Pedal assembly, braking system and vehicle

Abstract

The invention provides a pedal assembly, a braking system and a vehicle. The pedal assembly is used for outputting a control signal according to braking operation of a user to drive the braking device, the braking device is used for braking wheels of a vehicle, the pedal assembly comprises a shell part, a pedal, a pedal arm, a first sensor and a second sensor, the pedal arm comprises a first end and a second end, and the first end is rotationally connected with the shell part; the second end is movably connected with the pedal, the pedal is used for receiving braking operation of a user, the first sensor is located between the shell part and the first end, and the first sensor is used for detecting rotation of the first end relative to the shell part; the second sensor is positioned between the pedal and the second end and is used for detecting the movement of the pedal relative to the second end; the pedal assembly is used for outputting a control signal according to at least one of the detection result of the first sensor and the detection result of the second sensor. According to the pedal assembly, the reliability of the pedal assembly is improved by arranging the sensors at different parts respectively.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a pedal assembly, a braking system and a vehicle. Background Art

[0002] The vehicle's braking system receives user input through the pedal assembly, sensing the user's braking intention and applying the brakes. To ensure safety, the reliability of the pedal assembly must be improved to prevent brake failure caused by pedal assembly failure. Summary of the Invention

[0003] The present application provides a pedal assembly, a brake system and a vehicle, wherein sensors are arranged at different locations of the pedal assembly to improve the reliability of the pedal assembly.

[0004] In a first aspect, the present application provides a pedal assembly. The pedal assembly is configured to output a control signal based on a user's braking operation to drive a brake device, which is configured to brake a vehicle wheel. The pedal assembly includes a housing, a foot pedal, a pedal arm, a first sensor, and a second sensor. The pedal arm includes a first end and a second end that are opposed to each other. The first end is configured to be rotatably connected to the housing, and the second end is movably connected to the foot pedal. The foot pedal is configured to receive a user's braking operation, wherein:

[0005] The first sensor is located between the housing and the first end, and the first sensor is used to detect the rotation of the first end relative to the housing;

[0006] a second sensor located between the foot pedal and the second end, the second sensor being configured to detect movement of the foot pedal relative to the second end;

[0007] The pedal assembly is used to output a control signal according to at least one of a detection result of the first sensor and a detection result of the second sensor.

[0008] The pedal assembly provided herein comprises a pedal arm having a first end pivotally connected to a housing member, and a foot pedal having one end movably connected to a second end of the pedal arm along the direction of rotation of the pedal arm relative to the housing member. The other end of the foot pedal is configured to receive a user's braking operation. During operation of the pedal assembly, the user can apply braking force to the pedal assembly by stepping on the foot pedal. The first and second sensors are configured to detect the user's braking operation and output corresponding detection results, thereby facilitating the pedal assembly's output of a control signal.

[0009] Among them, the pedal assembly provided in the present application forms control redundancy through the cooperation of the first sensor and the second sensor. When one of the first sensor and the second sensor fails, it is ensured that the pedal assembly can output a control signal, thereby improving the reliability of the pedal assembly.

[0010] The first sensor detects rotation of the first end relative to the housing, and the second sensor detects movement of the pedal relative to the second end. The first and second sensors are positioned at different locations to prevent a failure in a single area from causing both the first and second sensors to fail simultaneously. In other words, the pedal assembly provided herein has the first and second sensors positioned at different locations, thereby improving its reliability.

[0011] In one implementation, the pedal assembly includes a rotating shaft, a shell member is used to accommodate the first end and the rotating shaft, the first end is rotatably connected to the shell member through the rotating shaft, the first sensor is fixedly connected to the shell member, and the detection end of the first sensor is fixed to the rotating shaft along the axial direction of the rotating shaft.

[0012] In this embodiment, the rotating shaft has two opposing ends rotatably connected to the housing, with the first end being sleeved over the outer edge of the rotating shaft and fixedly connected to the shaft. A first sensor is located on one side of the rotating shaft along its axial direction, with its detection end fixed to the rotating shaft. The first sensor detects rotation of the first end relative to the housing by measuring the rotational angle of the rotating shaft. The first sensor is a contact angle sensor. If the connection between the foot pedal and the pedal arm fails, the first sensor can detect the user's braking operation through the rotation of the rotating shaft.

[0013] In one implementation, the pedal assembly includes a rotating shaft, a shell member is used to accommodate the first end and the rotating shaft, the first end is rotatably connected to the shell member through the rotating shaft, the first sensor is fixedly connected to the shell member, and the detection end of the first sensor is oriented toward the rotating shaft along the axial direction of the rotating shaft.

[0014] In this embodiment, the rotating shaft has two opposing ends rotatably connected to the housing, with the first end being sleeved over the outer edge of the rotating shaft and fixedly connected to the shaft. A first sensor is located axially on one side of the rotating shaft, with the detection end of the first sensor facing the rotating shaft. The first sensor detects rotation of the first end relative to the housing by measuring the rotation angle of the rotating shaft. The first sensor is a non-contact angle sensor. If the connection between the foot pedal and the pedal arm fails, the first sensor can detect the user's braking operation through the rotation of the rotating shaft.

[0015] In one implementation, the pedal assembly is used to output a control signal based on the detection results of the first sensor and the detection results of the second sensor when the user depresses the brake pedal surface to perform a braking operation. The pedal assembly receives the detection results of the first sensor and the second sensor and compares the error between the detection results of the first sensor and the second sensor. When the error does not meet a preset condition, the control signal is output in response to the one with a larger change amplitude between the detection results of the first sensor and the detection results of the second sensor.

[0016] In this implementation, when the error between the two detection results does not meet a preset condition, the pedal assembly determines that one of the first and second sensors is in an abnormal state and outputs a control signal based on one of the two detection results. For safety reasons, the pedal assembly of this application outputs a control signal based on the aforementioned mapping relationship in response to the detection result of the first or second sensor with the greater change, thereby avoiding the safety hazard of insufficient braking.

[0017] In one implementation, when the change in the detection result of the first sensor is less than a first preset value, the pedal assembly is configured to output a first fault signal, which indicates that the pedal arm is stuck. When the change in the detection result of the second sensor is less than a second preset value, the pedal assembly is configured to output a second fault signal, which indicates that the connection between the foot pedal and the second end has failed.

[0018] In this implementation, if the pedal assembly determines that one of the first and second sensors is in an abnormal state, it can further output a fault signal to alert the user to troubleshoot. Based on a comparison between the two detection results and corresponding preset values, the pedal assembly is configured to notify the user of a stuck pedal arm or a failed connection between the pedal and the second end through the fault signal.

[0019] In one implementation, the second end includes a receiving groove, the foot pedal includes a protrusion, the receiving groove is configured to accommodate at least a portion of the protrusion and at least a portion of the second sensor, wherein: the protrusion is slidably connected to the receiving groove, and the second sensor is configured to detect displacement of the protrusion relative to the second end. Alternatively, the protrusion is rotationally connected to the receiving groove, and the second sensor is configured to detect displacement of the protrusion relative to the second end.

[0020] In this implementation, the foot pedal is configured to receive a user's braking operation and slide relative to the second end, and the second sensor is configured to detect the amount of sliding of the protrusion relative to the second end. Alternatively, the foot pedal is configured to receive a user's braking operation and rotate relative to the second end, and the second sensor is configured to detect the amount of displacement of the protrusion relative to the second end. Even if the pedal arm becomes stuck, the second sensor can still detect the user's braking operation.

[0021] In one implementation, the groove wall of the receiving groove includes a limiting groove, and the outer wall of the protrusion includes a limiting block, which is used to be embedded in the limiting groove to be slidably connected with the second end.

[0022] In this embodiment, the extending direction of the retaining groove forms an angle with the extending direction of the pedal arm. A retaining block is provided along the outer wall of the protrusion perpendicular to the extending direction of the retaining groove. The retaining block engages with the retaining groove to achieve a sliding connection between the protrusion and the second end. The extending direction of the retaining groove is used to define the sliding direction of the protrusion relative to the second end.

[0023] In one implementation, the groove wall of the limiting groove is spaced apart from the groove opening of the receiving groove along the sliding direction of the pedal, and the size of the limiting block is smaller than the size of the limiting groove.

[0024] In this implementation, the difference between the size of the stopper and the size of the stopper slot along the sliding direction of the pedal is used to determine the amount of sliding movement of the protrusion relative to the second end. The walls of the stopper slot are spaced from the notch of the receiving slot to prevent the protrusion from sliding out of the receiving slot during sliding. This ensures a sliding connection between the protrusion and the second end.

[0025] In one implementation, along the sliding direction of the pedal toward the notch of the receiving groove, the size of the limit block increases perpendicular to the sliding direction of the pedal.

[0026] In this embodiment, the outer wall of the stopper, which is located away from the protrusion and perpendicular to the sliding direction of the pedal, includes a guide surface. The guide surface is angled with the sliding direction of the pedal, and the distance between the guide surface and the protrusion gradually increases along the sliding direction of the pedal toward the notch of the receiving slot. During installation of the pedal assembly of this application, the guide surface is used to guide the deformation of the stopper perpendicular to the sliding direction of the pedal, thereby facilitating installation of the pedal into the receiving slot.

[0027] In one implementation, the minimum distance between the groove wall of the limiting groove and the groove bottom of the receiving groove along the sliding direction of the pedal is greater than the minimum distance between the limiting block and the end face of the protrusion facing the groove bottom of the receiving groove, the second sensor is fixed to the groove bottom of the receiving groove, and the detection end of the second sensor faces the protrusion along the sliding direction of the pedal.

[0028] In this implementation, the stop groove along the sliding direction of the pedal includes a first groove wall and a second groove wall, with the first groove wall, the second groove wall, and the notch of the receiving groove arranged in sequence. A gap exists between the protrusion and the bottom of the receiving groove, and the second sensor is accommodated within this gap. If the pedal arm becomes stuck, the second sensor can detect the user's braking operation by detecting the amount of sliding of the protrusion relative to the second end.

[0029] In one implementation, the second sensor includes a circuit board, a sensing element and a signal element. The circuit board is embedded in the wall of the receiving groove. The sensing element is fixed on the surface of the circuit board and faces the signal element. The signal element is embedded in the outer wall of the protrusion. The sensing element is used to respond to the signal released by the signal element and convert it into an electrical signal and transmit it to the circuit board.

[0030] In this embodiment, the protrusion also includes a positioning groove, the groove wall of the positioning groove is spaced apart from the outer wall of the protrusion along a direction perpendicular to the sliding direction of the foot pedal, and the positioning groove is used to accommodate the signal element of the second sensor. The signal element is used to release the signal outward. The second end also includes a second receiving groove, the second receiving groove is spaced apart from the receiving groove along a direction perpendicular to the sliding direction of the foot pedal, and the second receiving groove is used to accommodate the circuit board and sensing element of the second sensor. The sensing element is used to receive the signal released by the signal element and convert it into an electrical signal. The sensing element also changes the generated electrical signal based on the change in the distance between the sensing element and the signal element. The circuit board is used to receive the electrical signal of the sensing element and convert it into a detection result that can display the position information of the protrusion.

[0031] In one implementation, the distance between the sensing element and the slot opening of the receiving slot along the sliding direction of the pedal is less than or equal to the minimum distance between the slot wall of the limiting slot and the slot opening of the receiving slot, and the sum of the size of the signal element and the size of the sensing element along the sliding direction of the pedal is greater than or equal to the maximum distance between the signal element and the sensing element.

[0032] In this implementation, the sensing element is positioned closer to the receiving slot than the limiting slot along the sliding direction of the pedal. In a direction perpendicular to the sliding direction of the pedal, the projection of the sensing element onto the signal element is contained within the signal element. This prevents the signal element and the sensing element from being too far apart in the sliding direction of the pedal, which could affect the sensing effect of the sensing element. This ensures the reliability of the second sensor's detection results.

[0033] In one implementation, the second sensor is a Hall sensor, and the signal element is a magnet.

[0034] In this implementation, the signal element is used to release the magnetic field outward, the sensing element outputs a corresponding electrical signal based on the magnetic field strength of the detected magnetic field, and the circuit board outputs a detection result that can reflect the relative displacement of the protrusion based on the change in the electrical signal.

[0035] In one implementation, the second sensor is an inductive sensor, and the signal element is an iron core.

[0036] In this implementation, the sensing element outputs different electrical signals based on different distances from the iron core, and the circuit board outputs a detection result that can reflect the relative displacement of the protrusion based on the change in the electrical signal.

[0037] In one implementation, the foot pedal is rotatably connected to the groove wall of the receiving groove through a second rotating shaft. The rotation direction of the foot pedal relative to the pedal arm is the same as the rotation direction of the pedal arm relative to the shell. The foot pedal includes a first section and a second section respectively arranged on both sides of the second rotating shaft. The first section is used to receive the user's braking operation. The second sensor is located between the groove wall and the second section of the receiving groove along the circumference of the second rotating shaft. The second sensor is spaced apart from the second rotating shaft along the radial direction of the second rotating shaft.

