Pedal simulation device, pedal switching control method, vehicle, medium, and program

Abstract

The invention relates to the technical field of vehicles, in particular to a pedal simulation device, a pedal switching control method, a vehicle, a medium and a program.The device comprises a brake pedal, a push rod, a tandem brake master cylinder, a master cylinder spring and a tandem brake master cylinder piston; wherein the push rod is rigidly connected with the brake pedal and is used for driving the tandem brake master cylinder piston to move in the tandem brake master cylinder; each pedal feeling simulator assembly comprises a piston assembly and a spring assembly; the electromagnetic valve assemblies are connected with the corresponding pedal feeling simulators respectively, and the electromagnetic valve assemblies are not opened at the same time; and the control unit is used for selectively starting at least one pedal feeling simulator by controlling the on-off state of the electromagnetic valve so as to switch the pedal feedback force. Therefore, the problems that an existing pedal feeling simulator in the prior art is limited by a mechanical adjustment mode and a single feedback design, and the requirement of a new energy automobile for personalized and intelligent driving experience is difficult to meet are solved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a pedal simulation device, a pedal switching control method, a vehicle, a medium and a program. Background Art

[0002] With the rapid development of new energy vehicles and intelligent driving technologies, decoupled braking systems have gradually become the mainstream technology. In a decoupled braking system, the mechanical connection between the brake pedal and the hydraulic actuator is weakened, and the braking force distribution is instead controlled by electronic signals. Against this background, as a key component, the pedal feel simulator needs to simulate the pedal feedback force of a traditional braking system to provide an operating experience that meets the driver's expectations. However, there are significant differences in the pedal force requirements of different drivers. For example, some prefer a "soft" or "firm" pedal feel, which poses higher requirements for the adjustability of the pedal feel simulator.

[0003] In related technologies, traditional pedal feel simulators mainly achieve limited adjustment of pedal force through mechanical adjustment methods. The patent "A Pedal Feel Adjusting Device Based on Threaded Connection" with the publication number CN209096696U discloses adjusting the feedback force by screwing a screw to change the pre-tightening force of the secondary cylinder spring. However, its adjustment range is limited by the screw stroke, and manual operation is required, making dynamic switching impossible; it only relies on the master cylinder spring to provide a fixed feedback force and lacks a hierarchical design, resulting in a single pedal feel and being unable to adapt to diverse driving modes; therefore, the physical structure limitations of the mechanical adjustment method lead to a narrow adjustable range and difficulty in meeting the personalized needs of users; manual or mechanical adjustment cannot achieve real-time switching and is difficult to adapt to dynamic driving scenarios; the single spring design is prone to sudden changes in feedback force under high-pressure conditions, affecting driving safety. Summary of the Invention

[0004] The present application provides a pedal simulation device, a pedal switching control method, a vehicle, a medium and a program to solve problems such as the existing pedal feel simulator being limited by mechanical adjustment methods and single feedback designs and being difficult to meet the requirements for personalized and intelligent driving experiences in new energy vehicles.

[0005] The first aspect of the present application provides a pedal simulation device, including: a brake pedal, a push rod, a tandem master cylinder, a master cylinder spring, and a tandem master cylinder piston; wherein, the push rod is rigidly connected to the brake pedal and is used to drive the tandem master cylinder piston to move in the tandem master cylinder; a pedal feel simulator assembly, each pedal feel simulator includes a piston assembly and a spring assembly, wherein, the piston assembly cooperates with the corresponding spring to provide a feedback force; a solenoid valve assembly, which is respectively connected to the corresponding pedal feel simulator, wherein, the solenoid valve assembly is not opened simultaneously; a control unit, which is used to selectively enable at least one of the pedal feel simulators by controlling the on / off state of any solenoid valve in the solenoid valve assembly to switch the pedal feedback force.

[0006] Optionally, it further includes: a tandem slave cylinder piston and a slave cylinder spring, wherein, the tandem slave cylinder piston is communicated with the tandem master cylinder and is used to further superimpose the deformation amount of the slave cylinder spring into the total feedback force.

[0007] Optionally, it further includes: a first cylinder oil return solenoid valve and a second cylinder oil return solenoid valve, which respectively control the hydraulic circuits of the first cylinder and the second cylinder chambers in the master cylinder and are used to quickly reset the pressure in the brake release stage.

