational circuit; 1331. First operational amplifier; 1331a. First positive input terminal; 1331b. First negative input terminal; 1331c. First operational output terminal; 1332. First resistor; 1333. Second resistor; 1334. Third resistor; 1335. Fourth resistor; 1336. Boost unit; 1337. Fifth resistor;

[0122] 14. Operational amplifier power supply circuit;

[0123] 15. Power supply transmission circuit;

[0124] 16. First input circuit; 17. Second input circuit; 170. Isolation circuit; 171. Primary side circuit; 172. Transformer; 173. Secondary side circuit; 18. Power supply selection circuit; 181. NMOS transistor; 182. First PMOS transistor; 183. Second PMOS transistor; 184. Sixth resistor; 185. Seventh resistor; 19. Output circuit.

[0125] 2. First electronic control unit; 21. First signal acquisition terminal; 22. First grounding terminal; 23. First power supply terminal;

[0126] 3. Second electronic control unit; 31. Second signal acquisition terminal; 32. Second grounding terminal; 33. Second power supply terminal;

[0127] 4. Frame. Detailed Implementation

[0128] The accelerator pedal is a component of the driving control system. During driving, the driver controls the vehicle's power output by adjusting the angle at which the accelerator pedal is pressed, thereby controlling the vehicle's speed.

[0129] To achieve the above functions, related technologies incorporate a position sensor within the accelerator pedal, which is then connected to the electronic control unit (ECU). The position sensor detects the accelerator pedal's position (such as the angle at which it is depressed) and outputs a position signal to the ECU. The ECU then controls the vehicle's power output based on this accelerator pedal position signal.

[0130] like Figure 1 As shown, for electric vehicles, the electronic control unit is the vehicle control unit (VCU). The VCU sends a torque control signal to the motor controller based on the position signal of the accelerator pedal detected by the position sensor. The motor controller controls the torque of the motor based on the torque control signal, thereby controlling the vehicle speed.

[0131] like Figure 2 As shown, for gasoline vehicles, this electronic control unit is the engine management system (EMS). The engine management system controls the throttle opening based on the position signal of the accelerator pedal detected by the position sensor, thereby controlling the vehicle speed.

[0132] However, whether it is an electric vehicle or a gasoline vehicle, if the electronic control unit (vehicle controller or engine controller) malfunctions, the vehicle cannot operate normally, which makes the vehicle less reliable.

[0133] In view of the above-mentioned technical problems, the present disclosure provides a driving control system in which a position sensor is connected to two electronic control units, so that when one electronic control unit fails, the other electronic control unit can still control the power output of the vehicle based on the position signal detected by the position sensor, thereby improving the reliability of the vehicle.

[0134] The driving control system provided in the embodiments of this disclosure will be described by way of example below:

[0135] like Figure 3 and Figure 4As shown, the driving control system includes an accelerator pedal position detection unit 1, a first electronic control unit 2, and a second electronic control unit 3. The accelerator pedal position detection unit 1 includes a position sensor 11, a first signal transmission circuit 12, and a second signal transmission circuit 13. The position sensor 11 is connected to the first electronic control unit 2 through the first signal transmission circuit 12 and to the second electronic control unit 3 through the second signal transmission circuit 13.

[0136] The position sensor 11 is used to detect the position signal of the accelerator pedal, such as the angle at which the accelerator pedal is depressed. This disclosure does not limit the type of position sensor 11. In some examples, the position sensor 11 is a resistive sensor, and in other examples, it is a non-contact sensor, such as a Hall effect sensor.

[0137] The first signal transmission circuit 12 is used to transmit the position signal detected by the position sensor 11 to the first electronic control unit 2, and the second signal transmission circuit 13 is used to transmit the position signal detected by the position sensor 11 to the second electronic control unit 3.

[0138] Both the first electronic control unit 2 and the second electronic control unit 3 are used to control the vehicle's power output based on the accelerator pedal position signal. Furthermore, if one of the electronic control units 2 or 3 fails, the other electronic control unit can still function normally.

[0139] The technical solution provided in this disclosure, through the above-described configuration, enables the position signal of the accelerator pedal detected by the position sensor 11 to be transmitted to the first electronic control unit 2 and the second electronic control unit 3 via the first signal transmission circuit 12 and the second signal transmission circuit 13, respectively. Thus, when one of the electronic control units 2 and 3 fails, the other electronic control unit can still control the vehicle based on the accelerator pedal position signal, improving the reliability of the driving control system and the vehicle.

[0140] The implementation methods of the first signal transmission circuit 12 and the second signal transmission circuit 13 provided in the embodiments of this disclosure will be described by way of example below:

[0141] First signal transmission circuit 12:

[0142] In some examples, such as Figure 3 and Figure 4As shown, the first signal transmission circuit 12 includes a first position signal circuit 121 and a first ground signal circuit 122. One end of the first position signal circuit 121 is connected to the position sensor 11, and the other end is connected to the first signal acquisition terminal 21 of the first electronic control unit 2. One end of the first ground signal circuit 122 is connected to the position sensor 11, and the other end is connected to the first ground terminal 22 of the first electronic control unit 2.

[0143] In this embodiment, the first grounding terminal 22 of the first electronic control unit 2 is grounded. This disclosure does not limit the implementation method of grounding the first grounding terminal 22; in some examples, such as... Figure 3 As shown, the first grounding terminal 22 is connected to the frame 4. For example, it can be connected to ground via the frame 4.

[0144] The first signal acquisition terminal 21 of the first electronic control unit 2 is used to acquire the position signal output by the first position signal circuit 121. The position signal is the voltage of the signal, and the reference ground of the voltage is the first ground terminal 22.

[0145] When the first electronic control unit 2 controls the power output of the vehicle, when the driver presses the accelerator pedal, the state of the first position sensor 11 changes, and the voltage output of the first position signal circuit 121 changes. The first electronic control unit 2 collects this voltage and controls the power output of the vehicle based on the change in voltage.

[0146] Second signal transmission circuit 13:

[0147] In some examples, such as Figure 3 As shown, the second signal transmission circuit 13 includes a second position signal circuit 131 and a second ground signal circuit 132. One end of the second position signal circuit 131 is connected to the position sensor 11, and the other end is connected to the second signal acquisition terminal 31 of the second electronic control unit 3. One end of the second ground signal circuit 132 is connected to the position sensor 11, and the other end is grounded to the second ground terminal 32 of the second electronic control unit 3.

[0148] In some examples, such as Figure 3 As shown, the second position signal circuit 131 is connected to the first position signal circuit 121, and the second ground signal circuit 132 is connected to the first ground signal circuit 122.

[0149] In this embodiment, the second grounding terminal 32 of the second electronic control unit 3 is grounded. This disclosure does not limit the implementation method of grounding the second grounding terminal 32; in some examples, such as... Figure 3 As shown, the second grounding terminal 32 is connected to the frame 4. For example, it can be connected to ground via the frame 4.

[0150] The second signal acquisition terminal 31 of the second electronic control unit 3 is used to acquire the position signal output by the second position signal circuit 131. The position signal is the voltage of the signal output by the second position signal circuit 131, and the reference ground of the voltage is the second ground terminal 32.

[0151] When the second electronic control unit 3 controls the vehicle's power output, the state of the first position sensor 11 changes when the driver presses the accelerator pedal. This causes a change in the voltage output of the second position signal circuit 131. The second electronic control unit 3 collects this voltage and controls the vehicle's power output based on the change in voltage.

[0152] It should be noted that since the first grounding terminal 22 of the first electronic control unit 2 and the second grounding terminal 32 of the second electronic control unit 3 are generally grounded through different grounding points of the vehicle frame 4, the first grounding terminal 22 and the second grounding terminal 32 may not be at the same potential, and a voltage difference may exist. According to the relevant provisions of the automotive standard ISO16750 regarding the potential difference between components inside the vehicle, this voltage difference is allowed to be up to 1V.

[0153] When the first position signal circuit 121 and the second position signal circuit 131 are connected, the potential of the first position signal circuit 121 is the same as that of the second position signal circuit 131, and the first signal acquisition terminal 21 of the first electronic control unit 2 and the second signal acquisition terminal 31 of the second electronic control unit 3 are at the same potential. However, if the reference grounds of the first signal acquisition terminal 21 and the second signal acquisition terminal 31 are different (that is, there is a potential difference between the first ground terminal 22 and the second ground terminal 32), then the voltages acquired by the first electronic control unit 2 and the second electronic control unit 3 will also be different.