[0038] In this implementation, the geometric axis of the second rotating shaft is parallel to the geometric axis of the rotating shaft. Along the axial direction of the second rotating shaft, both ends of the second rotating shaft are rotatably connected to the walls of the receiving slot. The protrusion is sleeved on the outer edge of the second rotating shaft and fixedly connected to the second rotating shaft. When the first section receives a braking operation from the user, the second section rotates toward one of the walls of the receiving slot. The second sensor is configured to detect displacement of the second section relative to one of the walls of the receiving slot.

[0039] In one implementation, the second sensor is fixed to the wall of the receiving groove, and the detection end of the second sensor is abutted against the second section, wherein: the distance between the detection end of the second sensor and the central axis of the second rotating shaft along the radial direction of the second rotating shaft is greater than or equal to the size of the first section.

[0040] In this implementation, the detection end of the second sensor is radially located farther from the central axis of the second rotating shaft than the pedal surface of the first section, which receives user braking operations. The position of the foot pedal relative to the second rotating shaft increases the distance between the detection end of the second sensor and the central axis of the second rotating shaft. This amplifies the displacement of the first section caused by the user's braking operation, facilitating detection of the displacement by the second sensor.

[0041] In one implementation, the second end includes a receiving groove, the foot pedal includes a protrusion, the receiving groove is used to accommodate at least part of the protrusion and at least part of the second sensor, wherein: the protrusion is rotatably connected to the receiving groove, and the second sensor is used to detect the force of the user's braking operation on the foot pedal.

[0042] In this embodiment, the foot pedal is used to receive the user's braking operation and rotate relative to the second end, and the second sensor is used to detect the force applied to the protrusion by the user's braking operation. When the pedal arm is stuck, the second sensor can still detect the user's braking operation.

[0043] In one implementation, the foot pedal is rotatably connected to the groove wall of the receiving groove through a second rotating shaft. The rotation direction of the foot pedal relative to the pedal arm is the same as the rotation direction of the pedal arm relative to the shell. The foot pedal includes a first section and a second section respectively arranged on both sides of the second rotating shaft. The first section is used to receive the user's braking operation. The second sensor is located between the groove wall and the second section of the receiving groove along the circumference of the second rotating shaft. The second sensor is spaced apart from the second rotating shaft along the radial direction of the second rotating shaft.

[0044] In this embodiment, the geometric axis of the second rotating shaft is parallel to the geometric axis of the rotating shaft. Along the axial direction of the second rotating shaft, both ends of the second rotating shaft are rotatably connected to the walls of the receiving groove. The protrusion is sleeved on the outer edge of the second rotating shaft and fixedly connected to the second rotating shaft. When the first section receives a braking operation from the user, the second section rotates toward one of the walls of the receiving groove. If the pedal arm becomes stuck, the second sensor can detect the user's braking operation by detecting the force applied to the second section.

[0045] In one implementation, the second sensor is fixed to the wall of the receiving groove, and the detection end of the second sensor is abutted against the second section, wherein: the distance between the detection end of the second sensor and the central axis of the second rotating shaft along the radial direction of the second rotating shaft is less than or equal to the size of the first section.

[0046] In this implementation, the detection end of the second sensor is positioned radially along the second rotating shaft, closer to the central axis of the second rotating shaft than the pedal surface of the first section, which receives user braking operations. The foot pedal reduces the distance between the detection end of the second sensor and the central axis of the second rotating shaft based on the position of the second rotating shaft, thereby amplifying the braking force exerted on the first section by the user's braking operation, facilitating detection of the braking force by the second sensor.

[0047] In one implementation, the first section includes a pedal surface for receiving a user's braking operation, and along a plane direction perpendicular to the pedal surface, a projection of the pedal surface on the second end is spaced from a projection of the second rotating shaft on the second end.

[0048] In this embodiment, the foot pedal is used to receive user braking operations. The angle between the planar direction of the pedal surface and the extended axis of the first section is not equal to 90°, so that the user can drive the first section to rotate about the second rotation axis. The second rotation axis is located outside the projection of the pedal surface on the second end in a direction perpendicular to the plane of the pedal surface. This prevents the line of action of the user's braking force on the pedal surface from being directly transmitted through the first section to the second rotation axis, thereby affecting the rotation of the foot pedal. This ensures the reliability of the rotational connection between the foot pedal and the second end.

[0049] In a second aspect, the present application provides a braking system, which includes a braking device and a pedal assembly provided by any of the above-mentioned implementation methods.

[0050] In one implementation, the braking device includes a controller, wherein the controller is configured to receive a control signal to brake wheels of a vehicle.

[0051] In this implementation, the control signal output by the pedal assembly may include detection results of the first sensor and the second sensor, and a controller of the braking device is used to receive the control signal and brake the wheel in response to one of the two detection results.

[0052] In one implementation, the controller is configured to receive at least one of a detection result of the first sensor or a detection result of the second sensor to brake a wheel of the vehicle.

[0053] Because the braking system of the present application includes the pedal assembly provided by any of the above-mentioned implementation methods, it forms control redundancy when controlling the braking device to brake the wheel, thereby improving the reliability of the braking system.

[0054] In a third aspect, the present application provides a vehicle comprising wheels, a brake device, and the pedal assembly provided in the first aspect above, wherein the pedal assembly is configured to receive a user's braking operation to drive the brake device to brake the wheels. Alternatively, the present application provides a vehicle comprising wheels and the brake system provided in the second aspect above, wherein the brake system is configured to receive a user's braking operation to brake the wheels.

[0055] The vehicle braking of the present application is more reliable and safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the implementation. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0057] Figure 1 A schematic diagram of the appearance and structure of a vehicle provided in an embodiment of the present application;

[0058] Figure 2 A schematic diagram of a process flow of a vehicle braking system provided in an embodiment of the present application;

[0059] Figure 3 A schematic structural diagram of a wheel of a vehicle provided in an embodiment of the present application;

[0060] Figure 4 A schematic diagram of the external structure of the pedal assembly provided in an embodiment of the present application;

[0061] Figure 5 A schematic cross-sectional view of the pedal assembly provided in an embodiment of the present application;

[0062] Figure 6 This is another schematic diagram of the external structure of the pedal assembly provided in an embodiment of the present application;

[0063] Figure 7 Another cross-sectional structural schematic diagram of the pedal assembly provided in an embodiment of the present application;

[0064] Figure 8 A schematic diagram of the partial appearance structure of the pedal assembly provided in an embodiment of the present application;

[0065] Figure 9 A schematic side cross-sectional view of the pedal assembly provided in an embodiment of the present application;

[0066] Figure 10 A schematic cross-sectional view of a first sensor of a pedal assembly provided in an embodiment of the present application;

[0067] Figure 11 A schematic diagram of a partially enlarged structure of a pedal assembly provided in an embodiment of the present application at the first sensor;

[0068] Figure 12 A schematic diagram of a partially enlarged structure of another embodiment of the pedal assembly provided by an embodiment of the present application at the first sensor;

[0069] Figure 13 A schematic diagram of a partially exploded structure of a pedal assembly provided in an embodiment of the present application;

[0070] Figure 14 A partially enlarged structural schematic diagram of a pedal assembly provided in an embodiment of the present application;

[0071] Figure 15 This is another side structural diagram of the pedal assembly provided in an embodiment of the present application;

[0072] Figure 16 A schematic cross-sectional view of the second sensor of the pedal assembly provided in an embodiment of the present application;

[0073] Figure 17 A schematic diagram of a partial cross-sectional structure of a pedal assembly at a second sensor provided in an embodiment of the present application;

[0074] Figure 18 A schematic diagram of the external structure of a pedal of a pedal assembly provided in an embodiment of the present application;

[0075] Figure 19 A schematic diagram of the external structure of the second end of the pedal arm of the pedal assembly provided in an embodiment of the present application;

[0076] Figure 20 Another partially enlarged structural schematic diagram of the pedal assembly provided in an embodiment of the present application;

[0077] Figure 21 A schematic cross-sectional view of the pedal assembly provided in an embodiment of the present application in a pedaling state;

[0078] Figure 22 A schematic diagram of the partial appearance structure of a foot pedal of a pedal assembly provided in an embodiment of the present application;

[0079] Figure 23 A schematic cross-sectional view of a pedal assembly provided in an embodiment of the present application at the second sensor;

[0080] Figure 24 A schematic diagram of a partial cross-sectional structure of a pedal assembly provided in an embodiment of the present application at the second sensor;

[0081] Figure 25 A schematic cross-sectional view of another embodiment of the pedal assembly provided in an embodiment of the present application at the second sensor;

[0082] Figure 26 A schematic diagram of a partial cross-sectional structure of another embodiment of the pedal assembly provided by an embodiment of the present application at the second sensor;

[0083] Figure 27 A schematic diagram of another cross-sectional structure of another embodiment of the pedal assembly provided by an embodiment of the present application at the second sensor;

[0084] Figure 28 A schematic diagram of another partial cross-sectional structure of another embodiment of the pedal assembly provided by an embodiment of the present application at the second sensor;

[0085] Figure 29 A schematic diagram of a partial cross-sectional structure of another embodiment of the pedal assembly provided by an embodiment of the present application at the second sensor;

[0086] Figure 30 A schematic diagram of another partial cross-sectional structure of another embodiment of the pedal assembly provided by the embodiment of the present application at the second sensor;

[0087] Figure 31 This is another partial exploded structural diagram of the pedal assembly provided in an embodiment of the present application;

[0088] Figure 32 A schematic diagram of a partial cross-sectional structure of a pedal assembly at a second sensor provided in an embodiment of the present application;

[0089] Figure 33 This is another partial cross-sectional structural diagram of the pedal assembly provided in an embodiment of the present application at the second sensor;

[0090] Figure 34 This is another partial cross-sectional structural diagram of the pedal assembly provided in an embodiment of the present application at the second sensor;

[0091] Figure 35 A schematic diagram of a braking process of a pedal assembly provided in an embodiment of the present application;

[0092] Figure 36 A schematic diagram of the braking process of the pedal assembly provided in an embodiment of the present application in another embodiment. DETAILED DESCRIPTION

[0093] The following will describe the technical solutions in the embodiments of this application in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of this application.

[0094] The vehicle provided herein includes a braking system comprising a plurality of braking devices and a pedal assembly, each braking device being configured to correspond to a wheel. The pedal assembly is configured to control the plurality of braking devices to drive a friction plate toward or away from a brake disc of the wheel.

[0095] See Figure 1 The figure shows a schematic diagram of the appearance structure of a vehicle provided in an embodiment of the present application.

[0096] like Figure 1 As shown, the vehicle provided in this application includes a body 1001, a braking system 1002, and multiple wheels. The body 1001 is supported by the multiple wheels. The vehicle's power unit, housed within the body 1001, drives the wheels to rotate relative to the body, providing kinetic energy for the vehicle. Each wheel is equipped with a brake disc 1003, which is coaxially fixed to the wheel hub and can rotate synchronously with the wheel relative to the body 1001.

[0097] The braking system 1002 provided in this application is fixed to the vehicle body 1001. Figure 1 In the schematic diagram, the braking system 1002 includes a brake device 1004 and a pedal assembly 100. The brake device 1004 is fixed to the vehicle body 1001 and is used to provide braking force to the wheels. In one embodiment, the number of brake devices 1004 is the same as the number of wheels, with one brake device 1004 corresponding to one brake disc 1003. Each brake device 1004 is used to cooperate with a respective brake disc 1003 to provide braking force to the corresponding wheel.

[0098] The pedal assembly 100 provided in the present application is housed in a vehicle body 1001. The pedal assembly 100 is communicatively connected to each braking device 1004. The pedal assembly 100 is used to receive the user's braking operation and output a control signal to the outside. Each braking device 1004 is used to receive the control signal of the pedal assembly 100 and provide braking force to the corresponding brake disc 1003 based on the control signal, thereby achieving braking of the corresponding wheel.

[0099] In another embodiment, the vehicle provided in the present application includes multiple braking devices 1004 and a pedal assembly 100 provided in the present application. The braking device 1004 is used to receive a control signal from a pedal assembly 100 and cooperate with each brake disc 1003 to provide braking force for the corresponding wheel.

[0100] In one embodiment, the braking device 1004 is an electro-mechanical brake (EMB).

[0101] See Figure 2 and Figure 3 ,in Figure 2 This is a flow chart of a vehicle braking system 1002 provided in an embodiment of the present application. Figure 3 A schematic structural diagram of the wheels of a vehicle provided in an embodiment of the present application.

[0102] like Figure 2 and Figure 3 As shown, the braking device 1004 includes a brake motor 1005 and a brake 1006. The brake 1006 is used to be fixedly connected to the vehicle body 1001. The brake motor 1005 is used to receive a control signal from the pedal assembly 100 and output a braking force to the brake 1006 based on the control signal. The brake 1006 can brake the brake disc 1003 under the action of the braking force output by the brake motor 1005.