[0008] The second aspect of the present application provides a pedal switching control method, which is implemented by applying the pedal simulation device described in the above embodiments. The method includes the following steps: obtaining the driver's stepping requirement for the brake pedal; determining the corresponding preset pedal feedback force mode according to the stepping requirement to generate a corresponding control signal, and controlling the corresponding solenoid valve to selectively open or close at least one solenoid valve according to the control signal to connect or block the hydraulic circuit of the corresponding pedal feel simulator; calculating the total feedback force of the pedal simulation device, and outputting the total feedback force to the brake system through the tandem master cylinder to realize the real-time switching of the pedal feel.

[0009] Optionally, the calculating the total feedback force of the pedal simulation device includes: obtaining the elastic coefficients and the corresponding deformation amounts of the master cylinder spring, each pedal feel simulator spring, and the slave cylinder spring; calculating the total feedback force of the pedal simulation device according to the elastic coefficients and the deformation amounts.

[0010] Optionally, the pedal feedback force modes include: a basic mode, an enhanced mode, and a full feedback mode. In the basic mode, only the feedback force of the master cylinder spring is enabled. In the enhanced mode, the feedback force of the master cylinder spring and at least one pedal feel simulator is enabled. In the full feedback mode, the feedback forces of the master cylinder spring, the pedal feel simulator assembly, and the slave cylinder spring are superimposed.

[0011] Optionally, the triggering conditions for the control signal of the solenoid valve include at least one of the following: the driver manually selects a target feedback force mode through the in-vehicle interaction interface; the vehicle control system automatically matches a preset mode according to real-time driving parameters, and the parameters include vehicle speed, acceleration, braking pressure, or road conditions.

[0012] An embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to perform the pedal switching control method as described in the above embodiment.

[0013] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to perform the pedal switching control method as described in the above embodiment.

[0014] An embodiment of the fifth aspect of the present application provides a computer program product, including a computer program or instruction, characterized in that when the computer program or instruction is executed, it realizes the pedal switching control method as described in the above embodiment.

[0015] Therefore, the present application has at least the following beneficial effects:

[0016] 1. Based on a single pedal simulator, the embodiment of the present application realizes dynamic and precise adjustment of the pedal force through a multi-simulator switching mechanism controlled by a solenoid valve and a hierarchical feedback force superposition model, supports real-time switching between multiple modes, and meets personalized and scenario-based requirements.

[0017] 2. Determine the corresponding preset pedal feedback force mode according to the driver's stepping requirement for the brake pedal to generate a corresponding control signal, control the corresponding solenoid valve to selectively open or close at least one solenoid valve according to the control signal to connect or block the hydraulic circuit of the corresponding pedal feel simulator, calculate the total feedback force of the pedal simulation device, output the total feedback force to the braking system through a tandem master cylinder, realize real-time switching of the pedal feel, and realize the pedal feedback force required by the driver through the on-off of the solenoid valve according to the driver's demand, improve the smoothness of driving mode switching, and provide a stable and reliable pedal feedback.

[0018] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0020] Figure 1Schematic block diagram of a pedal simulation device provided according to an embodiment of the present application;

[0021] Figure 2 Schematic diagram of a pedal simulator provided according to an embodiment of the present application;

[0022] Figure 3 Flowchart of a pedal switching control method provided according to an embodiment of the present application;

[0023] Figure 4 Schematic diagram of the structure of a vehicle provided according to an embodiment of the present application.

[0024] Explanation of reference numerals: 1: Brake pedal, 2: Push rod, 3: Series brake master cylinder piston, 4: Series brake master cylinder, 5: First cylinder oil return solenoid valve, 6: Second cylinder oil return solenoid valve, 7: Fluid reservoir, 8: Master cylinder spring, 9: Pedal feel simulator one solenoid valve, 10: Pedal feel simulator two solenoid valve, 11: Pedal feel simulator one, 12: Pedal feel simulator two, 13: Pedal feel simulator one piston, 14: Pedal feel simulator two piston, 15: Pedal feel simulator one spring, 16: Pedal feel simulator two spring, 17: Series brake secondary cylinder piston, 18: Secondary cylinder spring, 100: Pedal feel simulator assembly, 200: Solenoid valve assembly, and 300: Control unit. Detailed description of the specific implementation

[0025] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0026] The pedal simulation device, pedal switching control method, vehicle, medium, and program according to the embodiments of the present application will be described below with reference to the accompanying drawings.