[0154] For example, suppose the voltage of the first ground terminal 22 relative to the second ground terminal 32 is Vd. If the voltage acquired by the first electronic control unit 2 is V1 (that is, the voltage of the first signal acquisition terminal 21 relative to the first ground terminal 22 is V1), then the voltage acquired by the second electronic control unit 3 is V2 = V1 + Vd (that is, the voltage of the second signal acquisition terminal 31 relative to the second ground terminal 32 is V2 = V1 + Vd). However, in practical applications, Vd changes over time, so the specific value of V2 will be uncertain for the same V1.

[0155] Figure 3The technical solution shown will cause the first grounding terminal 22 and the second grounding terminal 32 to be directly shorted together. Due to the presence of Vd, the acquired position signal will have irregular deviations (the potential of the grounding terminal is unclear), and may cause V2 to be less than 0V. For example, if V1 = 0.5V and Vd = -1V, then V2 = -0.5V. If the second electronic control unit 3 cannot acquire negative voltage, it will cause the second electronic control unit 3 to malfunction.

[0156] To at least resolve some of the aforementioned technical issues, in some examples, Vd can be set to 0V, that is, the first grounding terminal 22 and the second grounding terminal 32 can be set to the same potential, which will allow normal operation. Figure 3 The technical solution shown.

[0157] In other examples, such as Figure 4 As shown, the differential operation circuit 133 can also be set to adjust the voltage of the position signal output to the second electronic control unit 3 to remove the influence of Vd.

[0158] For example, such as Figure 4 As shown, the second signal transmission circuit 13 includes a second position signal circuit 131, a second ground signal circuit 132, and a differential operation circuit 133. The second position signal circuit 131 includes a position signal input circuit 1311 and a position signal output circuit 1312. The second ground signal circuit 132 includes a first grounding circuit 1321 and a second grounding circuit 1322. One end of the position signal input circuit 1311 is connected to the position sensor 11, and the other end is connected to the differential operation circuit 133. One end of the first grounding circuit 1321 is connected to the position sensor 11, and the other end is connected to the differential operation circuit 133. One end of the position signal output circuit 1312 is connected to the differential operation circuit 133, and the other end is connected to the second signal acquisition terminal 31 of the second electronic control unit 3. One end of the second grounding circuit 1322 is connected to the differential operation circuit 133, and the other end is connected to the second grounding terminal 32 of the second electronic control unit 3. The differential operation circuit 133 is configured to adjust the voltage V1 of the position signal input to the position signal input circuit 1311 relative to the voltage V1 of the first grounding circuit 1321, so that the voltage V2 of the position signal output by the position signal output circuit 1312 relative to the voltage V1 of the second grounding circuit 1322 is linearly related.

[0159] like Figure 4As shown, the position signal input circuit 1311 can be connected to the first position signal circuit 121, and the first grounding circuit 1321 can be connected to the first ground signal circuit 122. Therefore, the position signal input circuit 1311 and the first position signal circuit 121 are at the same potential, and the first grounding circuit 1321 and the first ground signal circuit 122 are at the same potential. Thus, the voltage of the position signal input to the position signal input circuit 1311 relative to the first grounding circuit 1321 is equal to the voltage of the first position signal circuit 121 relative to the first ground signal circuit 122. Let this voltage be V1, where V1 is the voltage acquired by the first signal acquisition terminal 21 of the first electronic control unit 2.

[0160] The technical solution provided in this disclosure eliminates the influence of Vd by setting the V2 acquired by the second signal acquisition terminal 31 of the second electronic control unit 3 and the V1 acquired by the first signal acquisition terminal 21 of the first electronic control unit 2 to be linearly related. This makes V2, V1 and the position of the accelerator pedal correspond one-to-one, and makes the position of the accelerator pedal determined by the second electronic control unit 3 based on V2 more accurate.

[0161] In some examples, V2 = k × V1 + V0, where V0 is the target non-negative voltage and k is a constant greater than 0.

[0162] Since k is a constant greater than 0, V0 is a non-negative voltage value, and V1 is greater than or equal to 0, V2 is also greater than or equal to 0, so V2 is a non-negative voltage value, which prevents the second electronic control unit 3 from acquiring a negative voltage.

[0163] Furthermore, since there are no other unknown parameters (such as Vd) in this relationship, the positions of V2, V1 and the accelerator pedal correspond one-to-one, making the position of the accelerator pedal determined by the second electronic control unit 3 based on V2 more accurate.

[0164] In addition, assuming that the maximum voltage that the second electronic control unit 3 can collect is V2max, then k×V1max+V0 should be less than or equal to V2max, where V1max is the maximum voltage of the position signal output by the first position signal circuit 121 relative to the first ground terminal 22.

[0165] Generally speaking, the first electronic control unit 2 and the second electronic control unit 3 can collect the same maximum voltage, that is, V1max=V2max, so k×V1max+V0≤V1max.

[0166] The implementation of the differential operation circuit 133 will be illustrated below:

[0167] like Figure 5As shown, the differential operational circuit 133 includes a first operational amplifier 1331, a first resistor 1332, a second resistor 1333, a third resistor 1334, and a fourth resistor 1335. The first operational amplifier 1331 has a first positive input terminal 1331a, a first negative input terminal 1331b, and a first operational output terminal 1331c. The position signal input circuit 1311 is connected to the first positive input terminal 1331a through the first resistor 1332, and the first grounding circuit 1321 is connected to the first negative input terminal 1331b through the fourth resistor 1335. The position signal output circuit 1312 is connected to the first operational output terminal 1331c, and the first operational output terminal 1331c is connected to the first negative input terminal 1331b through the third resistor 1334. The second grounding circuit 1322 is connected to the first positive input terminal 1331a through the second resistor 1333.

[0168] Wherein, the resistance value of the first resistor 1332 is R1, the resistance value of the second resistor 1333 is R2, the resistance value of the third resistor 1334 is R3, and the resistance value of the fourth resistor 1335 is R4. Assuming that the voltage of the second grounding terminal 32 is 0V and the voltage of the first grounding terminal 22 is Vd (that is, the voltage difference between the first grounding terminal 22 and the second grounding terminal 32 is Vd), then the voltage input to the first grounding circuit 1321 is Vd, and the voltage input to the position signal input circuit 1311 is V1 + Vd.

[0169] The operational amplifier (first operational amplifier 1331) has the following characteristics: the first positive input terminal 1331a and the first negative input terminal 1331b of the first operational amplifier 1331 have the same potential (assuming that the voltage relative to the second ground terminal 32 is Vin). Furthermore, the current between the first positive input terminal 1331a and the first negative input terminal 1331b is 0.

[0170] Based on the above characteristics, the current situation of the differential operation circuit 133 is as follows: Figure 6 As shown, where, Figure 6 The “X” in the circuit indicates that no current flows through it, and the following relationships apply: I1 = I2, I3 = I4.

[0171] in, Substituting into the formula I1=I2, we can obtain

[0172] Further derivation yields,

[0173] Substituting into the formula I3 = I4, we can obtain

[0174] Further derivation yields,

[0175] Substituting (1) into equation (2), we obtain the relationship between V2 and V1:

[0176]

[0177] To eliminate the influence of Vd in the relationship between V2 and V1, we set... That is, R1, R2, R3, and R4 satisfy the following relationship:

[0178] Further derivation shows that the relationship between V2 and V1 can be transformed into: in, That is, k as mentioned above, and in Figure 5 and Figure 6 In the circuit diagram shown, V0 = 0V.

[0179] The specific values ​​of R1, R2, R3 and R4 are not limited in the embodiments disclosed herein. In some examples, R1 = 10kΩ, R2 = 10kΩ, R3 = 10kΩ, R4 = 10Ω, then V2 = V1.

[0180] It should be noted that, for Figure 5 and Figure 6 The differential operational circuit 133 shown has a first positive input terminal 1331a of the first operational amplifier 1331 that may have a negative input voltage. For example, if V1 = 0.5V and Vd = -1V, then Vin < 0.

[0181] To prevent negative input voltage from affecting the normal operation of the first operational amplifier 1331, the first operational amplifier 1331 needs to be selected as an operational amplifier that can allow negative input voltage.

[0182] Of course, in other examples, Vin can also be boosted so that a negative voltage is not applied to the first positive input terminal 1331a of the first operational amplifier 1331, thereby expanding the selection range of the first operational amplifier 1331.

[0183] For example, such as Figure 7 As shown, the differential operation circuit 133 also includes a boost unit 1336 and a fifth resistor 1337. The boost unit 1336 is connected to the first positive input terminal 1331a through the fifth resistor 1337.

[0184] Among them, the resistance of the fifth resistor 1337 is R5, and the voltage of the boost unit 1336 relative to the second ground terminal 32 is V3.