[0103] In one embodiment, the brake 1006 includes a brake caliper, a caliper frame, and a friction pad. The caliper frame is fixedly connected to the vehicle body 1001, the brake caliper is slidably connected to the caliper frame, and the brake caliper is fixedly connected to the brake motor 1005. The brake motor 1005 can slide synchronously with the brake caliper relative to the caliper frame.

[0104] The brake caliper is also used to mount friction pads. In one embodiment, there are two friction pads, which are arranged on both sides of the brake disc 1003 along the axial direction of the brake disc 1003. The two friction pads face the two opposite outer surfaces of the brake disc 1003 respectively.

[0105] Brake motor 1005 is used to drive the two friction pads to slide toward each other along the axial direction of brake disc 1003 until the two friction pads contact the two outer surfaces of brake disc 1003 facing away from each other, thereby generating friction to brake brake disc 1003. Brake motor 1005 is also used to drive the two friction pads to slide along the axial direction of brake disc 1003 away from brake disc 1003, and to separate from the two outer surfaces of brake disc 1003 facing away from each other, thereby releasing the brake on brake disc 1003. In other words, in this embodiment, brake motor 1005 is used to drive the two friction pads toward or away from brake disc 1003.

[0106] like Figure 2 and Figure 3 As shown, the pedal assembly 100 provided in this application is used to communicate with the brake motors 1005 of various brake devices 1004. When a user performs a braking operation, the user steps on the pedal assembly 100, causing the pedal assembly 100 to output a control signal based on the user's pedaling force. The control signal is transmitted to the brake motor 1005, causing the brake motor 1005 to rotate forward. The brake motor 1005 rotates forward to output a braking force to the brake 1006, causing the friction pads axially adjacent to the brake motor 1005 to slide toward the brake disc 1003 until the friction pads abut against the brake disc 1003. At this point, the brake motor 1005 continues to rotate forward to output a braking force. This portion of the braking force is transmitted to the brake caliper through the friction pads and the internal structure of the brake 1006, causing the brake caliper to slide relative to the caliper frame, thereby driving the friction pads axially away from the brake motor 1005 to slide toward the brake disc 1003 until the friction pads abut against the brake disc 1003. This enables the two friction plates to abut against the two opposite outer surfaces of the brake disc 1003, thereby achieving braking of the wheel.

[0107] When the user cancels the braking operation, the pedal assembly 100 stops outputting control signals, and the brake motor 1005 reverses to cooperate with the internal structure of the brake 1006 to drive the two friction plates away from the brake disc 1003 along the axial direction until the two friction plates are separated from the two outer surfaces opposite to each other of the brake disc 1003. This releases the wheel brake, allowing the wheel to continue rotating to drive the vehicle.

[0108] In the embodiment of the present application, the pedal assembly 100 can output a corresponding control signal based on the user's braking operation. Figure 4-Figure 6 ,in Figure 4 This is a schematic diagram of the external structure of the pedal assembly 100 provided in an embodiment of the present application. Figure 5 This is a schematic cross-sectional view of the pedal assembly 100 provided in an embodiment of the present application. Figure 6 This is another schematic diagram of the external structure of the pedal assembly 100 provided in an embodiment of the present application. Figure 7 This is another cross-sectional structural diagram of the pedal assembly 100 provided in an embodiment of the present application. Figure 4 and Figure 5 The corresponding embodiments and Figure 6 and Figure 7 The corresponding embodiments differ in the connection method between the foot pedal 10 and the pedal arm 20 .

[0109] like Figure 4-Figure 7As shown, the pedal assembly 100 includes a foot pedal 10 and a pedal arm 20. The foot pedal 10 is used to receive the user's braking operation. In one embodiment, the foot pedal 10 is located in the cockpit of the vehicle body 1001 to facilitate response to the user's braking operation. In the embodiment of the present application, the pedal assembly 100 of the present application also includes a shell member 30, and the pedal arm 20 includes a first end 20a and a second end 20b relative to each other. The first end 20a is used for rotational connection with the shell member 30, and the second end 20b is used for movably connection with the foot pedal 10. Correspondingly, the first end 20a of the pedal arm 20 and the foot pedal 10 move together around the second end 20b in response to the user's braking operation.

[0110] In one embodiment, the housing 30 is fixed within the vehicle body 1001, with the housing 30 and the foot pedal 10 positioned on opposite sides of a partition of the vehicle body 1001. The partition of the vehicle body 1001 serves to prevent foreign matter from entering the cockpit from entering the vehicle body 1001. The housing 30 houses the first end 20a, and the second end 20b of the pedal arm 20 extends through the housing 30 and the partition into the cockpit and is movably connected to the foot pedal 10. It will be appreciated that the housing 30 also serves to prevent foreign matter from entering the housing 30, thereby preventing the rotational connection between the pedal arm 20 and the housing 30 and the movable connection between the pedal arm 20 and the foot pedal 10.

[0111] The pedal assembly 100 of the present application further includes a first sensor 40 (see Figure 8 ) and a second sensor 50. Figure 4-Figure 7 As shown, the first sensor 40 is located between the housing 30 and the first end 20a, and is used to detect the rotation of the first end 20a relative to the housing 30. The second sensor 50 is located between the footrest 10 and the second end 20b, and is used to detect the movement of the footrest 10 relative to the second end 20b.

[0112] When a user applies a braking operation to the pedal 10, the pedal force exerted by the user on the pedal 10 is transmitted through the pedal 10 to the second end 20b of the pedal arm 20, causing the second end 20b of the pedal arm 20 to rotate about the first end 20a relative to the housing 30. At this point, the first sensor 40 can detect the rotation of the first end 20a relative to the housing 30 and output a detection result. The pedal 10 moves relative to the second end 20b in response to the user's pedaling action. At this point, the second sensor 50 can detect the movement of the pedal 10 relative to the second end 20b and output a detection result. That is, during the user's braking operation on the pedal 10, the user's braking operation can cause the first sensor 40 and the second sensor 50 to output detection results based on their respective detected objects.

[0113] The pedal assembly 100 of the present application is also configured to output a control signal based on at least one of the detection results of the first sensor 40 and the detection results of the second sensor 50. Specifically, when a user applies a braking operation to the foot pedal 10, the pedal assembly 100 of the present application outputs a control signal to the brake motor 1005 of the brake device 1004 based on at least one of the detection results obtained by the first sensor 40 and the second sensor 50. The brake motor 1005 outputs a braking force based on the control signal and drives the friction plates of the brake 1006 to slide toward each other and abut against the brake disc 1003, thereby braking the vehicle.

[0114] In the embodiment of the present application, the pedal assembly 100 of the present application can output a control signal to the brake motor 1005 based on the detection result of the first sensor 40, and can also output a control signal to the brake motor 1005 based on the detection result of the second sensor 50. When the first sensor 40 fails and is unable to output an accurate detection result, the pedal assembly 100 of the present application can output a control signal based on the detection result output by the second sensor 50. When the second sensor 50 fails and is unable to output an accurate detection result, the pedal assembly 100 of the present application can output a control signal based on the detection result output by the first sensor 40.

[0115] That is, the first sensor 40 and the second sensor 50 can cooperate with each other to form control redundancy, so that when one of the first sensor 40 and the second sensor 50 fails, a control signal can be output through the other of the first sensor 40 and the second sensor 50, thereby ensuring that the pedal assembly 100 of the present application responds reliably to the user's braking operation, thereby improving the safety and reliability of the pedal assembly 100 of the present application.

[0116] During operation, the pedal assembly 100 of the present application may be subject to various potential failure risks. For example, if the pedal 10 malfunctions and is unable to convert the user's pedaling force into movement relative to the second end 20b, the second sensor 50 may have difficulty detecting the user's braking intention by detecting the movement of the pedal 10 relative to the second end 20b. The user's braking operation on the pedal 10 can be achieved by rotating the pedal arm 20, with the second sensor 50 detecting the rotation of the first end 20a relative to the housing 30 to enable the pedal assembly 100 to output a control signal. If the pedal arm 20 is unable to rotate due to a stuck malfunction, the first sensor 40 may have difficulty detecting the user's braking intention by detecting the rotation of the second end 20b of the pedal arm 20. The force exerted by the user on the pedal 10 causes the pedal 10 to move relative to the second end 20b, with the first sensor 40 detecting the displacement or force exerted on the pedal 10 to enable the pedal assembly 100 to output a control signal.

[0117] Therefore, the difference in detection positions of the first sensor 40 and the second sensor 50 ensures that when a single area of the pedal assembly 100 fails, the first sensor 40 and the second sensor 50 will not fail at the same time, thereby improving the reliability of the pedal assembly 100 of the present application.

[0118] In one embodiment, the pedal assembly 100 processes the detection results of the first sensor 40 and the second sensor 50 based on its internal structure and converts at least one of the detection results of the first sensor 40 and the second sensor 50 into a control signal. This control signal is transmitted to the brake motor 1005. Based on the control signal, the brake motor 1005 abuts the brake disc 1003 via the same power transmission path described above, thereby braking the vehicle.

[0119] In one embodiment, the pedal assembly 100 includes a signal processing unit 60. The signal processing unit 60 is configured to output a control signal in response to at least one of the detection results of the first sensor 40 and the detection results of the second sensor 50. Specifically, when a user applies a braking operation to the foot pedal 10, the detection results obtained by the first sensor 40 and the second sensor 50 are transmitted to the signal processing unit 60. The signal processing unit 60 processes the detection results of the first sensor 40 and the second sensor 50, and converts at least one of the two detection results into a control signal that is transmitted to the brake motor 1005. The brake motor 1005 then abuts the brake disc 1003 via the same power transmission path described above, thereby braking the vehicle.

[0120] Therefore, the pedal assembly 100 can process the detection results of the first sensor 40 and the detection results of the second sensor 50 based on the signal processing unit 60, and convert at least one of the detection results of the first sensor 40 and the second sensor 50 into a control signal, and the controller 1007 of the braking device 1004 is used to receive the control signal to brake the wheels of the vehicle.

[0121] In one embodiment, the braking device 1004 includes a controller 1007. The controller 1007 is configured to receive control signals output by the pedal assembly 100 to brake the vehicle's wheels. Specifically, after a user applies a braking operation to the foot pedal 10, the pedal assembly 100 transmits detection results obtained by the first sensor 40 and the second sensor 50 to the controller 1007. Based on at least one of the detection results obtained by the first sensor 40 and the second sensor 50, the controller 1007 outputs a control signal to the brake motor 1005, which then abuts the brake disc 1003 via the same power transmission path described above, thereby braking the vehicle.

[0122] Therefore, controller 1007 is configured to receive control signals from pedal assembly 100. The control signals output by pedal assembly 100 include detection results from first sensor 40 and second sensor 50. At this point, controller 1007 converts at least one of the detection results obtained by first sensor 40 and second sensor 50 into a control signal, which is then received by brake motor 1005 of brake device 1004 to brake the vehicle's wheels. In other words, controller 1007 is configured to receive at least one of the detection results from first sensor 40 and second sensor 50 to brake the vehicle's wheels.

[0123] In one embodiment, the vehicle may include a vehicle control unit (VCU), and the control signal output by the signal processing unit 60 in the pedal assembly 100 may be transmitted to the VCU for processing, and the VCU may then control the braking device 1004 to implement braking.

[0124] In one embodiment, the control signal output by the pedal assembly 100 can be directly transmitted to the vehicle controller, and after being processed by the vehicle controller, the vehicle controller controls the braking device 1004 to achieve braking.

[0125] After the vehicle of the present application introduces a vehicle controller to process the control signal of the pedal assembly 100, the vehicle controller can further form a safety redundancy effect for the signal processing unit 60 or the controller 1007, thereby further improving the safety and reliability of the vehicle.

[0126] In one embodiment, the pedal assembly 100 includes a rotating shaft 71, and the shell member 30 is used to accommodate the first end 20a and the rotating shaft 71. The first end 20a is rotatably connected to the shell member 30 through the rotating shaft 71. The first sensor 40 is fixedly connected to the shell member 30, and the detection end of the first sensor 40 is fixed to the rotating shaft 71 along the axial direction of the rotating shaft 71.

[0127] Please see Figures 8-11 ,in Figure 8 This is a schematic diagram of the partial appearance structure of the pedal assembly 100 provided in an embodiment of the present application. Figure 9 This is a side structural diagram of the pedal assembly 100 provided in an embodiment of the present application. Figure 10 This is a schematic cross-sectional view of a pedal assembly 100 provided in an embodiment of the present application at the first sensor 40 . Figure 11 This is a partial enlarged structural diagram of the pedal assembly 100 provided in an embodiment of the present application at the first sensor 40. Figure 10 for Figure 9 The cross-sectional structure diagram formed by cutting based on the first cutting line L1. For ease of description, Figure 8The housing part 30 is omitted.