[0027] Specifically, a pedal simulation device proposed according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0028] Figure 1 Is a schematic block diagram of the pedal simulation device according to an embodiment of the present application.

[0029] As Figure 1-2 shown, the pedal simulation device 10 includes: a brake pedal 1, a push rod 2, a series brake master cylinder 4, a master cylinder spring 8, a series brake master cylinder piston 3, a pedal feel simulator assembly 100, a solenoid valve assembly 200, and a control unit 300.

[0030] Among them, the push rod 2 is rigidly connected to the brake pedal 1 and is used to drive the piston 3 of the tandem master cylinder to move within the tandem master cylinder 4; the pedal feel simulator assembly 100, each pedal feel simulator includes a piston assembly and a spring assembly, wherein the piston assemblies cooperate with the corresponding springs respectively to provide a feedback force; the solenoid valve assembly 200, each solenoid valve is respectively connected to the corresponding pedal feel simulator, wherein the solenoid valve assembly is not opened simultaneously; the control unit 300 is used to selectively enable at least one pedal feel simulator by controlling the on / off state of any solenoid valve in the solenoid valve assembly, so as to switch the pedal feedback force.

[0031] It can be understood that the embodiments of the present application can achieve dynamic and precise adjustment of the pedal force through the multi-simulator switching mechanism controlled by the solenoid valve and the hierarchical feedback force superposition model, support real-time switching of multiple modes, and meet personalized and scenario-based requirements.

[0032] It should be noted that as Figure 2 shown, the pedal feel simulator assembly 200 of the present application includes: pedal feel simulator one 11, pedal feel simulator two 12, pedal feel simulator one piston 13, pedal feel simulator two piston 14, pedal feel simulator one spring 15 and pedal feel simulator two spring 16. The solenoid valve assembly 300 includes: pedal feel simulator one solenoid valve 9 and pedal feel simulator two solenoid valve 10.

[0033] Specifically, the working principle of the pedal feel simulator is that when the driver steps on the pedal, it pushes the piston 3 to move forward within the master cylinder body 4, and the piston 3 compresses the master cylinder spring 8 to generate a pedal force F 1 , according to the driver's demand, control the pedal feel simulator solenoid valve 9 or 10, overcome the starting force of the pedal feel simulator 11 or the pedal feel simulator 12, and then push the pedal feel simulator piston 13 or 14 to compress the spring 15 or 16 to generate a feedback force F 2 , when the pressure in the master cylinder 4 is sufficient to push the secondary cylinder piston 17 and then compress the secondary cylinder spring 18 to generate a feedback force F 3 , at this time, the feedback force F felt by the driver = F 1 +F 2+ F 3 .

[0034] The pedal feel simulator one 11 and the pedal feel simulator two 12 respectively correspond to different pedal feedback force characteristics, for example: "Comfort Mode" and "Sport Mode"; each simulator is connected to the corresponding solenoid valve through an independent hydraulic channel to ensure no interference during switching. The piston 13 of the pedal feel simulator one and the piston 14 of the pedal feel simulator two convert the hydraulic oil pressure of the master cylinder 4 into mechanical motion to drive the spring to compress; the piston stroke determines the spring deformation amount, which directly affects the additional feedback force. The spring 15 of the pedal feel simulator one and the spring 16 of the pedal feel simulator two have different spring constants, corresponding to "gentle" or "firm" pedal feels respectively; when the spring compresses, it stores elastic potential energy and generates an additional feedback force through the deformation amount.

[0035] The solenoid valve 9 of the pedal feel simulator one controls the on-off of the hydraulic circuit of the pedal feel simulator one 11; the solenoid valve 10 of the pedal feel simulator two controls the on-off of the hydraulic circuit of the pedal feel simulator two 12; the two are not opened simultaneously to ensure that only one simulator is activated each time, avoiding the conflict of feedback force superposition.

[0036] In the embodiment of the present application, as Figure 2 shown, it further includes: a tandem brake secondary cylinder piston 17 and a secondary cylinder spring 18.