[0185] Based on the characteristics of the operational amplifier described above, the current situation of the differential operational circuit 133 is as follows: Figure 8 As shown, where, Figure 8The "X" sign indicates that no current flows through the circuit, and the following relationships apply: I1 + I5 = I2, I3 = I4.

[0186] in, Substituting into the formula I1 + I5 = I2, we can obtain Further derivation yields,

[0187] Substituting equation (3) into equation (2) above, we obtain the relationship between V2 and V1:

[0188]

[0189] To eliminate the influence of Vd in the relationship between V2 and V1, set That is, R1, R2, R3, R4, and R5 satisfy the following relationship:

[0190] Further derivation shows that the relationship between V2 and V1 can be transformed into: in, That is, k as mentioned above. That is, the aforementioned V0.

[0191] The specific values ​​of R1, R2, R3, R4 and R5 are not limited in the embodiments disclosed herein. In some examples, R1 = 10kΩ, R2 = 10kΩ, R3 = 8kΩ, R4 = 10kΩ, R5 = 40kΩ, then V2 = 0.8V1 + 0.2V3.

[0192] The specific value of V3 is not limited in this embodiment, as long as V3 can ensure that Vin is never input with negative pressure. In some examples, V3 = 5V, then V2 = 0.8V1 + 1V.

[0193] This disclosure does not limit the source of the boost unit 1336; in some examples, such as Figure 9 As shown, the boost unit 1336 is the power output from the second power supply terminal 33 of the second electronic control unit 3.

[0194] In addition, the first operational amplifier 1331 requires a power supply to operate, such as... Figure 9 As shown, the negative power supply terminal (Vcc-) of the first operational amplifier 1331 is connected to the second ground terminal 32, and the positive power supply terminal (Vcc+) is connected to the second power supply terminal 33 through the operational amplifier power supply circuit 14.

[0195] In some examples, such as Figure 10 As shown, the position signal input circuit 1311 includes a voltage follower 13111, the input terminal of which is connected to the position sensor 11, and the output terminal of which is connected to the differential operation circuit 133.

[0196] The voltage follower 13111 can be connected to the first position signal circuit 121. The voltage of the position signal input to the input terminal of the voltage follower 13111 is equal to the voltage of the output position signal.

[0197] The voltage follower 13111 can isolate the position sensor 11 and the differential operation circuit 133, so as to prevent the first position signal circuit 121 and the position sensor 11 from affecting the differential operation circuit 133.

[0198] The following is an exemplary description of the implementation of the voltage follower 13111:

[0199] like Figure 11 As shown, the voltage follower 13111 includes a second operational amplifier 131111, which has a second positive input terminal 131111a, a second negative input terminal 131111b, and a second operational output terminal 131111c. The position sensor 11 is connected to the second positive input terminal 131111a, the second operational output terminal 131111c is connected to the second negative input terminal 131111b, and the second operational output terminal 131111c is connected to the differential operational circuit 133.

[0200] Based on the above characteristics of the operational amplifier, the potentials of the second positive input terminal 131111a and the second negative input terminal 131111b are the same, both being Vin. Furthermore, the potential of the second operational output terminal 131111c is the same as the potential of the second negative input terminal 131111b, that is, Vout = Vin.

[0201] The voltage of the signal input to the second positive input terminal 131111a relative to the first ground terminal 22 is V1. Converted to a voltage relative to the second ground terminal 32, this is V1 + Vd, therefore Vout = Vin = V1 + Vd. That is, the voltage input to the differential operation circuit 133 from the second operational output terminal 131111c is V1 + Vd. It is evident that the presence of the voltage follower 13111 does not affect the magnitude of the voltage output from the position signal input circuit 1311 to the differential operation circuit 133.

[0202] Additionally, the second operational amplifier 131111 requires a power supply to function, such as... Figure 12 As shown, the negative power supply terminal (Vcc-) of the second operational amplifier 131111 is connected to the first ground terminal 22, and the positive power supply terminal (Vcc+) is connected to the first power supply terminal 23 of the first electronic control unit 2.

[0203] The power supply method for position sensor 11 will be explained below:

[0204] In some examples, such asFigure 3 , Figure 4 and Figure 10 As shown, the accelerator pedal position detection unit 1 also includes a power transmission circuit 15. One end of the power transmission circuit 15 is connected to the first power supply terminal 23 of the first electronic control unit 2, and the other end is connected to the position sensor 11. Thus, the first power supply terminal 23 of the first electronic control unit 2 can supply power to the position sensor 11 through the power transmission circuit 15.

[0205] In other examples, such as Figure 13 and Figure 16 As shown, the accelerator pedal position detection unit 1 further includes a first input circuit 16, a second input circuit 17, a power supply selection circuit 18, and an output circuit 19. One end of the first input circuit 16 is connected to the first power supply terminal 23 of the first electronic control unit 2, and the other end is connected to the power supply selection circuit 18. One end of the second input circuit 17 is connected to the second power supply terminal 33 of the second electronic control unit 3, and the other end is connected to the power supply selection circuit 18. One end of the output circuit 19 is connected to the power supply selection circuit 18, and the other end is connected to the position sensor 11. The power supply selection circuit 18 is configured to output the electrical energy input from the first input circuit 16, or the electrical energy input from the second input circuit 17, from the output circuit 19.

[0206] By setting the power supply selection circuit 18, the position sensor 11 can be connected to the power supply of the first electronic control unit 2 and the second electronic control unit 3 at the same time. Thus, when any power supply fails, the position sensor 11 can still be powered by the other power supply, ensuring the reliability of the driving control system.

[0207] This disclosure does not limit the selection logic of the power supply selection circuit 18. In some examples, the power supply selection circuit 18 is configured to: output the power input of the second input circuit 17 from the output circuit 19 when the power input of the first input circuit 16 fails but the power input of the second input circuit 17 is normal; and output the power input of the first input circuit 16 from the output circuit 19 when the power input of the first input circuit 16 is normal.

[0208] The implementation of the power supply selection circuit 18 will be illustrated below:

[0209] like Figure 14 and Figure 15 As shown, the power supply selection circuit 18 includes an NMOS transistor 181, a first PMOS transistor 182, a second PMOS transistor 183, a sixth resistor 184, and a seventh resistor 185.

[0210] like Figure 14As shown, when the power input to the first input circuit 16 is normal, the gate of NMOS transistor 181 is at a high potential, and NMOS transistor 181 is turned on. This causes the gate of the first PMOS transistor 182 to be grounded, and the first PMOS transistor 182 is also turned on. In this way, a path is formed between the first input circuit 16 and the output circuit 19, and the output circuit 19 outputs the power input to the first input circuit 16.

[0211] Since the gate of the second PMOS transistor 183 is connected to the first input circuit 16, the gate of the second PMOS transistor 183 is at a high potential, thus the second PMOS transistor 183 is cut off. In this way, there is an open circuit between the second input circuit 17 and the output circuit 19, so no matter whether the second input circuit 17 is input with electrical energy, it will not be output by the output circuit 19.

[0212] like Figure 15 As shown, when the power input of the first input circuit 16 is abnormal, the gate of the second PMOS transistor 183 is grounded through the sixth resistor 184, and the gate of the second PMOS transistor 183 is at a low potential, so the second PMOS transistor 183 is turned on. In this way, a path is formed between the second input circuit 17 and the output circuit 19, and the output circuit 19 can output the power input from the second input circuit 17.

[0213] Because of the abnormal power input to the first input circuit 16, the gate of NMOS transistor 181 is at a low potential, thus NMOS transistor 181 is cut off. The gate of the first PMOS transistor 182 is not grounded, but connected to the output circuit 19 (or the second input circuit 17) through the seventh resistor 185. Therefore, the gate of the first PMOS transistor 182 is at a high potential, thus the first PMOS transistor 182 is cut off. This creates an open circuit between the first input circuit 16 and the output circuit 19.

[0214] Generally, the voltage of the first power supply terminal 23 of the first electronic control unit 2 relative to the first ground terminal 22 is the same as the voltage of the second power supply terminal 33 of the second electronic control unit 3 relative to the second ground terminal 32. Therefore, if there is no voltage difference between the first ground terminal 22 and the second ground terminal 32, the electrical energy output by the second power supply terminal 33 can be directly output to the position sensor 11.

[0215] If there is a voltage difference between the first grounding terminal 22 and the second grounding terminal 32, and the electrical energy output from the second power supply terminal 33 is directly output to the position sensor 11, it may cause the power supply voltage to be too high or too low, affecting the signal acquisition of the first electronic control unit 2 and the second electronic control unit 3.