[0128] like Figures 8-11 As shown, the rotating shaft 71 is rotatably connected to the housing 30 at opposite ends along the axis of the rotating shaft 71. The first end 20a is sleeved around the outer edge of the rotating shaft 71 and fixedly connected to the rotating shaft 71. When a user applies a brake operation to the pedal 10, the pedal force applied by the user is transmitted through the pedal 10 to the second end 20b of the pedal arm 20, causing the second end 20b of the pedal arm 20 to rotate about the first end 20a relative to the housing 30. At this time, the first end 20a rotates synchronously with the rotating shaft 71, and the first sensor 40 is used to detect the rotation angle of the pedal arm 20.

[0129] In one embodiment, the first sensor 40 is located on one side of the rotating shaft 71 along the axial direction of the rotating shaft 71. The first sensor 40 includes a detection end and a positioning end along the axial direction of the rotating shaft 71. The positioning end of the first sensor 40 is configured to be fixedly connected to the housing 30, and the detection end of the first sensor 40 is configured to be fixedly connected to the rotating shaft 71. The detection end of the first sensor 40 and the positioning end of the first sensor 40 are spaced apart from each other. That is, the first sensor 40 is a non-contact angle sensor. When a user brakes via the foot pedal 10, the pedal arm 20 receives the user's braking operation and rotates about the axis of the rotating shaft 71. The detection end of the first sensor 40 rotates synchronously with the rotating shaft 71. The first sensor 40 detects the rotation angle of the rotating shaft 71 by acquiring the rotation angle of the detection end of the first sensor 40 relative to the positioning end of the first sensor 40, thereby detecting the rotation angle of the first end 20a relative to the housing 30.

[0130] During operation of the pedal assembly 100 of the present application, if the connection between the foot pedal 10 and the pedal arm 20 fails, the first sensor 40 can detect the user's braking operation through the rotation of the rotating shaft 71. The first sensor 40 outputs a detection result based on the user's braking operation, and the pedal assembly 100 of the present application can output a control signal based on the detection result of the first sensor 40. This improves the reliability of the pedal assembly 100 of the present application.

[0131] In another embodiment, the first sensor 40 is located on one side of the rotating shaft 71 along the axial direction of the rotating shaft 71. The detecting end of the first sensor 40 is fixed to the housing 30, and the positioning end of the first sensor 40 is fixed to the rotating shaft 71. The detecting end of the first sensor 40 and the positioning end of the first sensor 40 are spaced apart from each other. When the user brakes via the foot pedal 10, the positioning end of the first sensor 40 rotates synchronously with the rotating shaft 71. The first sensor 40 detects the rotation angle of the rotating shaft 71 by obtaining the rotation angle of the detecting end of the first sensor 40 relative to the positioning end of the first sensor 40, thereby detecting the rotation angle of the first end 20a relative to the housing 30. This application does not impose any particular limitation on this.

[0132] In the embodiment of the present application, the first sensor 40 is a non-contact angle sensor, which reduces the impact of the internal structure of the first sensor 40 on the rotation of the rotating shaft 71. This prevents the rotating shaft 71 from rotating at an angle that cannot match the user's braking operation due to the internal structure of the first sensor 40. This further improves the reliability of the pedal assembly 100 of the present application.

[0133] In one embodiment, the pedal assembly 100 includes a rotating shaft 71, and the shell member 30 is used to accommodate the first end 20a and the rotating shaft 71. The first end 20a is rotatably connected to the shell member 30 through the rotating shaft 71, and the first sensor 40 is fixedly connected to the shell member 30. The opposite ends of the first sensor 40 along the axial direction of the rotating shaft 71 are fixed between the rotating shaft 71 and the shell member 30.

[0134] Please see Figure 12 The diagram shown is a partially enlarged structural diagram of another embodiment of the pedal assembly 100 provided in the embodiment of the present application at the first sensor 40.

[0135] like Figure 12 As shown, the rotating shaft 71 is rotatably connected to the housing 30 at opposite ends along the axis of the rotating shaft 71. The first end 20a is sleeved around the outer edge of the rotating shaft 71 and fixedly connected to the rotating shaft 71. When a user applies a brake operation to the pedal 10, the pedal force applied by the user is transmitted through the pedal 10 to the second end 20b of the pedal arm 20, causing the second end 20b of the pedal arm 20 to rotate about the first end 20a relative to the housing 30. At this time, the first end 20a rotates synchronously with the rotating shaft 71, and the first sensor 40 is used to detect the rotation angle of the pedal arm 20.

[0136] Specifically, the first sensor 40 is located on one side of the rotating shaft 71 along the axial direction of the rotating shaft 71. The positioning end of the first sensor 40 is connected to the detection end of the first sensor 40 along the axial direction of the rotating shaft 71. The positioning end of the first sensor 40 is rotationally connected to the detection end of the first sensor 40. In other words, the first sensor 40 is a contact angle sensor. When the user brakes via the foot pedal 10, the pedal arm 20 is used to receive the user's braking operation and rotate around the axis of the rotating shaft 71. The detection end of the first sensor 40 rotates synchronously with the rotating shaft 71. The first sensor 40 detects the rotation angle of the rotating shaft 71 by detecting the relative angle between the detection end of the first sensor 40 and the positioning end of the first sensor 40, thereby detecting the rotation angle of the first end 20a relative to the housing 30.

[0137] During operation of the pedal assembly 100 of the present application, if the connection between the foot pedal 10 and the pedal arm 20 fails, the first sensor 40 can detect the user's braking operation through the rotation of the rotating shaft 71. The first sensor 40 then outputs a detection result based on the user's braking operation. In other words, if the detection result of the second sensor 50 of the pedal assembly 100 of the present application is distorted, the pedal assembly 100 of the present application can output a control signal based on the detection result of the first sensor 40. This improves the reliability of the pedal assembly 100 of the present application.

[0138] It is worth mentioning that in Figure 11 and Figure 12 In the illustration shown, Figure 8 and Figure 9 The corresponding local enlarged structural schematic diagrams can be Figure 4 and Figure 6 A partially enlarged structural diagram of an embodiment corresponding to any one of the embodiments. Figure 4 and Figure 6 The first sensor 40 may be a contact angle sensor or a non-contact angle sensor. Figure 4 The type of the first sensor 40 can also be Figure 6 For ease of description, in the present embodiment and subsequent embodiments, the first sensor 40 is a non-contact angle sensor.

[0139] In one embodiment, the second end 20b includes a receiving groove 21, the foot pedal 10 includes a protrusion 11, the receiving groove 21 is used to accommodate at least a portion of the protrusion 11 and at least a portion of the second sensor 50, wherein: the protrusion 11 is slidably connected to the receiving groove 21, and the second sensor 50 is used to detect the displacement of the protrusion 11 relative to the second end 20b.

[0140] Please see Figure 13 and Figure 14 ,in Figure 13 This is a schematic diagram of a partially exploded structure of the pedal assembly 100 provided in an embodiment of the present application. Figure 14 This is a schematic diagram of a partially enlarged structure of the pedal assembly 100 provided in an embodiment of the present application.

[0141] like Figure 13 and Figure 14 As shown, the protrusion 11 is configured to engage with the receiving groove 21 to achieve a sliding connection between the foot pedal 10 and the pedal arm 20. The foot pedal 10 is configured to receive a user's braking operation and slide relative to the second end 20b. In other words, when the user brakes the foot pedal 10, the user steps on the foot pedal 10, causing the foot pedal 10 to slide relative to the second end 20b through the cooperation between the protrusion 11 and the receiving groove 21.

[0142] When the protrusion 11 slides under the action of the user's pedaling force, the protrusion 11 extends into the receiving groove 21. The second sensor 50 is used to detect the displacement of the protrusion 11 relative to the second end 20b. During the operation of the pedal assembly 100 of the present application, when the pedal arm 20 becomes stuck, the second sensor 50 can detect the user's braking operation through the sliding of the protrusion 11 relative to the second end 20b, and the second sensor 50 outputs the detection result based on the user's braking operation. That is, when the detection result of the first sensor 40 is distorted, the pedal assembly 100 of the present application can output a control signal based on the detection result of the second sensor 50. This improves the reliability of the pedal assembly 100 of the present application.

[0143] In the embodiment of the present application, the first sensor 40 is used to detect the angle of rotation of the rotating shaft 71 caused by the user's braking operation. That is, the first sensor 40 is an angle sensor, and the physical quantity detected by the first sensor 40 during the process of detecting the user's braking operation is the angle. The second sensor 50 is used to detect the amount of sliding of the foot pedal 10 caused by the user's braking operation. That is, the second sensor 50 is a displacement sensor, and the physical quantity detected by the second sensor 50 during the process of detecting the user's braking operation is the displacement. Therefore, the first sensor 40 and the second sensor 50 each detect different physical quantities.

[0144] Since sensors are able to detect physical quantities of structures, this is based on certain detection principles. However, when sensors are placed in certain locations, certain physical characteristics of the location may cause the sensors to fail. If the sensor is made using the Hall effect principle, placing it in a strong magnetic field or high-temperature environment may result in the sensor's detection results failing to reflect the actual detected quantity, leading to a decrease in the sensor's detection accuracy. For sensors used to detect different physical quantities, due to differences in detection principles, it is unlikely that different sensors will fail simultaneously when a single physical characteristic of the external environment changes.

[0145] Therefore, the difference in the physical quantities detected by the first sensor 40 and the second sensor 50 ensures that the pedal assembly 100 will not fail at the same time due to a single external influencing factor, thereby improving the reliability of the pedal assembly 100 of the present application.

[0146] In one embodiment, the groove wall of the receiving groove 21 includes a limiting groove 22, and the outer wall of the protrusion 11 includes a limiting block 12. The limiting block 12 is used to be embedded in the limiting groove 22 to be slidably connected with the second end 20b.

[0147] Please see Figures 15-19 ,in Figure 15 This is another side structural diagram of the pedal assembly 100 provided in an embodiment of the present application. Figure 16This is a schematic cross-sectional view of the pedal assembly 100 at the second sensor 50 provided in an embodiment of the present application. Figure 17 This is a schematic diagram of a partial cross-sectional structure of the pedal assembly 100 at the second sensor 50 provided in an embodiment of the present application. Figure 18 This is a schematic diagram of the appearance structure of the foot pedal 10 of the pedal assembly 100 provided in an embodiment of the present application. Figure 19 This is a schematic diagram of the external structure of the second end 20b of the pedal arm 20 of the pedal assembly 100 provided in an embodiment of the present application. Figure 16 for Figure 15 Schematic diagram of the cross-sectional structure formed by cutting based on the second cutting line L2.

[0148] like Figures 15-19 As shown, a limit block 12 is provided on the outer wall of the protrusion 11 along a direction perpendicular to the extension direction of the limit slot 22. The limit block 12 is embedded in the limit slot 22 to achieve a sliding connection between the protrusion 11 and the second end 20b. The extension direction of the limit slot 22 is used to define the sliding direction of the protrusion 11 relative to the second end 20b. In the embodiment of the present application, the extension direction of the limit slot 22 is at an angle to the extension direction of the pedal arm 20. When a user applies a pedal force to the pedal 10, the user can simultaneously drive the pedal 10 to slide relative to the second end 20b and drive the pedal arm 20 to rotate, thereby ensuring that the pedal assembly 100 of the present application can output a reliable control signal under the combined action of the first sensor 40 and the second sensor 50.

[0149] In one embodiment, the groove wall of the limiting groove 22 is spaced apart from the groove opening of the receiving groove 21 along the sliding direction of the foot pedal 10 , and the size of the limiting block 12 is smaller than the size of the limiting groove 22 .

[0150] Please see Figure 20 Another partially enlarged structural schematic diagram of the pedal assembly 100 provided in an embodiment of the present application is shown.

[0151] like Figure 20 As shown, the size of the limit block 12 along the sliding direction of the foot pedal 10 is smaller than the size of the limit groove 22, so that during operation of the pedal assembly 100 of the present application, at most one side of the limit block 12 contacts the groove wall of the limit groove 22. This ensures that the limit block 12 can slide within the limit groove 22, thereby ensuring the sliding connection between the protrusion 11 and the second end 20b.

[0152] In the embodiment of the present application, the difference between the size of the limit block 12 and the size of the limit groove 22 along the sliding direction of the foot pedal 10 is used to limit the sliding amount of the protrusion 11 relative to the second end 20b. Figure 16As shown, when the user does not perform the braking operation, the foot pedal 10 is in the first position under the action of other structures of the pedal assembly 100. At this time, there is a maximum distance between the protrusion 11 and the bottom of the receiving groove 21. Figure 21 As shown, when the user brakes and the protrusion 11 of the foot pedal 10 is completely received within the receiving groove 21, the foot pedal 10 enters the second position due to the user's pedaling force. At this point, there is a minimum distance between the protrusion 11 and the bottom of the receiving groove 21. The amount of sliding of the foot pedal 10 relative to the second end 20b from the first position to the second position is the maximum sliding range of the foot pedal 10.