[0037] Among them, the tandem brake secondary cylinder piston 17 communicates with the tandem brake master cylinder 4 and is used to further superimpose the deformation amount of the secondary cylinder spring 18 into the total feedback force.

[0038] It can be understood that the introduction of the tandem brake secondary cylinder piston 17 and the secondary cylinder spring 18 in the embodiment of the present application significantly improves the feedback force range, linearity and stability of the pedal feel simulation system by superimposing a third layer of feedback force under high-pressure conditions.

[0039] It should be noted that when the pressure of the master cylinder 4 suddenly increases, the displacement of the secondary cylinder piston 17 absorbs part of the hydraulic shock, and the compression deformation of the secondary cylinder spring 18 buffers the pressure fluctuation to prevent the pedal from shaking or the feedback force from mutating; the secondary cylinder spring 18, as the third layer of feedback force source, can still provide the basic braking force when the master cylinder or the simulator spring fails, improving the fault tolerance of the system; during emergency braking or continuous downhill braking, the superimposed force of the secondary cylinder spring 18 ensures that the pedal feedback force strictly matches the hydraulic pressure, avoiding insufficient pedal feedback force caused by too high system pressure; in the strong energy recovery mode of new energy vehicles, the compensation force of the secondary cylinder spring 18 can offset the "virtual position feeling" of the pedal caused by the electric motor braking and maintain the consistency of the pedal force.

[0040] In the embodiment of the present application, as Figure 2 shown, it further includes: a first cylinder oil return solenoid valve 5 and a second cylinder oil return solenoid valve 6.

[0041] Among them, the first-cylinder oil return solenoid valve 5 and the second-cylinder oil return solenoid valve 6 respectively control the hydraulic circuits of the first-cylinder and second-cylinder chambers in the master cylinder, and are used to quickly reset the pressure during the brake release stage.

[0042] It can be understood that the first-cylinder oil return solenoid valve 5 and the second-cylinder oil return solenoid valve 6 of the embodiment of the present application achieve rapid pressure release, system balance and redundant safety during the brake release stage by independently controlling the hydraulic circuits of the double chambers of the master cylinder.

[0043] It should be noted that the first-cylinder oil return solenoid valve 5: controls the on-off of the hydraulic circuit of the "first-cylinder" chamber in the tandem brake master cylinder 4, corresponding to the front wheels or a specific brake circuit; the second-cylinder oil return solenoid valve 6: controls the on-off of the hydraulic circuit of the "second-cylinder" chamber in the tandem brake master cylinder 4, corresponding to the rear wheels or another brake circuit; when the driver releases the brake pedal, the solenoid valves 5 and 6 are synchronously opened, allowing the high-pressure brake fluid in the master cylinder to quickly flow back to the reservoir 7 through the oil return pipeline, realizing rapid pressure release and assisting the brake to reset.

[0044] The pedal simulation device proposed according to the embodiment of the present application switches different pedal feel simulators through the solenoid valve assembly, supports multi-mode dynamic switching, and adapts to the driver's preferences and complex working conditions; the modular design and fault redundancy strategy meet the vehicle-grade safety standards to improve the simulation accuracy.

[0045] Figure 3 It is a schematic flow chart of a pedal switching control method provided by an embodiment of the present application.

[0046] As Figure 3 shown, the pedal switching control method includes the following steps:

[0047] In step S101, obtain the driver's stepping requirement for the brake pedal.

[0048] It can be understood that the embodiment of the present application can obtain the driver's stepping requirement for the brake pedal, so as to subsequently determine the corresponding preset pedal feedback force mode according to the stepping requirement and generate the corresponding control signal.

[0049] In step S102, determine the corresponding preset pedal feedback force mode according to the stepping requirement to generate the corresponding control signal, and control the corresponding solenoid valve to selectively open or close at least one solenoid valve according to the control signal to connect or block the hydraulic circuit of the corresponding pedal feel simulator.

[0050] Among them, the pedal feedback force modes include: basic mode, enhanced mode and full feedback mode. Among them, the basic mode only enables the feedback force of the master cylinder spring, the enhanced mode enables the feedback force of the master cylinder spring and at least one pedal feel simulator, and the full feedback mode superimposes the feedback forces of the master cylinder spring, the pedal feel simulator assembly and the secondary cylinder spring.