[0216] To address the aforementioned technical issues, in some examples, such as Figure 16As shown, the second input circuit 17 includes an isolation circuit 170. The input terminal of the isolation circuit 170 is connected to the second power supply terminal 33, and the output terminal is connected to the power supply selection circuit 18. The voltage at the input terminal of the isolation circuit 170 relative to the second ground terminal 32 of the second electronic control unit 3 is equal to the voltage at the output terminal of the isolation circuit 170 relative to the first ground terminal 22 of the first electronic control unit 2.

[0217] Below is one possible implementation of the isolation circuit 170:

[0218] In some examples, such as Figure 17 As shown, the isolation circuit 170 includes a primary side circuit 171, a transformer 172, and a secondary side circuit 173, which are coupled through the transformer 172. The primary side circuit 171 is connected to the second power supply terminal 33 of the second electronic control unit 3 and grounded through the second ground terminal 32. The secondary side circuit 173 is connected to the power supply selection circuit 18 and grounded through the first ground terminal 22.

[0219] The operational amplifier power supply circuit 14 can be connected to the primary side circuit 171. In some examples, the transformer 172 has a turns ratio of 1:1.

[0220] This disclosure does not limit the number of position sensors 11, the first signal transmission circuit 12, and the second signal transmission circuit 13. In some examples, such as Figure 18 As shown, there are two position sensors 11, two first signal transmission circuits 12, and two second signal transmission circuits 13. The two position sensors 11 are respectively connected to the first electronic control unit 2 through the two first signal transmission circuits 12, and are respectively connected to the second electronic control unit 3 through the two second signal transmission circuits 13.

[0221] For example, such as Figure 18 As shown, the first electronic control unit 2 has two first signal acquisition terminals 21 and two first grounding terminals 22, and the two first grounding terminals 22 are grounded through the same position on the vehicle frame. The second electronic control unit 3 has two second signal acquisition terminals 31 and two second grounding terminals 32, and the two second grounding terminals 32 are grounded through the same position on the vehicle frame.

[0222] The two first signal acquisition terminals 21 of the first electronic control unit 2 are respectively connected to the two first position signal circuits 121, and the two first ground terminals 22 are respectively connected to the two first ground signal circuits 122. The two second signal acquisition terminals 31 of the second electronic control unit 3 are respectively connected to the two position signal output circuits 1312, and the two second ground terminals 32 are respectively connected to the two second ground circuits 1322.

[0223] Through the above configuration, the first electronic control unit 2 or the second electronic control unit 3 can control the vehicle's power output based on the position signals detected by the two position sensors 11, thereby improving the accuracy of the power output control. Furthermore, when one of the position sensors 11 fails, the other position sensor 11 can still transmit a position signal to the corresponding electronic control unit, improving the reliability of the driving control system.

[0224] Additionally, when there are two position sensors 11, correspondingly, such as Figure 18 As shown, there are also two power supply transmission circuits 15, which are used to power the two position sensors 11 respectively. For example, the first electronic control unit 2 has two first power supply terminals 23, which are respectively connected to the two power supply transmission circuits 15.

[0225] In some examples, there are also two operational amplifier power supply circuits 14, which are used to power the two first operational amplifiers 1331 respectively, and the two operational amplifier power supply circuits 14 are respectively connected to the two second power supply terminals 33 of the second electronic control unit 3.

[0226] It should be noted that if the position sensor 11 is powered by a first input circuit 16, a second input circuit 17, a power selection circuit 18, and an output circuit 19, then in some examples, there may be two output circuits 19. One end of each output circuit 19 is connected to the same power selection circuit 18, and the other end is connected to the two position sensors 11 respectively. In this case, the first electronic control unit 2 may have a first power supply terminal 23, and the second electronic control unit 3 may have a second power supply terminal 33.

[0227] In other examples, the first input circuit 16, the second input circuit 17, the power selection circuit 18, and the output circuit 19 can be divided into two sets, each set being used to connect to one of the two position sensors 11, thereby improving the reliability of the power supply to the position sensors 11. In this case, the first electronic control unit 2 has two first power supply terminals 23, and the second electronic control unit 3 has two second power supply terminals 33. The two first power supply terminals 23 are respectively connected to the two first input circuits 16, and the two second power supply terminals 33 are respectively connected to the two second input circuits 17.

[0228] In some examples, such as Figure 18 As shown, the position sensor 11, the first signal transmission circuit 12, and the second signal transmission circuit 13 are integrated on the same circuit board 10.

[0229] In terms of product form, the accelerator pedal position detection unit 1, the first electronic control unit 2, and the second electronic control unit 3 are three separate components. Therefore, the connection between the first signal transmission circuit 12 and the first electronic control unit 2, and the connection between the second signal transmission circuit 13 and the second electronic control unit 3, both need to be achieved through wiring harnesses.

[0230] In some examples, the first signal transmission circuit 12 is connected to the first electronic control unit 2 via a first wiring harness, and the second signal transmission circuit 13 is connected to the second electronic control unit 3 via a second wiring harness.

[0231] In this way, if either the first or second wiring harness fails, the other wiring harness can still transmit the position signal to the corresponding electronic control unit, thus improving the reliability of the driving control system.

[0232] In addition, when there are two position sensors 11, two first signal transmission circuits 12 and two second signal transmission circuits 13, there are also two first wiring harnesses and two second wiring harnesses.

[0233] The transmission lines included in the first and second wire harnesses are described below by way of example:

[0234] like Figure 4 , Figure 10 , Figure 13 and Figure 16 As shown, the first wiring harness and the second wiring harness are one unit. The first wiring harness includes a power supply line Vcc1, a position signal line Sig1, and a ground signal line GND1. The second wiring harness includes a power supply line Vcc2, a position signal line Sig2, and a ground signal line GND2.

[0235] like Figure 4 and Figure 10 As shown, the two ends of power line Vcc1 are connected to the first power supply terminal 23 and the power transmission circuit 15, respectively, and the two ends of power line Vcc2 are connected to the second power supply terminal 33 and the operational amplifier power supply circuit 14, respectively. Power line Vcc2 is used to supply power to the first operational amplifier 1331.

[0236] like Figure 13 and Figure 16 As shown, the two ends of the power supply line Vcc1 are connected to the first power supply terminal 23 and the first input circuit 16, respectively. The two ends of the power supply line Vcc2 are connected to the second power supply terminal 33 and the second input circuit 17, respectively. The second input circuit 17 is also connected to the operational amplifier power supply circuit 14. The power supply line Vcc2 is used to power the position sensor 11 and the first operational amplifier 1331.

[0237] like Figure 18As shown, there are two first and two second wiring harnesses. One first wiring harness includes a power line Vcc1, a position signal line Sig1, and a ground signal line GND1; the other first wiring harness includes a power line Vcc3, a position signal line Sig3, and a ground signal line GND3. One second wiring harness includes a power line Vcc2, a position signal line Sig2, and a ground signal line GND2; the other second wiring harness includes a power line Vcc4, a position signal line Sig4, and a ground signal line GND4.

[0238] The first electronic control unit 2 and the second electronic control unit 3 are described below by way of example:

[0239] The first electronic control unit 2 and the second electronic control unit 3 can be each other's primary and backup. For example, the first electronic control unit 2 is the primary electronic control unit, and the second electronic control unit 3 is the backup electronic control unit or a redundant electronic control unit.

[0240] When the first electronic control unit 2 is functioning normally, regardless of whether the second electronic control unit 3 is faulty, the first electronic control unit 2 can control the vehicle's power output based on the position signal detected by the position sensor 11. However, when the first electronic control unit 2 is faulty, the second electronic control unit 3 will control the vehicle's power output based on the position signal detected by the position sensor 11.

[0241] It should be noted that, under normal conditions, both the first electronic control unit 2 and the second electronic control unit 3 can acquire the position signal of the position sensor 11. However, when the first electronic control unit 2 is working properly, the second electronic control unit 3 will not process the position signal of the position sensor 11.

[0242] In some examples, the first electronic control unit 2 and the second electronic control unit 3 are connected. For example, the first electronic control unit 2 and the second electronic control unit 3 can be connected via a controller area network (CAN) bus or an Ethernet (ETH) bus.

[0243] The following example illustrates the switching process of the backup electronic control unit taking over the power output control of the vehicle after the primary electronic control unit fails, using the first electronic control unit 2 as the primary electronic control unit and the second electronic control unit 3 as the backup electronic control unit:

[0244] When the first electronic control unit 2 malfunctions, the driver will notice that the vehicle speed does not change accordingly when the accelerator pedal is pressed. Furthermore, the vehicle's instrument panel or central control screen will display a malfunction message for the first electronic control unit 2. Therefore, for safety reasons, the driver will slow down the vehicle and turn off the engine.