[0153] When the footrest 10 is in the first position, the stopper 12 is spaced apart from or in contact with the wall of the stopper slot 22 near the receiving slot 21 along the sliding direction of the footrest 10. When the footrest 10 is in the second position, the stopper 12 is spaced apart from or in contact with the wall of the stopper slot 22 away from the receiving slot 21 along the sliding direction of the footrest 10. Accordingly, the difference between the dimensions of the stopper 12 and the dimensions of the stopper slot 22 along the sliding direction of the footrest 10 is greater than or equal to the maximum sliding range of the protrusion 11 relative to the second end 20b. This ensures a sufficient sliding range between the footrest 10 and the second end 20b.

[0154] In the embodiment of the present application, the groove wall of the limiting groove 22 and the notch of the receiving groove 21 are spaced apart along the sliding direction of the foot pedal 10, so that when the user does not apply the brakes, the protrusion 11 of the foot pedal 10 will slide out of the receiving groove 21 under the action of the internal structure of the pedal assembly 100. This ensures the reliability of the sliding connection between the protrusion 11 and the second end 20b.

[0155] In one embodiment, along the sliding direction of the foot pedal 10 toward the notch of the receiving groove 21 , the size of the limiting block 12 increases perpendicular to the sliding direction of the foot pedal 10 .

[0156] Please see Figure 22 The diagram shown is a partial structural diagram of the foot pedal 10 of the pedal assembly 100 provided in an embodiment of the present application.

[0157] like Figure 22As shown, the outer wall of the stopper 12, which is away from the protrusion 11 and perpendicular to the sliding direction of the footrest 10, includes a guide surface 121. The guide surface 121 forms an angle with the sliding direction of the footrest 10. Along the sliding direction of the footrest 10 toward the notch of the receiving groove 21, the distance between the guide surface 121 and the protrusion 11 gradually increases, thereby facilitating installation of the pedal assembly 100 of the present application. Specifically, during installation of the pedal assembly 100 of the present application, the guide surface 121 is used to guide the stopper 12 to deform perpendicular to the sliding direction of the footrest 10, thereby reducing the size of the footrest 10 perpendicular to the sliding direction of the footrest 10 and facilitating installation of the footrest 10 into the receiving groove 21.

[0158] In one embodiment, the wall of the receiving groove 21 includes multiple slide grooves 211, and the outer wall of the protrusion 11 includes multiple sliders 111. Each slider 111 is embedded in a slide groove 211 along a direction perpendicular to the sliding direction of the footrest 10. The opposite ends of the slide grooves 211 along the sliding direction of the footrest 10 communicate with the bottom of the receiving groove 21 and the notch of the receiving groove 21, respectively. The length of the slider 111 is equal to the length of the protrusion 11. The sliders 111 are used to cooperate with the slide grooves 211 to further achieve a sliding connection between the footrest 10 and the second end 20b.

[0159] In one embodiment, the minimum distance between the groove wall of the limiting groove 22 and the groove bottom of the receiving groove 21 along the sliding direction of the foot pedal 10 is greater than the minimum distance between the limiting block 12 and the end face of the protrusion 11 facing the groove bottom of the receiving groove 21, and the second sensor 50 is fixed to the groove bottom of the receiving groove 21, and the detection end of the second sensor 50 faces the protrusion 11 along the sliding direction of the foot pedal 10.

[0160] Please see Figure 23 and Figure 24 ,in Figure 23 This is a schematic cross-sectional view of the pedal assembly 100 provided in an embodiment of the present application at the second sensor 50 in an embodiment. Figure 24 A schematic diagram of a partial cross-sectional structure of a pedal assembly 100 provided in an embodiment of the present application at the second sensor 50 in an embodiment.

[0161] like Figure 23 and Figure 24 As shown, the limiting groove 22 along the sliding direction of the footrest 10 includes a first groove wall 221 and a second groove wall 222. The first groove wall 221, the second groove wall 222, and the notch of the receiving groove 21 are arranged in sequence. When the protrusion 11 slides to the second position, the limiting block 12 is spaced apart from the bottom of the receiving groove 21. A gap exists between the protrusion 11 and the bottom of the receiving groove 21, and the second sensor 50 is accommodated in this gap. This facilitates the installation of the second sensor 50.

[0162] In the embodiment of the present application, the positioning end of the second sensor 50 is fixed to the bottom of the receiving groove 21 along the sliding direction of the foot pedal 10, and the detecting end of the second sensor 50 faces the protrusion 11. In one embodiment, the detecting end of the second sensor 50 is fixed to the end surface of the protrusion 11 facing the bottom of the receiving groove 21. In other words, the second sensor 50 is a contact displacement sensor, and the second sensor 50 detects the sliding amount of the protrusion 11 relative to the second end 20b by measuring the distance between the detecting end of the second sensor 50 and the positioning end of the second sensor 50.

[0163] In another embodiment, the detection end of the second sensor 50 is spaced apart from the protrusion 11, with the detection end of the second sensor 50 facing the protrusion 11. In other words, the second sensor 50 is a non-contact displacement sensor, and the detection end of the second sensor 50 is used to detect the amount of sliding of the protrusion 11 relative to the second end 20b. This enables the second sensor 50 to detect the user's braking operation. If the pedal arm 20 becomes stuck, the second sensor 50 can detect the user's braking operation by detecting the amount of sliding of the protrusion 11 relative to the second end 20b, thereby improving the reliability of the pedal assembly 100 of the present application.

[0164] In one embodiment, the second sensor 50 includes a circuit board 51, a sensing element 52 and a signal element 53. The circuit board 51 is embedded in the groove wall of the receiving groove 21, the sensing element 52 is fixed to the surface of the circuit board 51 and faces the signal element 53, and the signal element 53 is embedded in the outer wall of the protrusion 11. The sensing element 52 is used to respond to the signal released by the signal element 53 and convert it into an electrical signal and transmit it to the circuit board 51.

[0165] Please see Figure 25 and Figure 26 ,in Figure 25 This is a schematic cross-sectional view of another embodiment of the pedal assembly 100 at the second sensor 50 provided in an embodiment of the present application. Figure 26 A schematic diagram of the partial cross-sectional structure of another embodiment of the pedal assembly 100 provided in an embodiment of the present application at the second sensor 50 .

[0166] like Figure 25 and Figure 26As shown, the protrusion 11 further includes a positioning groove 112. The groove wall of the positioning groove 112 is spaced apart from the outer wall of the protrusion 11 along a direction perpendicular to the sliding direction of the foot pedal 10. The positioning groove 112 is used to accommodate the signal element 53 of the second sensor 50. The second end 20b further includes a second receiving groove 23. The second receiving groove 23 is spaced apart from the receiving groove 21 along a direction perpendicular to the sliding direction of the foot pedal 10. The second receiving groove 23 is used to accommodate the circuit board 51 and the sensing element 52 of the second sensor 50. The signal element 53 is used to release a signal outward, the sensing element 52 is used to receive the signal released by the signal element 53 and convert it into an electrical signal, and the circuit board 51 is used to receive the electrical signal converted by the sensing element 52. As the distance between the sensing element 52 and the signal element 53 changes, the strength of the electrical signal generated by the sensing element 52 also changes.

[0167] During operation of the pedal assembly 100 of the present application, as the user applies the brakes, the foot pedal 10 causes the signal element 53 to slide relative to the second end 20b. As the sliding progresses, the distance between the signal element 53 and the sensing element 52 changes, causing the electrical signal generated by the sensing element 52 to change. The circuit board 51 converts the changing electrical signal generated by the sensing element 52 into a detection result indicating the position of the protrusion 11. This enables the second sensor 50 to detect the user's braking operation.

[0168] In one embodiment, the distance between the sensing element 52 and the slot opening of the receiving slot 21 along the sliding direction of the foot pedal 10 is less than or equal to the minimum distance between the slot wall of the limiting slot 22 and the slot opening of the receiving slot 21, and the sum of the size of the signal element 53 and the size of the sensing element 52 along the sliding direction of the foot pedal 10 is greater than or equal to the maximum distance between the signal element 53 and the sensing element 52.

[0169] Please see Figure 27 and Figure 28 ,in Figure 27 This is another cross-sectional structural diagram of another embodiment of the pedal assembly 100 provided in an embodiment of the present application at the second sensor 50. Figure 28 This is another partial cross-sectional structural schematic diagram of another embodiment of the pedal assembly 100 provided in an embodiment of the present application at the second sensor 50.

[0170] like Figure 27 and Figure 28 As shown, along the sliding direction of the pedal 10, the sensing element 52 is closer to the notch of the receiving groove 21 than the limiting groove 22, so that when the pedal 10 is in the first position, the sensing element 52 can receive the signal generated by the signal element 53. This improves the sensitivity of the second sensor 50 to the user's braking operation and ensures the reliability of the detection result of the second sensor 50.

[0171] In the embodiment of the present application, when the pedal 10 is in the first position, the projection of the sensing element 52 on the signal element 53 in a direction perpendicular to the sliding direction of the pedal 10 is contained within the signal element 53. This prevents the signal element 53 from being too far away from the sensing element 52 in the sliding direction of the pedal 10, thereby preventing the sensing effect of the sensing element 52 from being affected. Furthermore, this also reduces interference from external signals on the sensing effect of the sensing element 52. This ensures the reliability of the detection results of the second sensor 50.

[0172] In one embodiment, the second sensor 50 is a Hall effect sensor, and the signal element 53 is a magnet. Specifically, the signal element 53 is configured to release a magnetic field outward, the sensing element 52 outputs an electrical signal corresponding to the strength of the detected magnetic field, and the circuit board 51 outputs a detection result reflecting the displacement of the protrusion 11 relative to the second end 20b based on changes in the electrical signal. In one embodiment, a magnetic conductive member is embedded in the outer wall of the protrusion 11 perpendicular to the sliding direction of the pedal 10. One end of the magnetic conductive member is exposed relative to the outer wall of the protrusion 11 and faces the sensing element 52, while the other end of the magnetic conductive member contacts the signal element 53.

[0173] In one embodiment, the second sensor 50 is an inductive sensor, and the signal element 53 is an iron core. Specifically, the inductive element 52 outputs different electrical signals based on the distance between the inductive element 52 and the iron core. Based on the changes in the electrical signals, the circuit board 51 outputs a detection result that reflects the displacement of the protrusion 11 relative to the second end 20b. In one embodiment, the materials used for the pedal arm 20 and the pedal 10 are both incapable of producing an inductive effect.

[0174] In one embodiment, the pedal assembly 100 of the present application further includes a first return spring 81. One end of the first return spring abuts against the bottom of the receiving groove 21 along the sliding direction of the foot pedal 10, and the other end of the first return spring 81 is received within the groove 113 of the protrusion 11. When the user is not braking, the length of the first return spring 81 in its natural state along the sliding direction of the foot pedal 10 is greater than the distance between the bottom of the receiving groove 21 and the bottom of the groove 113.

[0175] In this embodiment of the present application, the first return spring 81 is pre-stressed to provide a responsive feel when the user applies a pedal force to the pedal 10, thereby enhancing the user experience. Furthermore, when the user is not braking, the first return spring 81 serves to maintain the pedal 10 in its initial position. When the user brakes, the pedal 10 slides toward the bottom of the receiving groove 21, gradually compressing the first return spring 81. When the user releases the brakes, the stored elastic force in the first return spring 81 pushes the pedal 10 back to its initial position.

[0176] In one embodiment, the second end 20b includes a receiving groove 21, the foot pedal 10 includes a protrusion 11, the receiving groove 21 is used to accommodate at least a portion of the protrusion 11 and at least a portion of the second sensor 50, wherein: the protrusion 11 is rotatably connected to the receiving groove 21, and the second sensor 50 is used to detect the displacement of the protrusion 11 relative to the second end 20b.

[0177] Please see Figure 29 The diagram shown is a partial cross-sectional structural diagram of another embodiment of the pedal assembly 100 provided in the embodiment of the present application at the second sensor 50 .

[0178] like Figure 29 As shown, at least a portion of the protrusion 11 is received within the receiving groove 21. The protrusion 11 is rotatably connected to the receiving groove 21, thereby achieving a rotational connection between the foot pedal 10 and the pedal arm 20. The foot pedal 10 is configured to receive a user's braking operation and rotate relative to the second end 20b. In other words, when a user applies a braking operation to the foot pedal 10, the user steps on the foot pedal 10, causing the foot pedal 10 to rotate relative to the second end 20b through the cooperation between the protrusion 11 and the receiving groove 21.

[0179] exist Figure 29 In the illustrated illustration, the second sensor 50 is disposed within the receiving groove 21, located between the groove wall of the receiving groove 21 and the outer wall of the protrusion 11, along the rotational direction of the protrusion 11 relative to the second end 20b. When the protrusion 11 rotates under the action of the user's pedaling force, the protrusion 11 rotates relative to the second end 20b. The second sensor 50 is used to detect the displacement of the protrusion 11 during rotation relative to the second end 20b. During operation of the pedal assembly 100 of the present application, if the pedal arm 20 becomes stuck, the second sensor 50 can detect the user's braking operation through the displacement of the protrusion 11 relative to the second end 20b. The second sensor 50 outputs a detection result based on the user's braking operation. In other words, if the detection result of the first sensor 40 is distorted, the pedal assembly 100 of the present application can output a control signal based on the detection result of the second sensor 50. This improves the reliability of the pedal assembly 100 of the present application.