[0051] It is understandable that in the embodiments of the present application, the hydraulic circuit of the pedal feel simulator can be controlled by a solenoid valve to dynamically adjust the pedal force characteristics according to the driver's needs or driving scenarios, so as to adapt to the driver's preferences and complex scenarios.

[0052] In the embodiments of the present application, the triggering conditions of the control signal of the solenoid valve include at least one of the following: the driver manually selects a target feedback force mode through the in-vehicle interaction interface; the vehicle control system automatically matches a preset mode according to real-time driving parameters, and the parameters include vehicle speed, acceleration, braking pressure or road surface conditions.

[0053] Among them, the preset mode can be a "comfort mode" or a "sports mode", without specific limitation.

[0054] It is understandable that in the embodiments of the present application, the driver can freely select a mode, while the vehicle intelligently adapts to complex scenarios, taking into account both the driving pleasure and driving safety.

[0055] In step S103, the total feedback force of the pedal simulation device is calculated, and the total feedback force is output to the braking system through a tandem master cylinder to achieve real-time switching of the pedal feel.

[0056] It is understandable that in the embodiments of the present application, the total feedback force of the pedal simulation device can be calculated, and the total feedback force is output to the braking system through a tandem master cylinder to achieve real-time switching of the pedal feel, improve the smoothness of driving mode switching, and provide stable and reliable pedal feedback.

[0057] In the embodiments of the present application, calculating the total feedback force of the pedal simulation device includes: obtaining the elastic coefficients of the master cylinder spring, each pedal feel simulator spring, and the secondary cylinder spring, as well as the corresponding deformation amounts; calculating the total feedback force of the pedal simulation device according to the elastic coefficients and deformation amounts.

[0058] It is understandable that in the embodiments of the present application, according to the elastic coefficients of the master cylinder spring, each pedal feel simulator spring, and the secondary cylinder spring, as well as the corresponding deformation amounts, the accuracy of the total feedback force is improved.

[0059] Specifically, the total feedback force is superimposed by three parts and follows Hooke's law:

[0060] F = F 1 + F 2+ F 3 = k 1 Δx 1 + k 2 Δx 2 + k 3 Δx 3 ;

[0061] Among them, k 1Elastic coefficient, k, of the master cylinder spring 8 2 Elastic coefficient, k, of the springs 11 or 12 of the pedal feel simulator 13 or 14 3 Elastic coefficient, Δx, of the slave cylinder spring 18 1 Deformation amount, Δx, of the master cylinder spring 8 2 Deformation amount, Δx, of the springs 11 or 12 of the pedal feel simulator 13 or 14 3 Deformation amount of the slave cylinder spring 18

[0062] According to the pedal switching control method proposed in the embodiments of the present application, the corresponding preset pedal feedback force mode is determined according to the driver's stepping requirement for the brake pedal to generate a corresponding control signal, and the corresponding solenoid valve is controlled according to the control signal to selectively open or close at least one solenoid valve to connect or block the hydraulic circuit of the corresponding pedal feel simulator, calculate the total feedback force of the pedal simulation device, output the total feedback force to the braking system through the tandem brake master cylinder, realize the real-time switching of the pedal feel, and according to the driver's requirement, realize the pedal feedback force required by the driver through the opening and closing of the solenoid valve, improve the smoothness of the driving mode switching, and provide stable and reliable pedal feedback.

[0063] The following will be combined with the following Figure 2 device to describe the pedal switching control method of the present application in detail. The specific steps are as follows:

[0064] Step 1: Component installation and calibration

[0065] Rigidly connect the push rod 2 to the brake pedal 1, and adjust the thread length to ensure that the initial position of the master cylinder piston 3 is at the midpoint of the stroke of the master cylinder 4; install the pedal feel simulators 11 and 12 to ensure that the pistons 13 and 14 are coaxially aligned with the corresponding springs 15 and 16 to reduce frictional losses.

[0066] Measure the initial deformation amounts of the master cylinder spring 8, the simulator springs 15 and 16, and the slave cylinder spring 18 through the displacement sensor and input them into the control unit 300 as reference values; in the no-load state, zero the hydraulic pressures of the master cylinder 4 and the slave cylinder 17.