[0245] Simultaneously, the second electronic control unit 3 determines that the first electronic control unit 2 is faulty. For example, after the first electronic control unit 2 fails, it can send a fault indication message to the second electronic control unit 3. As another example, if the first electronic control unit 2 is unable to send a fault indication message, the second electronic control unit 3 can confirm that it cannot receive any messages sent by the first electronic control unit 2, thus also determining that the first electronic control unit 2 is faulty.

[0246] When the vehicle is restarted after being turned off, since the second electronic control unit 3 has determined that the first electronic control unit 2 is faulty, the second electronic control unit 3 can take over the processing of controlling the vehicle's power output based on the position signal. When the driver presses the accelerator pedal again, the vehicle speed will change accordingly.

[0247] This disclosure does not limit the specific devices referred to in the vehicle as the first electronic control unit 2 and the second electronic control unit 3. In some examples, such as Figure 19 As shown, if the vehicle is an electric vehicle, then one of the first electronic control unit 2 and the second electronic control unit 3 is a vehicle controller, and the other is an autonomous driving controller. For example, the first electronic control unit 2 is the vehicle controller, and the second electronic control unit 3 is the autonomous driving controller.

[0248] In other examples, such as Figure 20 As shown, if the vehicle is a gasoline-powered vehicle, then one of the first electronic control unit 2 and the second electronic control unit 3 is the engine controller, and the other is the automatic driving controller. For example, the first electronic control unit 2 is the engine controller, and the second electronic control unit 3 is the automatic driving controller.

[0249] In manual driving mode, the vehicle controller or engine controller is used to control the vehicle based on the position signal of the accelerator pedal. The autonomous driving controller, on the other hand, is used to automatically control the vehicle in autonomous driving mode. The autonomous driving controller can also be called a driver assistance controller or an automated driving solution (ADS) controller.

[0250] By selecting the vehicle controller (or engine controller) and autonomous driving controller already present in the vehicle as the first electronic control unit 2 and the second electronic control unit 3, it is possible to eliminate the need to add new electronic control units to the vehicle, thereby reducing implementation costs and facilitating the realization of the technical solution.

[0251] The control logic of the vehicle controller (or engine controller) and the autonomous driving controller is illustrated below:

[0252] In manual driving mode, when the vehicle controller or engine controller is in normal condition, the vehicle controller or engine controller receives the accelerator pedal position signal sent by the accelerator pedal position detection unit 1, and controls the vehicle's power output based on the accelerator pedal position signal.

[0253] When the vehicle controller or engine controller fails, the autonomous driving controller receives the accelerator pedal position signal sent by the accelerator pedal position detection unit 1, and controls the vehicle's power output based on the accelerator pedal position signal.

[0254] In addition, when the vehicle is in autonomous driving mode, the autonomous driving controller automatically controls the vehicle.

[0255] This disclosure also provides an accelerator pedal position detection unit 1, such as... Figure 3 and Figure 4 As shown, the accelerator pedal position detection unit 1 includes a position sensor 11, a first signal transmission circuit 12, and a second signal transmission circuit 13. The position sensor 11 is connected to the first signal transmission circuit 12 and the second signal transmission circuit 13. The first signal transmission circuit 12 is used to connect to the first electronic control unit 2, and the second signal transmission circuit 13 is used to connect to the second electronic control unit 3.

[0256] In some examples, such as Figure 3 and Figure 4 As shown, the first signal transmission circuit 12 includes a first position signal circuit 121 and a first ground signal circuit 122. One end of the first position signal circuit 121 is connected to the position sensor 11, and the other end is used to connect to the first signal acquisition terminal 21 of the first electronic control unit 2. One end of the first ground signal circuit 122 is connected to the position sensor 11, and the other end is connected to the first ground terminal 22 of the first electronic control unit 2.

[0257] In some examples, such as Figure 4As shown, the second signal transmission circuit 13 includes a second position signal circuit 131, a second ground signal circuit 132, and a differential operation circuit 133. The second position signal circuit includes a position signal input circuit 1311 and a position signal output circuit 1312. The second ground signal circuit 132 includes a first grounding circuit 1321 and a second grounding circuit 1322. One end of the position signal input circuit 1311 is connected to the position sensor 11, and the other end is connected to the differential operation circuit 133; one end of the first grounding circuit 1321 is connected to the position sensor 11, and the other end is connected to the differential operation circuit 133; one end of the position signal output circuit 1312 is connected to the differential operation circuit 133, and the other end is connected to the second signal acquisition terminal 31 of the second electronic control unit 3; one end of the second grounding circuit 1322 is connected to the differential operation circuit 133, and the other end is connected to the second grounding terminal 32 of the second electronic control unit 3; the differential operation circuit 133 is configured to adjust the voltage V1 of the position signal input to the position signal input circuit 1311 relative to the first grounding circuit 1321, so that the voltage V2 of the position signal output by the position signal output circuit 1312 relative to the voltage V1 of the second grounding circuit 1322 is linearly related to V1.

[0258] In some examples, V2 = k × V1 + V0, where V0 is the target non-negative voltage and k is a constant greater than 0.

[0259] In some examples, k×V1max+V0≤V1max, where V1max is the maximum value of V1.

[0260] In some examples, such as Figures 5-9 As shown, the differential operational circuit 133 includes a first operational amplifier 1331, a first resistor 1332, a second resistor 1333, a third resistor 1334, and a fourth resistor 1335. The first operational amplifier 1331 has a first positive input terminal 1331a, a first negative input terminal 1331b, and a first operational output terminal 1331c. The position signal input circuit 1311 is connected to the first positive input terminal 1331a through the first resistor 1332, and the first grounding circuit 1321 is connected to the first negative input terminal 1331b through the fourth resistor 1335. The position signal output circuit 1312 is connected to the first operational output terminal 1331c, and the first operational output terminal 1331c is connected to the first negative input terminal 1331b through the third resistor 1334; the second grounding circuit 1322 is connected to the first positive input terminal 1331a through the second resistor 1333.

[0261] In some examples, such as Figures 7-9As shown, the differential operation circuit 133 also includes a boost unit 1336 and a fifth resistor 1337. The boost unit 1336 is connected to the first positive input terminal 1331a through the fifth resistor 1337. The boost unit 1336 is used to make the voltage input to the first positive input terminal 1331a greater than or equal to 0.

[0262] In some examples, such as Figure 9 As shown, the boost unit 1316 is the power output of the second electronic control unit 3.

[0263] In some examples, such as Figure 10 As shown, the position signal input circuit 1311 includes a voltage follower 13111, the input terminal of which is connected to the position sensor 11, and the output terminal is connected to the differential operation circuit 133.

[0264] In some examples, such as Figure 10 As shown, the accelerator pedal position detection unit 1 also includes a power transmission circuit 15. One end of the power transmission circuit 15 is connected to the first power supply terminal 23 of the first electronic control unit 2, and the other end is connected to the position sensor 11.

[0265] In some examples, such as Figure 13 As shown, the accelerator pedal position detection unit 1 further includes a first input circuit 16, a second input circuit 17, a power supply selection circuit 18, and an output circuit 19. One end of the first input circuit 16 is connected to the first power supply terminal 23 of the first electronic control unit 2, and the other end is connected to the power supply selection circuit 18. One end of the second input circuit 17 is connected to the second power supply terminal 33 of the second electronic control unit 3, and the other end is connected to the power supply selection circuit 18. One end of the output circuit 19 is connected to the power supply selection circuit 18, and the other end is connected to the position sensor 11. The power supply selection circuit 18 is used to output the electrical energy input from the first input circuit 16, or the electrical energy input from the second input circuit 17, from the output circuit 19.

[0266] In some examples, the power selection circuit 18 is configured to output the power input from the first input circuit 16 from the output circuit 19 when the power input from the first input circuit 16 is normal.

[0267] In some examples, the power selection circuit 18 is configured to output the power input from the second input circuit 17 from the output circuit 19 when the power input of the first input circuit 16 fails but the power input of the second input circuit 17 is normal.

[0268] In some examples, the voltage at the input terminal of the second input circuit 17 relative to the second ground terminal 32 of the second electronic control unit 3 is equal to the voltage at the output terminal of the second input circuit 17 relative to the first ground terminal 22 of the first electronic control unit 2.