[0180] In one embodiment, the foot pedal 10 is rotatably connected to the groove wall of the receiving groove 21 through a second rotating shaft 72. The rotation direction of the foot pedal 10 relative to the pedal arm 20 is the same as the rotation direction of the pedal arm 20 relative to the shell member 30. The foot pedal 10 includes a first section 10a and a second section 10b respectively arranged on both sides of the second rotating shaft 72. The first section 10a is used to receive the user's braking operation. The second sensor 50 is located between the groove wall of the receiving groove 21 and the second section 10b along the circumference of the second rotating shaft 72. The second sensor 50 is spaced apart from the second rotating shaft 72 along the radial direction of the second rotating shaft 72.

[0181] like Figure 29As shown, the geometric axis of the second rotating shaft 72 is parallel to the geometric axis of the rotating shaft 71. Along the axial direction of the second rotating shaft 72, both ends of the second rotating shaft 72 are rotatably connected to the walls of the receiving groove 21. The protrusion 11 is sleeved on the outer edge of the second rotating shaft 72 and fixedly connected to the second rotating shaft 72. When a user brakes the pedal 10, the pedal's pedaling force drives the pedal 10 to rotate relative to the second end 20b. At this time, the pedal 10 rotates synchronously with the second rotating shaft 72, and the second sensor 50 is used to detect the displacement of the pedal 10 during rotation.

[0182] In an embodiment of the present application, the second sensor 50 is a contact displacement sensor. In one embodiment, the second sensor 50 is located on one side of the second rotating shaft 72 along the radial direction of the second rotating shaft 72. The second sensor 50 includes a detection end and a positioning end along the circumference of the second rotating shaft 72. The positioning end of the second sensor 50 is used to be fixedly connected to the groove wall of the receiving groove 21, and the detection end of the second sensor 50 is used to be fixedly connected to the second segment 10b. When the user brakes the pedal 10, the pedal 10 is used to receive the user's braking operation and rotate around the axis of the second rotating shaft 72. The detection end of the second sensor 50 rotates synchronously with the second segment 10b. The second sensor 50 detects the displacement of the second segment 10b by obtaining the displacement of the detection end of the second sensor 50 relative to the positioning end of the second sensor 50, thereby detecting the displacement of the pedal 10 relative to the second end 20b.

[0183] During operation of the pedal assembly 100 of the present application, when the pedal arm 20 is stuck, the second sensor 50 can detect the user's braking operation through the gap between the second section 10b and the wall of the receiving groove 21. The second sensor 50 outputs a detection result based on the user's braking operation, and the pedal assembly 100 of the present application can output a control signal based on the detection result of the second sensor 50. This improves the reliability of the pedal assembly 100 of the present application.

[0184] In another embodiment, the second sensor 50 is located on one side of the second rotating shaft 72 along the radial direction of the second rotating shaft 72. The positioning end of the second sensor 50 along the circumferential direction of the second rotating shaft 72 is configured to be fixedly connected to the second segment 10b, and the detection end of the second sensor 50 is configured to be fixedly connected to the wall of the receiving groove 21. When the user brakes the pedal 10, the pedal 10 receives the user's braking operation and rotates about the axis of the second rotating shaft 72. The fixed end of the second sensor 50 rotates synchronously with the second segment 10b. The second sensor 50 detects the displacement of the second segment 10b by obtaining the displacement of the detection end of the second sensor 50 relative to the positioning end of the second sensor 50, thereby detecting the displacement of the pedal 10 relative to the second end 20b. This application does not impose any particular limitation on this.

[0185] In another embodiment, the second sensor 50 may also be a non-contact displacement sensor. Accordingly, the positioning end of the second sensor 50 is fixed to the wall of the receiving groove 21, and the detection end of the second sensor 50 is oriented toward the second section 10b along the circumference of the second rotating shaft 72 and is spaced apart from the second section 10b. This application is not particularly limited to this.

[0186] In one embodiment, the second sensor 50 is fixed to the groove wall of the receiving groove 21, and the detection end of the second sensor 50 is abutted against the second section 10b, wherein: the distance between the detection end of the second sensor 50 and the central axis of the second rotating shaft 72 along the radial direction of the second rotating shaft 72 is greater than or equal to the size of the first section 10a.

[0187] Please see Figure 30 The diagram shown is another partial cross-sectional structural diagram of another embodiment of the pedal assembly 100 provided by the embodiment of the present application at the second sensor 50 .

[0188] like Figure 30 As shown, the dimension of the first segment 10a along the radial direction of the second rotating shaft 72 is a first dimension D1, and the distance between the detection end of the second sensor 50 and the central axis of the second rotating shaft 72 is a second dimension D2. In the embodiment of the present application, the second dimension D2 is greater than the first dimension D1, so that the detection end of the second sensor 50 along the radial direction of the second rotating shaft 72 is farther away from the central axis of the second rotating shaft 72 than the pedal surface 13 of the first segment 10a for receiving user braking operations.

[0189] Specifically, the position of the second rotating shaft 72 of the foot pedal 10 allows for a larger distance between the detection end of the second sensor 50 and the central axis of the second rotating shaft 72. This leverages the principle of leverage to amplify the displacement of the first segment 10a caused by the user's braking operation, facilitating displacement detection by the second sensor 50. Furthermore, the coordinated arrangement of the first dimension D1 and the second dimension D2 can also reduce the detection accuracy requirements of the second sensor 50, thereby ensuring the reliability of the detection results of the second sensor 50. This, in turn, enhances the reliability of the pedal assembly 100 of the present application.

[0190] In one embodiment, the second end 20b includes a receiving groove 21, the foot pedal 10 includes a protrusion 11, the receiving groove 21 is used to accommodate at least a portion of the protrusion 11 and at least a portion of the second sensor 50, wherein: the protrusion 11 is rotatably connected to the receiving groove 21, and the second sensor 50 is used to detect the force of the user's braking operation on the foot pedal 10.

[0191] Please see Figure 31 and Figure 32 ,in Figure 31 This is another exploded structural diagram of the pedal assembly 100 provided in an embodiment of the present application. Figure 32This is a schematic diagram of the partial cross-sectional structure of the pedal assembly 100 provided in an embodiment of the present application at the second sensor 50.

[0192] like Figure 31 and Figure 32 As shown, at least a portion of the protrusion 11 is received within the receiving groove 21. The protrusion 11 is rotatably connected to the receiving groove 21, thereby achieving a rotational connection between the foot pedal 10 and the pedal arm 20. The foot pedal 10 is configured to receive a user's braking operation and rotate relative to the second end 20b. In other words, when a user applies a braking operation to the foot pedal 10, the user steps on the foot pedal 10, causing the foot pedal 10 to rotate relative to the second end 20b through the cooperation between the protrusion 11 and the receiving groove 21.

[0193] exist Figure 31 and Figure 32 In the illustrated example, the second sensor 50 is disposed within the receiving groove 21, positioned between the groove wall of the receiving groove 21 and the outer wall of the protrusion 11, along the direction of rotation of the protrusion 11 relative to the second end 20b. When the protrusion 11 rotates under the force of a user's pedaling, the protrusion 11 rotates relative to the second end 20b. The second sensor 50 is used to detect the force exerted on the protrusion 11 during its rotation relative to the second end 20b. In other words, the second sensor 50 is used to detect the force exerted on the protrusion 11 by the user's braking operation.

[0194] During operation of the pedal assembly 100 of the present application, if the pedal arm 20 becomes stuck, the second sensor 50 can detect the user's braking operation through the force exerted by the protrusion 11 on the second sensor 50, and the second sensor 50 outputs a detection result based on the user's braking operation. In other words, if the detection result of the first sensor 40 is distorted, the pedal assembly 100 of the present application can output a control signal based on the detection result of the second sensor 50. This improves the reliability of the pedal assembly 100 of the present application.

[0195] In the embodiment of the present application, the first sensor 40 is used to detect the angle of rotation of the rotating shaft 71 caused by the user's braking operation. That is, the first sensor 40 is an angle sensor, and the physical quantity detected by the first sensor 40 during the process of detecting the user's braking operation is the angle. The second sensor 50 is used to detect the force applied to the foot pedal 10 by the user's braking operation. That is, the second sensor 50 is a force sensor, and the physical quantity detected by the second sensor 50 during the process of detecting the user's braking operation is the force. Therefore, the first sensor 40 and the second sensor 50 each detect different physical quantities.

[0196] Since sensors are able to detect physical quantities of structures, this is based on certain detection principles. However, when sensors are placed in certain locations, certain physical characteristics of the location may cause the sensors to fail. If the sensor is made using the Hall effect principle, placing it in a strong magnetic field or high-temperature environment may result in the sensor's detection results failing to reflect the actual detected quantity, leading to a decrease in the sensor's detection accuracy. For sensors used to detect different physical quantities, due to differences in detection principles, it is unlikely that different sensors will fail simultaneously when a single physical characteristic of the external environment changes.

[0197] Therefore, the difference in the physical quantities detected by the first sensor 40 and the second sensor 50 ensures that the pedal assembly 100 will not fail at the same time due to a single external influencing factor, thereby improving the reliability of the pedal assembly 100 of the present application.

[0198] In one embodiment, the foot pedal 10 is rotatably connected to the groove wall of the receiving groove 21 through a second rotating shaft 72. The rotation direction of the foot pedal 10 relative to the pedal arm 20 is the same as the rotation direction of the pedal arm 20 relative to the shell member 30. The foot pedal 10 includes a first section 10a and a second section 10b respectively arranged on both sides of the second rotating shaft 72. The first section 10a is used to receive the user's braking operation. The second sensor 50 is located between the groove wall of the receiving groove 21 and the second section 10b along the circumference of the second rotating shaft 72. The second sensor 50 is spaced apart from the second rotating shaft 72 along the radial direction of the second rotating shaft 72.

[0199] exist Figure 32 In the illustrated illustration, the geometric axis of the second rotating shaft 72 is parallel to the geometric axis of the rotating shaft 71. Along the axial direction of the second rotating shaft 72, both ends of the second rotating shaft 72 are rotatably connected to the walls of the receiving groove 21. The protrusion 11 is sleeved around the outer edge of the second rotating shaft 72 and fixedly connected to the second rotating shaft 72. When a user brakes the pedal 10, the force exerted by the user on the pedal 10 drives the pedal 10 to rotate relative to the second end 20b. At this time, the pedal 10 rotates synchronously with the second rotating shaft 72, and the second sensor 50 is used to detect the force transmitted by the protrusion 11 during the rotation of the pedal 10.

[0200] In an embodiment of the present application, the second sensor 50 is located on one side of the second rotating shaft 72 along the radial direction of the second rotating shaft 72, and the second sensor 50 along the circumferential direction of the second rotating shaft 72 includes a detection end and a positioning end. The positioning end of the second sensor 50 is used to be fixedly connected to the groove wall of the receiving groove 21, and the detection end of the second sensor 50 is used to be fixedly connected to the second section 10b.

[0201] When the user performs a braking operation through the foot pedal 10, the foot pedal 10 is used to receive the user's braking operation and rotate around the axis of the second rotating shaft 72. The detection end of the second sensor 50 rotates synchronously with the second section 10b. The second sensor 50 is used to obtain the force transmitted from the second section 10b to the detection end of the second sensor 50, thereby detecting the force of the user's braking operation acting on the protrusion 11.

[0202] During operation of the pedal assembly 100 of the present application, when the pedal arm 20 is stuck, the second sensor 50 can detect the user's braking operation through the force transmitted to the detection end of the second sensor 50 by the second section 10b. The second sensor 50 outputs a detection result based on the user's braking operation, and the pedal assembly 100 of the present application can output a control signal based on the detection result of the second sensor 50. This improves the reliability of the pedal assembly 100 of the present application.

[0203] On the other hand, compared to the prior art solution of providing a sliding connection between the foot pedal and the pedal arm and providing a force sensor at the bottom of the slide groove of the pedal arm, the pedal assembly 100 of the present application disposes the second sensor 50 between the groove wall of the receiving groove 21 and the second section 10b, so as to prevent the detection result of the second sensor 50 from being affected by the driver's pedaling position and pedaling angle, thereby ensuring the reliability of the pedal assembly 100 of the present application.

[0204] In another embodiment, the second sensor 50 is located on one side of the second rotating shaft 72 in the radial direction of the second rotating shaft 72, the positioning end of the second sensor 50 in the circumferential direction of the second rotating shaft 72 is fixedly connected to the second section 10b, and the detection end of the second sensor 50 is fixedly connected to the groove wall of the receiving groove 21. This application does not impose any particular limitation on this.