[0067] Step 2: Feedback force mode setting

[0068] 1. Mode definition:

[0069] Comfort mode: Only enable the feedback force of the master cylinder spring 8 to be F 1 ;

[0070] Enhanced mode: Superimpose the feedback forces of the master cylinder spring 8 and simulator one 11: F 1 +F 2 ;

[0071] Full feedback mode: Superimpose the feedback forces F of the master cylinder spring 8, simulator two 12, and secondary cylinder spring 18 1 +F 2 +F 3 。

[0072] 2. Solenoid valve control logic:

[0073] When "Comfort mode" is selected, all solenoid valves 9 and 10 are closed, and only the hydraulic circuit of the master cylinder 4 is retained; when switching to "Enhanced mode", solenoid valve 9 is opened to connect the hydraulic circuit of simulator one 11; when switching to "Full feedback mode", solenoid valve 10 is opened, and the compensation circuit of the secondary cylinder 17 is activated.

[0074] Step 3: Real-time feedback force calculation and output

[0075] 1. Data acquisition:

[0076] The displacement sensors collect Δx1, Δx2, and Δx3 in real time; the pressure sensors monitor the pressure values of the master cylinder 4 and the secondary cylinder 17.

[0077] 2. Feedback force calculation:

[0078] Calculate each component force according to Hooke's law:

[0079] F 1 =k 1 Δx 1 ,F 2 =k 2 Δx 2 ,F 3 =k 3 Δx 3 ;

[0080] Total feedback force F 总 =F 1 +F 2 +F 3 。

[0081] 3. Closed-loop control:

[0082] The control unit compares the actual pressure with the target pressure and dynamically adjusts the solenoid valve opening or switches the mode;

[0083] If the detected pressure deviation > 5%, trigger the calibration program to recalibrate the spring deformation.

[0084] Step 4: Mode switching and fault handling

[0085] 1. Manual switching: The driver selects the target mode through the in-vehicle interface, and the control unit 300 generates the corresponding PWM signal to drive the solenoid valve.

[0086] 2. Automatic switching: Automatically match the mode according to parameters such as vehicle speed and acceleration: Vehicle speed > 80 km / h → Enable the "full feedback mode"; Braking pressure > 10 MPa → Activate the compensation force F of the secondary cylinder 17 3 .

[0087] 3. Fault emergency strategy:

[0088] If the solenoid valves 9 and 10 are stuck or the signals are lost, the control unit 300 forcibly closes all additional circuits, only retains F1F1, and limits the vehicle speed ≤ 80 km / h; Issues a fault warning through the in-vehicle display screen and buzzer.

[0089] This application solves the problem that different users have inconsistent requirements for pedal force and the current pedal feel simulator can only give users a single choice. Based on a single pedal simulator, this simulator realizes the electronically controlled switching of pedal simulation feeling, which is simple, reliable, and easy to implement; It can achieve the pedal feedback force required by the driver through the on / off of the solenoid valve according to the driver's needs.

[0090] Figure 4 It is a schematic structural diagram of the vehicle provided by the embodiment of this application. The vehicle may include:

[0091] A memory 401, a processor 402, and a computer program stored on the memory 401 and executable on the processor 402.

[0092] When the processor 402 executes the program, it implements the pedal switching control method provided in the above embodiment.

[0093] Furthermore, the vehicle further includes:

[0094] A communication interface 403 for communication between the memory 401 and the processor 402.

[0095] The memory 401 is used to store a computer program executable on the processor 402.

[0096] The memory 401 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0097] If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 can be interconnected through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA bus for short), a Peripheral Component Interconnect (PCI bus for short), an Extended Industry Standard Architecture (EISA bus for short), etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 4 only a thick line is used to represent it in Figure 4 , but it does not mean that there is only one bus or one type of bus.

[0098] Optionally, in specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a single chip, the memory 401, the processor 402, and the communication interface 403 can communicate with each other through an internal interface.

[0099] The processor 402 may be a Central Processing Unit (CPU for short), or an Application Specific Integrated Circuit (ASIC for short), or one or more integrated circuits configured to implement the embodiments of the present application.