[0269] In some examples, such as Figure 16 As shown, the second input circuit 17 includes an isolation circuit 170. The input terminal of the isolation circuit 170 is connected to the second power supply terminal 33, and the output terminal is connected to the power supply selection circuit 18. The voltage at the input terminal of the isolation circuit 170 relative to the second ground terminal 32 of the second electronic control unit 3 is equal to the voltage at the output terminal of the isolation circuit 170 relative to the first ground terminal 22 of the first electronic control unit 2.

[0270] In some examples, such as Figure 17 As shown, the isolation circuit 170 includes a primary side circuit 171, a transformer 172, and a secondary side circuit 173. The primary side circuit 171 and the secondary side circuit 173 are coupled through the transformer 172. The primary side circuit 171 is connected to the second power supply terminal 33 of the second electronic control unit 3 and grounded through the second ground terminal 32. The secondary side circuit 173 is connected to the power supply selection circuit 18 and grounded through the first ground terminal 22.

[0271] In some examples, such as Figure 18 As shown, there are two position sensors 11, two first signal transmission circuits 12, and two second signal transmission circuits 13. Each position sensor 11 is connected to one of the two first signal transmission circuits 12 and one of the two second signal transmission circuits 13. Both first signal transmission circuits 12 are used to connect to the first electronic control unit 2, and both second signal transmission circuits 13 are used to connect to the second electronic control unit 3.

[0272] In some examples, such as Figure 18 As shown, the position sensor 11, the first signal transmission circuit 12, and the second signal transmission circuit 13 are integrated on the same circuit board 10.

[0273] In some examples, the first signal transmission circuit 12 is used to connect to the first electronic control unit 2 via a first wiring harness, and the second signal transmission circuit 13 is used to connect to the second electronic control unit 3 via a second wiring harness.

[0274] In some examples, such as Figure 19 As shown, one of the first electronic control unit 2 and the second electronic control unit 3 is a vehicle controller, and the other is an autonomous driving controller. Alternatively, as... Figure 20As shown, one of the first electronic control unit 2 and the second electronic control unit 3 is an engine controller, and the other is an automatic driving controller. The automatic driving controller is used to control the vehicle's power output based on the accelerator pedal position signal detected by the position sensor 11 when the vehicle controller or engine controller fails.

[0275] It should be noted that the accelerator pedal position detection unit 1 provided in the above embodiments and the above embodiments of the driving control system belong to the same concept. For details of its implementation process, please refer to the embodiments of the driving control system, which will not be repeated here.

[0276] This disclosure also provides an accelerator pedal, which includes an accelerator pedal structure and the aforementioned accelerator pedal position detection unit 1.

[0277] The accelerator pedal structure is used for the driver to step on, and the accelerator pedal position detection unit 1 is used to detect the position signal of the accelerator pedal structure and transmit the position signal to the first electronic control unit 2 and the second electronic control unit 3.

[0278] This disclosure also provides a vehicle that includes the aforementioned driving control system.

[0279] In this embodiment, the specific type of vehicle is not limited; the vehicle can be a fuel-powered vehicle or an electric vehicle.

[0280] In some examples, such as Figure 19 As shown, the vehicle is an electric vehicle, so the first electronic control unit 2 can be the engine controller in the vehicle, and the second electronic control unit 3 can be the automatic driving controller in the vehicle.

[0281] In some examples, such as Figure 20 As shown, the vehicle is a fuel-powered vehicle, so the first electronic control unit 2 can be the vehicle controller in the vehicle, and the second electronic control unit 3 can be the automatic driving controller in the vehicle.

[0282] This disclosure also provides a driving control method, which is applied in the aforementioned driving control system, such as... Figure 21 As shown, the method includes:

[0283] In step 2101, the second electronic control unit 3 detects a fault in the first electronic control unit 2.

[0284] When the first electronic control unit 2 is functioning normally, it can control the vehicle's power output based on the position signal received through the first signal transmission circuit 12.

[0285] In step 2102, the second electronic control unit 3 controls the vehicle's power output based on the position signal received through the second signal transmission circuit 13.

[0286] The technical solution provided in this embodiment enables the second electronic control unit 3 to control the vehicle's power output based on the accelerator pedal position signal when the first electronic control unit 2 fails, thereby improving the vehicle's reliability.

[0287] In some examples, after the second electronic control unit 3 detects a fault in the first electronic control unit 2, when the second electronic control unit 3 detects that the vehicle has been turned off and restarted, the second electronic control unit 3 controls the power output of the vehicle based on the position signal received through the second signal transmission circuit 13.

[0288] Vehicle shutdown includes turning off the engine of a gasoline-powered vehicle and stopping the motor of an electric vehicle; restarting includes restarting the engine of a gasoline-powered vehicle and restarting the motor of an electric vehicle.

[0289] The technical solution provided in this disclosure improves vehicle driving safety by having the second electronic control unit 3 take over the vehicle's power output control when the first electronic control unit 2 fails and the vehicle is restarted after being turned off. This avoids situations where the second electronic control unit 3 suddenly takes over the vehicle's power output control and causes the vehicle speed to accelerate instantly when the driver suddenly presses the accelerator pedal due to a malfunction in the accelerator pedal.

[0290] It should be noted that after the first electronic control unit 2 is functioning normally, it can take over the vehicle's power output control again. Accordingly, when the first electronic control unit 2 detects that the vehicle has been turned off and restarted, it controls the vehicle's power output based on the position signal received through the first signal transmission circuit 12.

[0291] This disclosure also provides a driving control method, which is applied in the second electronic control unit 3 of the driving control system, such as... Figure 22 As shown, the driving control method includes:

[0292] In step 2201, a fault was detected in the first electronic control unit 2.

[0293] When the first electronic control unit 2 is functioning normally, it can control the vehicle's power output based on the position signal received through the first signal transmission circuit 12.

[0294] In step 2202, the power output of the vehicle is controlled based on the position signal received through the second signal transmission circuit 13.

[0295] The technical solution provided in this embodiment enables the second electronic control unit 3 to control the vehicle's power output based on the accelerator pedal position signal when the first electronic control unit 2 fails, thereby improving the vehicle's reliability.

[0296] In some examples, after a fault is detected in the first electronic control unit 2, when the vehicle is detected to be turned off and then restarted, the power output of the vehicle is controlled based on the position signal received through the second signal transmission circuit 13.

[0297] The technical solution provided in this disclosure improves vehicle driving safety by having the second electronic control unit 3 take over the vehicle's power output control when the vehicle is restarted after the first electronic control unit 2 fails. This avoids situations where the second electronic control unit 3 suddenly takes over the vehicle's power output control and causes the vehicle to accelerate instantly when the driver suddenly presses the accelerator pedal due to a malfunction in the accelerator pedal.

[0298] This disclosure also provides a driving control device, which is configured in the second electronic control unit 3 of the driving control system, such as... Figure 23 As shown, the driving control device includes:

[0299] The detection module 2301 is used to detect faults in the first electronic control unit 2.

[0300] The control module 2302 is used to control the power output of the vehicle based on the position signal received through the second signal transmission circuit 13.

[0301] In some examples, before the control module 2302 controls the vehicle's power output based on the position signal received through the second signal transmission circuit 13, the detection module 2301 is also used to restart the vehicle after detecting that it has been shut down.

[0302] This disclosure also provides an electronic control unit, which includes a controller coupled to a memory. The memory stores at least one instruction, which is loaded and executed by the controller to implement the above-described driving control method.

[0303] The electronic control unit can be either the first electronic control unit 2 or the second electronic control unit 3.

[0304] See Figure 24 , Figure 24 A schematic diagram of the structure of an electronic control unit 2400 provided in an embodiment of the present disclosure is shown. Figure 24 The electronic control unit 2400 shown can be either the first electronic control unit 2 or the second electronic control unit 3 mentioned above.

[0305] like Figure 24 As shown, the electronic control unit 2400 includes at least one processor 2401 (or controller), a memory 2402, and at least one communication interface 2403.

[0306] Processor 2401 may be, for example, a general-purpose central processing unit (CPU), a digital signal processor (DSP), a network processor (NP), a graphics processing unit (GPU), a neural-network processing unit (NPU), a data processing unit (DPU), a microcontroller, or one or more integrated circuits for implementing the embodiments of this disclosure. For example, processor 2401 may include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A PLD may be, for example, a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), generic array logic (GAL), or any combination thereof. It can implement or execute various logic blocks, modules, and circuits described in connection with the disclosure of the embodiments of this invention. Processor 2401 may also be a combination that implements computing functions, such as including one or more microcontroller combinations, a combination of a DSP and a microcontroller, etc.