[0205] In one embodiment, the second sensor 50 is fixed to the groove wall of the receiving groove 21, and the detection end of the second sensor 50 is abutted against the second section 10b, wherein: the distance between the detection end of the second sensor 50 and the central axis of the second rotating shaft 72 along the radial direction of the second rotating shaft 72 is less than or equal to the size of the first section 10a.

[0206] Please see Figure 33 The diagram shown is another partial cross-sectional structural diagram of the pedal assembly 100 provided in an embodiment of the present application at the second sensor 50 .

[0207] like Figure 33As shown, the dimension of the first segment 10a along the radial direction of the second rotating shaft 72 is a first dimension D1, and the distance between the detection end of the second sensor 50 and the central axis of the second rotating shaft 72 is a third dimension D3. In the embodiment of the present application, the first dimension D1 is less than or equal to the third dimension D3, so that the detection end of the second sensor 50 along the radial direction of the second rotating shaft 72 is closer to the central axis of the second rotating shaft 72 than the pedal surface 13 of the first segment 10a for receiving user braking operations.

[0208] Specifically, the position of the second rotating shaft 72 of the foot pedal 10 allows for a larger distance between the detection end of the second sensor 50 and the central axis of the second rotating shaft 72. This leverages the principle of leverage to amplify the force exerted on the first segment 10a by the user's braking operation, facilitating detection of the braking force by the second sensor 50. Furthermore, the coordinated arrangement of the first dimension D1 and the third dimension D3 reduces the detection accuracy requirements of the second sensor 50, thereby ensuring the reliability of the detection results of the second sensor 50 and, consequently, the reliability of the pedal assembly 100 of the present application.

[0209] In one embodiment, the pedal assembly 100 of the present application further includes a supporting member 73, which is embedded in the surface of the second section 10b facing the second sensor 50 along the circumference of the second rotating shaft 72. The supporting surface 731 of the supporting member 73 is used to abut against the detection end of the second sensor 50. The flatness of the supporting surface 731 is less than that of the second section 10b, thereby ensuring a relatively uniform load on the detection end of the second sensor 50 when detecting the user's pedaling force, thereby ensuring the detection accuracy of the second sensor 50. This ensures the reliability of the detection results of the second sensor 50 and improves the reliability of the pedal assembly 100 of the present application.

[0210] In one embodiment, the first section 10a includes a pedal surface 13 for receiving a user's braking operation, and along a plane direction perpendicular to the pedal surface 13, a projection of the pedal surface 13 on the second end 20b is spaced from a projection of the second rotating shaft 72 on the second end 20b.

[0211] Please see Figure 34 The diagram shown is another partial cross-sectional structural diagram of the pedal assembly 100 provided in an embodiment of the present application at the second sensor 50 .

[0212] like Figure 34As shown, the foot pedal 10 is used to receive the user's braking operation. The angle between the planar direction of the pedal surface 13 and the extension axis direction of the first section 10a is not equal to 90°. Because the direction of the braking force when the user steps on the pedal surface 13 is usually perpendicular to the planar direction of the pedal surface 13, the angular relationship between the planar direction of the pedal surface 13 and the extension axis direction of the first section 10a facilitates the braking force applied by the user to the pedal surface 13 to drive the first section 10a to rotate about the second rotating shaft 72. This ensures that the second sensor 50 detects the user's braking operation. This further ensures the reliability of the pedal assembly 100 of the present application.

[0213] The second rotation axis 72 is positioned perpendicular to the plane of the pedal surface 13 and outside the projection of the pedal surface 13 onto the second end 20b. This prevents the braking force applied by the user on the pedal surface 13 from directly acting on the second rotation axis 72 through the first section 10a, thereby preventing the pedal 10 from becoming stuck and affecting its rotation. This ensures the reliability of the rotational connection between the pedal 10 and the second end 20b, further ensuring the reliability of the pedal assembly 100 of the present application.

[0214] Therefore, based on the limitations of the above-mentioned embodiments, the pedal assembly 100 of the present application realizes the detection of the user's braking operation by setting the first sensor 40 and the second sensor 50, so that the detection results of the first sensor 40 and the detection results of the second sensor 50 can form control redundancy, so as to ensure that when one of the first sensor 40 and the second sensor 50 fails, the pedal assembly 100 of the present application can output a control signal based on the detection result of the other of the first sensor 40 and the second sensor 50, thereby improving the reliability of the pedal assembly 100.

[0215] On the other hand, the pedal assembly 100 of the present application also uses the first sensor 40 to detect the rotation angle of the pedal arm 20 when the user performs a braking operation, and uses the second sensor 50 to detect the displacement of the foot pedal 10 relative to the pedal arm 20 caused by the user's braking operation, or uses the second sensor 50 to detect the force applied to the foot pedal 10 by the user's braking operation, so that the first sensor 40 and the second sensor 50 can detect different physical quantities of the pedal assembly 100 at different parts of the pedal assembly 100, so that the failure of a single external factor will not cause the two sensors to fail at the same time, thereby improving the reliability of the pedal assembly 100 of the present application.

[0216] Based on the pedal assembly 100 of the present application, different sensors are provided to detect the user's braking operation, and the detection results of the first sensor 40 and the detection results of the second sensor 50 can form control redundancy, reducing the probability of simultaneous failure of the two sensors. When a single sensor fails, the pedal assembly 100 can still output a control signal, thereby improving the reliability of the pedal assembly 100. When the pedal assembly 100 of the present application is applied to a vehicle, the control signal output by the pedal assembly 100 of the present application can act on the brake motor 1005 of the brake device 1004, and the brake motor 1005 drives the friction plate in the brake 1006 to press against the brake disc 1003, thereby realizing the braking function of the vehicle. The improvement of the reliability of the pedal assembly 100 also improves the braking reliability of the vehicle's braking system 1002, making the vehicle's braking more reliable and improving the vehicle's safety performance.

[0217] The structure of the pedal assembly 100 of the present application is also applicable to other use scenarios involving braking operations. For example, the structure of the pedal assembly 100 of the present application is also applicable to devices such as pedal simulators. This application does not impose any particular restrictions on this. Because the two sensors of the pedal assembly 100 of the present application are used to form control redundancy for the user's braking operation, in other use scenarios, the application of the structure of the pedal assembly 100 of the present application can also ensure reliable braking.

[0218] In one embodiment, the pedal assembly 100 includes a signal processing unit 60 for outputting a control signal in response to at least one of a detection result of the first sensor 40 and a detection result of the second sensor 50 .

[0219] Please see Figure 35 The diagram shown is a schematic diagram of the braking process of the pedal assembly 100 provided in an embodiment of the present application in one embodiment.

[0220] like Figure 35 As shown, the pedal assembly 100 of the present application further includes a connector 74, which is fixed to the outer wall of the housing 30. The connector 74 is electrically connected to the first sensor 40 and the second sensor 50, respectively. In the embodiment of the present application, the connector 74 is used to electrically connect to the signal processing unit 60. After the first sensor 40 and the second sensor 50 both detect the user's braking operation, the first sensor 40 transmits the detection result to the signal processing unit 60 via the connector 74, and the second sensor 50 transmits the detection result to the signal processing unit 60 via the connector 74. Both detection results transmitted to the signal processing unit 60 can reflect the user's braking operation, so that the pedal assembly 100 of the present application forms control redundancy and improves the reliability of the pedal assembly 100.

[0221] In the embodiment of the present application, the signal processing unit 60 is used to simultaneously receive the detection results of the first sensor 40 and the detection results of the second sensor 50, and can selectively respond to one of the two detection results to achieve control of the braking device 1004.

[0222] That is, after receiving the detection results of the first sensor 40 and the detection results of the second sensor 50, the signal processing unit 60 can eliminate control redundancy by selecting one of the detection results for processing, and output a control signal to the braking device 1004 based on the above-mentioned one detection result, so as to transmit the user's braking demand to the braking device 1004.

[0223] In one embodiment, the pedal assembly 100 is used to output a control signal based on the detection results of the first sensor 40 and the detection results of the second sensor 50 when the user depresses the brake pedal surface to perform a braking operation. The pedal assembly 100 receives the detection results of the first sensor 40 and the second sensor 50 and compares the error between the detection results of the first sensor 40 and the detection results of the second sensor 50, and outputs a control signal in response to the detection results of the first sensor 40 when the error meets a preset condition.

[0224] During operation of the pedal assembly 100 of the present application, due to the limitations of the installation accuracy and installation method of the first sensor 40 and the second sensor 50, as well as the differences in the ways in which the first sensor 40 and the second sensor 50 acquire detection data, there may be an error between the detection result of the first sensor 40 and the theoretical detection result of the first sensor 40, and there may be an error between the detection result of the second sensor 50 and the theoretical detection result of the second sensor 50. Based on the above description, a preset condition is set for each of the first sensor 40 and the second sensor 50. The preset condition is used to assist the signal processing unit 60 in comparing the error between the two detection results, thereby determining whether the first sensor 40 and the second sensor 50 are in a normal state.

[0225] When the errors between the detection results of the first sensor 40 and the detection results of the second sensor 50 both meet the preset conditions, the signal processing unit 60 of the pedal assembly 100 of the present application determines that the first sensor 40 and the second sensor 50 are both in a normal state. At this time, the detection results of the first sensor 40 and the detection results of the second sensor 50 can both reflect the user's braking operation.

[0226] In this embodiment of the present application, since the housing 30 is fixed within the vehicle body 1001 and the first end 20a of the pedal arm 20 is housed within the housing 30, the risk of the pedal arm 20 becoming stuck and failing is lower than the risk of a connection failure between the foot pedal 10 and the second end 20b. Therefore, when both the first sensor 40 and the second sensor 50 are in a normal state, the signal processing unit 60 selects the detection result of the first sensor 40 to output a control signal, thereby ensuring the reliability of the pedal assembly 100 of the present application.

[0227] In one embodiment, the first sensor 40 detects the user's braking operation by collecting the rotation angle of the pedal arm 20. While the signal processing unit 60 outputs a control signal based on the detection result of the first sensor 40, it can also obtain the rotation speed and rotation speed acceleration of the pedal arm 20 by integrating the displacement, so that the signal processing unit 60 can more accurately identify the user's braking intention to form a better braking effect.

[0228] In another embodiment, when the error between the detection result of the first sensor 40 and the detection result of the second sensor 50 meets a preset condition, the signal processing unit 60 may further output a control signal based on the detection result of the second sensor 50. This application does not impose any particular limitation on this.

[0229] It is worth noting that in the present embodiment and subsequent embodiments, the abnormal state of the first sensor 40 may be caused by damage to the first sensor 40 or by a stuck pedal arm 20 at the location of the first sensor 40. The abnormal state of the second sensor 50 may be caused by damage to the second sensor 50 or by a failure in the connection between the pedal 10 and the second end 20b at the location of the second sensor 50.

[0230] In one embodiment, the pedal assembly 100 receives the detection results of the first sensor 40 and the detection results of the second sensor 50 and compares the error between the detection results of the first sensor 40 and the detection results of the second sensor 50. When the error does not meet a preset condition, the pedal assembly 100 outputs a control signal in response to the detection result of the first sensor 40 or the detection result of the second sensor 50 having a larger change amplitude.

[0231] When the error between the detection results of the first sensor 40 and the second sensor 50 does not meet a preset condition, one of the first sensor 40 and the second sensor 50 is in an abnormal state. For either sensor, when in an abnormal state, reliable detection data cannot be obtained or the detection data remains unchanged. In other words, the magnitude of change in the detection results of a sensor in an abnormal state is smaller than that of a sensor in a normal state.

[0232] For safety reasons, in order to ensure that the control signal output by the signal processing unit 60 of the pedal assembly 100 of the present application can better match the user's braking intention, the signal processing unit 60 responds to the detection result of the first sensor 40 and the detection result of the second sensor 50 with a larger change amplitude to output a control signal based on the above-mentioned preset conditions, thereby ensuring that the signal processing unit 60 can output a control signal based on the detection result output by the one of the first sensor 40 and the second sensor 50 that is in a normal state, thereby avoiding safety hazards caused by insufficient vehicle braking due to the control signal output by the signal processing unit 60.

[0233] In one embodiment, when the change in the detection result of the first sensor 40 is less than a first preset value, the pedal assembly 100 is configured to output a first fault signal, which indicates that the pedal arm 20 is stuck. When the change in the detection result of the second sensor 50 is less than a second preset value, the pedal assembly 100 is configured to output a second fault signal, which indicates that the connection between the foot pedal 10 and the second end 20b has failed.