[0100] The embodiments of the present application also provide a computer-readable storage medium, on which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the pedal switching control method as described above is implemented.

[0101] The embodiments of the present application also provide a computer program product, including a computer program or instruction, characterized in that when the computer program or instruction is executed, the pedal switching control method as described above is implemented.

[0102] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0103] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0104] Any process or method description shown in a flowchart or described in other ways herein can be understood to represent a module, segment, or part of code including one or N executable instructions for implementing a customized logical function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a manner that may not be in the order shown or discussed, including in a substantially simultaneous manner according to the involved functions or in the reverse order, which should be understood by those skilled in the art to which the embodiments of this application belong.

[0105] It should be understood that each part of this application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by a combination of any one or more of the following techniques well known in the art: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays PGA, field programmable gate arrays FPGA, etc.

[0106] Those of ordinary skill in the technical field of this application can understand that all or part of the steps carried by the method for implementing the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

Claims

1. A pedal simulation device, characterized in that: include: A brake pedal, a push rod, a tandem brake master cylinder, a master cylinder spring, and a tandem brake master cylinder piston; wherein the push rod is rigidly connected to the brake pedal and is used to drive the tandem brake master cylinder piston to move in the tandem brake master cylinder; A pedal feel simulator assembly, each of which includes a piston assembly and a spring assembly, wherein the piston assemblies are respectively matched with corresponding springs to provide feedback force; Solenoid valve assemblies, each solenoid valve is connected to a corresponding pedal feel simulator, wherein the solenoid valve assemblies are not opened at the same time; A control unit is used to selectively enable at least one of the pedal feel simulators to switch the pedal feedback force by controlling the switch state of any solenoid valve in the solenoid valve assembly.

2. The pedal simulation device according to claim 1, characterized in that: Also includes: Tandem brake secondary cylinder piston and secondary cylinder spring, wherein: The tandem brake secondary cylinder piston is connected to the tandem brake master cylinder and is used to further add the deformation amount of the secondary cylinder spring to the total feedback force.

3. The pedal simulation device according to claim 1, characterized in that: Also includes: The first cylinder oil return solenoid valve and the second cylinder oil return solenoid valve respectively control the hydraulic circuits of the first cylinder and second cylinder chambers in the master cylinder, and are used to quickly reset the pressure during the brake release stage.

4. A pedal switching control method, characterized in that: The pedal simulation device according to any one of claims 1 to 3 is implemented, wherein the method comprises the following steps: Obtain the driver's need to step on the brake pedal; Determine a corresponding preset pedal feedback force mode according to the pedaling demand to generate a corresponding control signal, and control the corresponding solenoid valve to selectively open or close at least one solenoid valve according to the control signal to connect or block the hydraulic circuit of the corresponding pedal feel simulator; The total feedback force of the pedal simulation device is calculated and output to the brake system through the tandem brake master cylinder to achieve real-time switching of the pedal feel.

5. The pedal switching control method according to claim 4, characterized in that: The calculating the total feedback force of the pedal simulation device comprises: Obtaining the elastic coefficients of the master cylinder spring, each pedal feel simulator spring, and the secondary cylinder spring, and the corresponding deformation amounts; The total feedback force of the pedal simulation device is calculated according to the elastic coefficient and the deformation amount.

6. The pedal switching control method according to claim 4, characterized in that: The pedal feedback force modes include: a basic mode, an enhanced mode and a full feedback mode, wherein the basic mode only enables the feedback force of the master cylinder spring, the enhanced mode enables the feedback force of the master cylinder spring and at least one pedal feel simulator, and the full feedback mode superimposes the feedback forces of the master cylinder spring, the pedal feel simulator assembly and the secondary cylinder spring.

7. The pedal switching control method according to claim 4, characterized in that: The control signal triggering condition of the solenoid valve includes at least one of the following: The driver manually selects the target feedback force mode through the in-vehicle interactive interface; The vehicle control system automatically matches the preset mode according to real-time driving parameters, including vehicle speed, acceleration, brake pressure or road conditions.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the pedal switching control method as described in any one of claims 4 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the pedal switching control method as described in any one of claims 4 to 7.

10. A computer program product, characterized in that It comprises a computer program, which, when executed by a processor, is used to implement the pedal switching control method according to any one of claims 4 to 7.

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