[0307] In some examples, the electronic control unit 2400 also includes a bus. The bus is used to transfer information between the various components of the electronic control unit 2400. The bus can be a peripheral component interconnect (PCI) bus, a PCIe bus, or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 24The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0308] Memory 2402 may be, for example, read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions; random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions; electrically erasable programmable read-only memory (EEPROM); compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.); magnetic disk storage media or other magnetic storage devices; or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. Memory 2402 may exist independently and be connected to processor 2401 via a bus. Memory 2402 may also be integrated with processor 2401.

[0309] The communication interface 2403 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), or Wireless Local Area Network (WLAN). The communication interface 2403 may include wired and wireless communication interfaces. Specifically, the communication interface 2403 may be an Ethernet interface, a Fast Ethernet (FE) interface, a Gigabit Ethernet (GE) interface, an Asynchronous Transfer Mode (ATM) interface, a WLAN interface, a cellular network communication interface, or a combination thereof. The Ethernet interface may be an optical interface, an electrical interface, or a combination thereof. In this embodiment, the communication interface 2403 can be used by the electronic control unit 2400 to communicate with other devices.

[0310] In some examples, processor 2401 may include one or more CPUs, such as Figure 24The CPU0 and CPU1 shown are examples of processors. Each of these processors can be a single-core processor or a multi-core processor. A processor here can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0311] In some examples, the electronic control unit 2400 may include multiple processors, such as Figure 24 The processors 2401 and 2404 are shown. Each of these processors can be a single-core controller or a multi-core controller. A processor here can refer to one or more devices, circuits, and / or processing cores used to process data (such as computer program instructions).

[0312] In some examples, the electronic control unit 2400 may also include output devices and input devices. The output devices communicate with the processor 2401 and can display information in various ways. For example, the output devices may be liquid crystal displays (LCDs), light-emitting diode (LED) displays, cathode ray tube (CRT) displays, or projectors. The input devices communicate with the processor 2401 and can receive user input in various ways. For example, the input devices may be mice, keyboards, touchscreen devices, or sensing devices.

[0313] In some examples, memory 2402 is used to store program code 2410 for executing embodiments of the present disclosure, and processor 2401 can execute the program code 2410 stored in memory 2402. The program code 2410 may include one or more software modules. Optionally, processor 2401 itself may also store program code or instructions for executing embodiments of the present disclosure.

[0314] in, Figure 22 The driving control method illustrated is implemented through integrated logic circuits of the processor 2401 or through software instructions. The steps of the method disclosed in this embodiment can be directly implemented by a hardware controller, or implemented by a combination of hardware and software modules within the controller. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. Since this storage medium is located in memory, the controller reads information from the memory and, in conjunction with its hardware, completes the steps of the above method; to avoid repetition, these will not be described in detail here.

[0315] This disclosure also provides another electronic control unit, which can be either the first electronic control unit 2 or the second electronic control unit 3 described above. The electronic control unit includes a transceiver, a memory, and a controller. The transceiver, the memory, and the controller communicate with each other via an internal connection path. The memory stores instructions, and the controller executes the instructions stored in the memory to control the transceiver to receive and transmit signals. When the controller executes the instructions stored in the memory, it causes the controller to perform the aforementioned driving control method.

[0316] It should be understood that the aforementioned controller can be a central controller, or it can be other general-purpose controllers, digital signal controllers, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose controllers can be microcontrollers or any conventional controller. It is worth noting that the controller can be a controller supporting Advanced Reduced Instruction Set Computing (RISC) machines (ARM) architecture.

[0317] Furthermore, in some examples, the aforementioned memory may include read-only memory and random access memory, providing instructions and data to the controller. The memory may also include non-volatile random access memory. For example, the memory may also store device type information.

[0318] The memory can be volatile or non-volatile, or may include both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which serves as an external cache. Many forms of RAM are available by way of example, but not limitation. Examples include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0319] This disclosure also provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a controller to enable the electronic control unit to implement the above-described driving control method.

[0320] This disclosure also provides a computer program product, which, when executed by an electronic control unit, enables the electronic control unit to perform the corresponding steps and / or processes in the above method embodiments.

[0321] This disclosure also provides a chip, which includes a controller. The controller is used to call and execute instructions stored in the memory, so that an electronic control unit on which the chip is installed performs the above-described driving control method.

[0322] This disclosure also provides another chip, including: an input interface, an output interface, a controller, and a memory. The input interface, output interface, controller, and memory are connected through an internal connection path. The controller is used to execute code in the memory. When the code is executed, the controller is used to execute the above-described driving control method.

[0323] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer (electronic control unit), all or part of the processes or functions described in the embodiments of this disclosure are generated. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk).

[0324] To clearly illustrate the interchangeability of hardware and software, the steps and components of each embodiment have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this disclosure.

[0325] Computer program code for implementing the methods of embodiments of this disclosure may be written in one or more programming languages. This computer program code may be provided to a controller of a general-purpose computer, a special-purpose computer, or other programmable distance measuring device, such that when executed by the computer or other programmable distance measuring device, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a computer, partially on a computer, as a standalone software package, partially on a computer and partially on a remote computer, or entirely on a remote computer or server.

[0326] In the context of embodiments of this disclosure, computer program code or related data may be carried by any suitable carrier to enable a device, apparatus, or controller to perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, and the like. Examples of signals may include electrical, optical, radio, sound, or other forms of propagation signals, such as carrier waves, infrared signals, etc.

[0327] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be found in the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0328] In the several embodiments provided in this disclosure, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or modules, or they may be electrical, mechanical, or other forms of connection.

[0329] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the embodiments of this disclosure, depending on actual needs.

[0330] Furthermore, the functional modules in the various embodiments of this disclosure can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0331] In this disclosure, the terms "first," "second," etc., are used to distinguish identical or similar items that have essentially the same function. It should be understood that there is no logical or temporal dependency between "first," "second," and "nth," nor does it limit the quantity or order of execution. It should also be understood that although the following description uses the terms "first," "second," etc., to describe various elements, these elements should not be limited by the terms. These terms are merely used to distinguish one element from another.

[0332] It should also be understood that, in the various embodiments of this disclosure, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure.

[0333] In this disclosure, the term "at least one" means one or more, and the term "multiple" means two or more.

[0334] It should be understood that the terminology used in the description of the various examples herein is for the purpose of describing particular examples only and is not intended to be limiting. As used in the description of the various examples and the appended claims, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0335] It should also be understood that the term “comprising” (also referred to as “includes”, “including”, “comprises” and / or “comprising”) as used in this specification specifies the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0336] It should also be understood that, depending on the context, the phrase “if it is determined that…” or “if [the stated condition or event] is detected” can be interpreted as “when it is determined that…” or “in response to determining that…” or “when [the stated condition or event] is detected” or “in response to detecting [the stated condition or event]”.

[0337] It should be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0338] It should also be understood that the terms "an embodiment," "an example," "some examples," and "a possible implementation" used throughout the specification mean that a particular feature, structure, or characteristic related to an embodiment or implementation is included in at least one embodiment of this disclosure. Therefore, the phrases "in an embodiment," "in some examples," and "a possible implementation" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0339] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A driving control system characterized by comprising: The driving control system comprises an accelerator pedal position detection unit (1), a first electronic control unit (2) and a second electronic control unit (3), wherein the first electronic control unit (2) is grounded through a first grounding end (22), and the second electronic control unit (3) is grounded through a second grounding end (32); The accelerator pedal position detection unit (1) comprises a position sensor (11), a first signal transmission circuit (12), a second signal transmission circuit (13), a first input circuit (16), a second input circuit (17), a power supply selection circuit (18) and an output circuit (19); The position sensor (11) is connected with the first electronic control unit (2) through the first signal transmission circuit (12), and is also connected with the second electronic control unit (3) through the second signal transmission circuit (13); One end of the first input circuit (16) is connected with a first power supply end (23) of the first electronic control unit (2), and the other end is connected with the power supply selection circuit (18); The second input circuit (17) comprises a primary side circuit (171), a transformer (172) and a secondary side circuit (173), the primary side circuit (171) and the secondary side circuit (173) are coupled through the transformer (172), and the transformer (172) has a transformation ratio of 1:1; the primary side circuit (171) is connected with a second power supply end (33) of the second electronic control unit (3) and grounded through the second grounding end (32), and the secondary side circuit (173) is connected with the power supply selection circuit (18) and grounded through the first grounding end (22); One end of the output circuit (19) is connected with the power supply selection circuit (18), and the other end is connected with the position sensor (11); the power supply selection circuit (18) is configured to output the electric energy input by the first input circuit (16) or the electric energy input by the second input circuit (17) from the output circuit (19) to the position sensor (11).