[0234] Specifically, the first preset value is set based on the preset conditions set by the above-mentioned first sensor 40, and the second preset value is set based on the preset conditions set by the above-mentioned second sensor 50. Since the variation of the detection result of the sensor can determine the state of the sensor under certain circumstances, when one of the first sensor 40 and the second sensor 50 is in an abnormal state, the signal processing unit 60 compares the relationship between the variation of the detection result of the first sensor 40 and the first preset value, and compares the relationship between the variation of the detection result of the second sensor 50 and the second preset value to output the first fault signal or the second fault signal, thereby prompting the user that the pedal arm 20 is stuck or the connection between the foot pedal 10 and the second end 20b is failed, so as to facilitate the user to check different areas of the pedal assembly 100 based on different fault signals. This improves the efficiency of the user's troubleshooting of the pedal assembly 100 of the present application and enhances the user's usage experience.

[0235] In one embodiment, controller 1007 is configured to receive a control signal to brake the vehicle's wheels. The control signal output by pedal assembly 100 includes detection results from first sensor 40 and second sensor 50. After receiving the detection results from first sensor 40 and second sensor 50, controller 1007 can respond to one of the two detection results by outputting a control signal to braking device 1004, thereby facilitating braking of brake disc 1003 and thereby braking the vehicle's wheels.

[0236] In one embodiment, the controller 1007 is further configured to compare the error between the detection result of the first sensor 40 and the detection result of the second sensor 50 , and output a control signal in response to the detection result of the first sensor 40 when the error meets a preset condition.

[0237] In one embodiment, the controller 1007 is further configured to compare the error between the detection result of the first sensor 40 and the detection result of the second sensor 50, and to output a control signal in response to the one with the larger change in the detection result of the first sensor 40 and the detection result of the second sensor 50 when the error does not meet a preset condition.

[0238] In one embodiment, when the change in the detection result of the first sensor 40 is less than a first preset value, the controller 1007 is further configured to output a first fault signal, which indicates that the pedal arm 20 is stuck. When the change in the detection result of the second sensor 50 is less than a second preset value, the second controller 1007 is further configured to output a second fault signal, which indicates that the connection between the foot pedal 10 and the second end 20b has failed.

[0239] For similar reasons, based on the limitations of the above four embodiments, please refer to Figure 36 The diagram shown is a schematic diagram of the braking process of the pedal assembly 100 provided in another embodiment of the present application.

[0240] like Figure 36 As shown, controller 1007 is electrically connected to first sensor 40 and second sensor 50 via connector 74. When a user performs a braking operation, the detection results of first sensor 40 and second sensor 50 are transmitted to controller 1007. Controller 1007 can determine the status of first sensor 40 and second sensor 50 based on the error between the two detection results. When both first sensor 40 and second sensor 50 are in a normal state, controller 1007 outputs a control signal to braking device 1004 based on the detection result of first sensor 40.

[0241] When one of the first sensor 40 and the second sensor 50 is in an abnormal state, the controller 1007 outputs a control signal by judging the one with a larger change amplitude between the detection results of the first sensor 40 and the detection results of the second sensor 50, so as to avoid the safety hazard caused by insufficient braking of the vehicle due to the control signal output by the controller 1007.

[0242] On the other hand, when one of the first sensor 40 and the second sensor 50 is in an abnormal state, the controller 1007 can also output different fault signals by comparing the relationship between the change amplitude of the detection result of the first sensor 40 and the first preset value, and by comparing the relationship between the change amplitude of the detection result of the second sensor 50 and the second preset value, so as to remind the user of the fault type of the pedal assembly 100 of this application, so as to facilitate the user to troubleshoot the fault.

[0243] In the above embodiments, the detection results of the first sensor 40 and the detection results of the second sensor 50 can be directly processed by the signal processing unit 60 of the pedal assembly 100, and a control signal can be output. The detection results of the first sensor 40 and the detection results of the second sensor 50 can also be directly processed by the controller 1007, and a control signal can be output.

[0244] In other embodiments, one of the detection results of the first sensor 40 and the detection results of the second sensor 50 is processed by the signal processing unit 60 of the pedal assembly 100. The signal processing unit 60 is configured to compare the detection result with corresponding preset values and preset conditions to determine the state of the sensor corresponding to the detection result and whether a corresponding fault signal needs to be output. The other of the detection results of the first sensor 40 and the detection results of the second sensor 50 is processed by the controller 1007. The controller 1007 is configured to compare the detection result with corresponding preset values and preset conditions to determine the state of the sensor corresponding to the detection result and whether a corresponding fault signal needs to be output.

[0245] When the signal processing unit 60 and the controller 1007 respectively determine that the first sensor 40 and the second sensor 50 are both in a normal state, the controller 1007 outputs a corresponding control signal. If one of the signal processing unit 60 and the controller 1007 determines that the corresponding sensor is in an abnormal state, the other of the signal processing unit 60 and the controller 1007 outputs a corresponding control signal.

[0246] In the embodiment of the present application, the pedal assembly 100 of the present application realizes signal processing of the detection results of the first sensor 40 and the detection results of the second sensor 50 by setting a signal processing unit 60 and a controller 1007, thereby avoiding the situation where the response speed of the pedal assembly 100 slows down due to excessive data processing by a single controller, thereby improving the signal transmission efficiency of the pedal assembly 100 of the present application and improving the braking efficiency of the pedal assembly 100 of the present application.

[0247] In one embodiment, the pedal assembly 100 of the present application further includes a second return spring 82 housed within the housing 30. The second return spring 82 abuts against the housing 30 and the midsection of the pedal arm 20, respectively. When a user brakes by stepping on the foot pedal 10, the second return spring 82 compresses or stretches as the second end 20b of the pedal arm 20 rotates about the rotation axis 71, thereby storing elastic force within the second return spring 82. After the user releases the braking operation, the stored elastic force within the second return spring 82 forces the second end 20b of the pedal arm 20 to rotate in the opposite direction about the rotation axis 71 until the pedal arm 20 returns to its initial position.

[0248] In one embodiment, the pedal assembly 100 of the present application further includes a shock-absorbing pad 83, which is housed within the housing 30. The projection of the pedal arm 20 on the housing 30 along the rotational direction of the pedal arm 20 covers the shock-absorbing pad 83. When a user brakes by stepping on the foot pedal 10, the pedal arm 20 gradually rotates toward the shock-absorbing pad 83 under the action of the user's braking operation until the pedal arm 20 contacts the shock-absorbing pad 83. At this point, the pedal arm 20 reaches its maximum rotation. The shock-absorbing pad 83 is used to absorb the impact of the pedal arm 20 on the housing 30 when it rotates to its maximum rotation, thereby reducing the noise generated during the operation of the pedal assembly 100 of the present application and improving the user experience.

[0249] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the scope of protection of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A pedal assembly, characterized in that: The pedal assembly is used to output a control signal to drive a brake device according to a user's braking operation, and the brake device is used to brake the wheels of the vehicle. The pedal assembly includes a housing, a foot pedal, a pedal arm, a first sensor, and a second sensor. The pedal arm includes a first end and a second end opposite to each other, the first end being used to be rotatably connected to the housing, and the second end being movably connected to the foot pedal. The foot pedal is used to receive a user's braking operation, wherein: The first sensor is located between the housing and the first end, and is used to detect the rotation of the first end relative to the housing; The second sensor is located between the foot pedal and the second end, and the second sensor is used to detect the movement of the foot pedal relative to the second end; The pedal assembly is configured to output the control signal according to at least one of a detection result of the first sensor and a detection result of the second sensor.

2. The pedal assembly according to claim 1, characterized in that: The pedal assembly includes a rotating shaft, and the shell is used to accommodate the first end and the rotating shaft. The first end is rotatably connected to the shell through the rotating shaft. The first sensor is fixedly connected to the shell, and the detection end of the first sensor is fixed to the rotating shaft along the axial direction of the rotating shaft.

3. The pedal assembly according to claim 1 or 2, characterized in that: The pedal assembly is configured to output a control signal based on the detection results of the first sensor and the second sensor when a user depresses the brake pedal surface to perform a braking operation. The pedal assembly receives the detection results of the first sensor and the second sensor and compares the error between the detection results of the first sensor and the second sensor. When the error does not meet a preset condition, the control signal is output in response to the detection result of the first sensor or the detection result of the second sensor having a larger change amplitude, wherein: When the change value of the detection result of the first sensor is less than a first preset value, the pedal assembly is used to output a first fault signal, and the first fault signal is used to indicate that the pedal arm is stuck; When the change value of the detection result of the second sensor is less than a second preset value, the pedal assembly is used to output a second fault signal, and the second fault signal is used to indicate that the connection between the pedal and the second end has failed.

4. The pedal assembly according to any one of claims 1 to 3, characterized in that: The second end includes a receiving groove, the foot pedal includes a protrusion, and the receiving groove is used to accommodate at least a portion of the protrusion and at least a portion of the second sensor, wherein: The protrusion is slidably connected to the receiving groove, and the second sensor is used to detect the displacement of the protrusion relative to the second end; or, The protrusion is rotatably connected to the receiving groove, and the second sensor is used to detect the displacement of the protrusion relative to the second end.

5. The pedal assembly according to claim 4, characterized in that: The groove wall of the receiving groove includes a limiting groove, and the outer wall of the protrusion includes a limiting block, and the limiting block is used to be embedded in the limiting groove to be slidably connected with the second end, wherein: The groove wall of the limiting groove is spaced apart from the notch of the receiving groove along the sliding direction of the foot pedal, and the size of the limiting block is smaller than the size of the limiting groove; Along the sliding direction of the foot pedal toward the notch direction of the receiving groove, the size of the limiting block increases perpendicular to the sliding direction of the foot pedal.

6. The pedal assembly according to claim 5, characterized in that: The minimum distance between the groove wall of the limiting groove and the groove bottom of the receiving groove along the sliding direction of the foot pedal is greater than the minimum distance between the limiting block and the end face of the protrusion facing the groove bottom of the receiving groove, and the second sensor is fixed to the groove bottom of the receiving groove, and the detection end of the second sensor faces the protrusion along the sliding direction of the foot pedal.

7. The pedal assembly according to claim 5, characterized in that: The second sensor includes a circuit board, a sensing element and a signal element. The circuit board is embedded in the groove wall of the receiving groove. The sensing element is fixed on the surface of the circuit board and faces the signal element. The signal element is embedded in the outer wall of the protrusion. The sensing element is used to respond to the signal released by the signal element and convert it into an electrical signal and transmit it to the circuit board.

8. The pedal assembly according to claim 7, characterized in that: The distance between the sensing element and the slot opening of the receiving slot along the sliding direction of the foot pedal is less than or equal to the minimum distance between the slot wall of the limiting slot and the slot opening of the receiving slot, and the sum of the size of the signal element and the size of the sensing element along the sliding direction of the foot pedal is greater than or equal to the maximum distance between the signal element and the sensing element.

9. The pedal assembly according to claim 7 or 8, characterized in that: The second sensor is a Hall sensor, and the signal element is a magnet; or the second sensor is an inductive sensor, and the signal element is an iron core.

10. The pedal assembly according to any one of claims 1 to 3, characterized in that: The second end includes a receiving groove, the foot pedal includes a protrusion, and the receiving groove is used to accommodate at least a portion of the protrusion and at least a portion of the second sensor, wherein: The protrusion is rotatably connected to the receiving groove, and the second sensor is used to detect the force of the user's braking operation on the pedal.

11. The pedal assembly according to claim 10, characterized in that: The foot pedal is rotatably connected to the groove wall of the receiving groove through a second rotating shaft. The rotation direction of the foot pedal relative to the pedal arm is the same as the rotation direction of the pedal arm relative to the shell. The foot pedal includes a first section and a second section respectively arranged on both sides of the second rotating shaft. The first section is used to receive the user's braking operation. Along the circumference of the second rotating shaft, the second sensor is located between the groove wall of the receiving groove and the second section. Along the radial direction of the second rotating shaft, the second sensor is spaced apart from the second rotating shaft.

12. The pedal assembly according to claim 11, characterized in that The second sensor is fixed to the wall of the receiving groove, and the detection end of the second sensor abuts against the second section, wherein: A distance between a detection end of the second sensor and a central axis of the second rotating shaft along a radial direction of the second rotating shaft is less than or equal to a size of the first segment.

13. The pedal assembly according to claim 11, wherein: The first section includes a pedal surface for receiving a user's braking operation. Along a plane direction perpendicular to the pedal surface, a projection of the pedal surface on the second end is spaced apart from a projection of the second rotating shaft on the second end.

14. A braking system, characterized in that: The braking system comprises a braking device and a pedal assembly according to any one of claims 1 to 13, wherein the braking device comprises a controller, wherein: The controller is used to receive the control signal to brake the wheels of the vehicle; or, The controller is configured to receive at least one of a detection result of the first sensor or a detection result of the second sensor to brake a wheel of a vehicle.

15. A vehicle, characterized in that: The vehicle comprises a wheel, a brake device, and a pedal assembly according to any one of claims 1 to 13, wherein the pedal assembly is configured to receive a user's braking operation to drive the brake device to brake the wheel; or, The vehicle includes wheels and the brake system according to claim 14, the brake system being configured to receive a user's brake operation to brake the wheels.

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