2. The driving control system according to claim 1, characterized by, The first signal transmission circuit (12) comprises a first position signal circuit (121) and a first ground signal circuit (122); One end of the first position signal circuit (121) is connected with the position sensor (11), and the other end is connected with a first signal acquisition end (21) of the first electronic control unit (2); One end of the first ground signal circuit (122) is connected with the position sensor (11), and the other end is connected with the first grounding end (22) of the first electronic control unit (2).

3. The drive control system according to claim 1 or 2, characterized by, The second signal transmission circuit (13) comprises a second position signal circuit (131), a second ground signal circuit (132) and a differential operation circuit (133), wherein the second position signal circuit comprises a position signal input circuit (1311) and a position signal output circuit (1312), and the second ground signal circuit (132) comprises a first grounding circuit (1321) and a second grounding circuit (1322); One end of the position signal input circuit (1311) is connected with the position sensor (11), and the other end is connected with the differential operation circuit (133); One end of the first grounding circuit (1321) is connected with the position sensor (11), and the other end is connected with the differential operation circuit (133); One end of the position signal output circuit (1312) is connected with the differential operation circuit (133), and the other end is connected with the second signal acquisition end (31) of the second electronic control unit (3); One end of the second grounding circuit (1322) is connected with the differential operation circuit (133), and the other end is connected with the second grounding end (32) of the second electronic control unit (3); The differential operation circuit (133) is configured to: Adjust the position signal input by the position signal input circuit (1311) relative to the voltage V1 of the first grounding circuit (1321), so that the position signal output by the position signal output circuit (1312) relative to the voltage V2 of the second grounding circuit (1322) and V1 is a linear relationship.

4. The driving control system according to claim 3, characterized by V2=k×V1+V0, wherein V0 is a target non-negative voltage, and k is a constant greater than 0.

5. The driving control system according to claim 4, characterized by k×V1max+V0≤V1max, wherein V1max is the maximum value of V1.

6. The driving control system according to claim 3, characterized by The differential operation circuit (133) includes a first operational amplifier (1331), a first resistor (1332), a second resistor (1333), a third resistor (1334), and a fourth resistor (1335); The first operational amplifier (1331) has a first positive input end (1331a), a first negative input end (1331b), and a first operation output end (1331c); The position signal input circuit (1311) is connected with the first positive input end (1331a) through the first resistor (1332); The first grounding circuit (1321) is connected with the first negative input end (1331b) through the fourth resistor (1335); The position signal output circuit (1312) is connected with the first operation output end (1331c), and the first operation output end (1331c) is connected with the first negative input end (1331b) through the third resistor (1334); The second grounding circuit (1322) is connected with the first positive input end (1331a) through the second resistor (1333).

7. The driving control system according to claim 6, characterized by The differential operation circuit (133) further includes a voltage boosting unit (1336) and a fifth resistor (1337); The voltage boosting unit (1336) is connected with the first positive input end (1331a) through the fifth resistor (1337), and the voltage boosting unit (1336) is used to make the voltage input by the first positive input end (1331a) greater than or equal to 0.

8. The driving control system according to claim 7, characterized by The voltage boosting unit (1336) is a power supply output by the second electronic control unit (3).

9. The driving control system according to claim 3, characterized by The position signal input circuit (1311) includes a voltage follower (13111); An input terminal of the voltage follower (13111) is connected with the position sensor (11), and an output terminal of the voltage follower (13111) is connected with the differential operation circuit (133).

10. The driving control system according to any one of claims 1, 2, or 4-9, characterized by, The power supply selection circuit (18) is configured to: In the case that the power input of the first input circuit (16) fails and the power input of the second input circuit (17) is normal, the power input by the second input circuit (17) is output from the output circuit (19).

11. The driving control system according to any one of claims 1, 2, or 4-9, characterized by, The position sensor (11), the first signal transmission circuit (12) and the second signal transmission circuit (13) are two in number; The two position sensors (11) are respectively connected with the first electronic control unit (2) through the two first signal transmission circuits (12); The two position sensors (11) are respectively connected with the second electronic control unit (3) through the two second signal transmission circuits (13).

12. The driving control system according to any one of claims 1, 2, or 4-9, characterized by, The position sensor (11), the first signal transmission circuit (12) and the second signal transmission circuit (13) are integrated on the same circuit board (10).

13. The driving control system according to any one of claims 1, 2, or 4-9, characterized by, The first signal transmission circuit (12) is connected with the first electronic control unit (2) through a first wire harness; The second signal transmission circuit (13) is connected with the second electronic control unit (3) through a second wire harness.

14. The driving control system according to any one of claims 1, 2, or 4-9, characterized by, One of the first electronic control unit (2) and the second electronic control unit (3) is a vehicle controller, and the other is an automatic driving controller; Alternatively, one of the first electronic control unit (2) and the second electronic control unit (3) is an engine controller, and the other is an automatic driving controller; The automatic driving controller is configured to, when the vehicle controller or the engine controller fails, control the power output of the vehicle based on the position signal of the accelerator pedal detected by the position sensor (11).

15. An accelerator pedal position detection unit characterized by comprising: The accelerator pedal position detection unit (1) comprises a position sensor (11), a first signal transmission circuit (12), a second signal transmission circuit (13), a first input circuit (16), a second input circuit (17), a power supply selection circuit (18) and an output circuit (19); The position sensor (11) is connected with the first signal transmission circuit (12) and the second signal transmission circuit (13), the first signal transmission circuit (12) is used to be connected with a first electronic control unit (2), and the second signal transmission circuit (13) is used to be connected with a second electronic control unit (3), wherein the first electronic control unit (2) is grounded through a first grounding terminal (22), and the second electronic control unit (3) is grounded through a second grounding terminal (32); One end of the first input circuit (16) is used to be connected with a first power supply terminal (23) of the first electronic control unit (2), and the other end is connected with the power supply selection circuit (18); The second input circuit (17) comprises a primary side circuit (171), a transformer (172) and a secondary side circuit (173), the primary side circuit (171) and the secondary side circuit (173) are coupled through the transformer (172), the transformer (172) has a transformation ratio of 1:1; the primary side circuit (171) is used to be connected with a second power supply end (33) of the second electronic control unit (3) and grounded through the second ground end (32), the secondary side circuit (173) is connected with the power supply selection circuit (18) and grounded through the first ground end (22); One end of the output circuit (19) is connected with the power supply selection circuit (18), and the other end is connected with the position sensor (11), the power supply selection circuit (18) is configured to output the electric energy input by the first input circuit (16) or the electric energy input by the second input circuit (17) from the output circuit (19).

16. An accelerator pedal, characterized by The accelerator pedal comprises an accelerator pedal structure and the accelerator pedal position detection unit (1) according to claim 15.

17. A vehicle characterized by comprising: The vehicle comprises the driving control system according to any one of claims 1-14.

18. A driving control method characterized by comprising: The driving control method is applied in the driving control system according to any one of claims 1-14, and the driving control method comprises: The second electronic control unit (3) detects that the first electronic control unit (2) fails; The second electronic control unit (3) controls the power output of the vehicle based on the position signal received through the second signal transmission circuit (13).

19. The driving control method according to claim 18, characterized by, Before the second electronic control unit (3) controls the power output of the vehicle based on the position signal received through the second signal transmission circuit (13), the driving control method further comprises: The second electronic control unit (3) detects that the vehicle is restarted after being turned off.

20. The driving control method according to claim 18 or 19, characterized by, The driving control method further comprises: When the first electronic control unit (2) is normal, the first electronic control unit (2) controls the power output of the vehicle based on the position signal received through the first signal transmission circuit (12).

21. A driving control method characterized by comprising: The driving control method is applied in the second electronic control unit (3) of the driving control system according to any one of claims 1-14, and the driving control method comprises: Detecting that the first electronic control unit (2) fails; Controlling the power output of the vehicle based on the position signal received through the second signal transmission circuit (13).

22. A driving control device characterized by comprising: The driving control device is configured in the second electronic control unit (3) of the driving control system according to any one of claims 1-14, and the driving control device comprises: A detection module for detecting that the first electronic control unit (2) fails; A control module for controlling the power output of the vehicle based on the position signal received through the second signal transmission circuit (13).

23. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one instruction, which is loaded and executed by the controller to realize the driving control method according to claim 21.

24. A computer program product, characterised in that, The computer program product includes at least one instruction which is executed by the electronic control unit, so that the electronic control unit implements the driving control method as claimed in claim 21.

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