Dual-redundancy brake-by-wire pedal structure and automobile

Abstract

The utility model provides a dual-redundancy brake-by-wire pedal structure and an automobile, the dual-redundancy brake-by-wire pedal structure comprises a pedal base, a pedal arm, a rotating shaft, a springback assembly and a rotation angle sensor, a load point, a fulcrum and a force application point are sequentially arranged on the pedal arm, the rotating shaft is fixedly arranged at the fulcrum of the pedal arm and is rotatably connected with the pedal base, and the springback assembly is connected with the rotation angle sensor. The rotating shaft is arranged on the pedal base, so that the pedal arm and the rotating shaft form a lever structure, the multiple rotation angle sensors are arranged on the pedal base and connected with the rotating shaft, the multiple rotation angle sensors and the rotating shaft synchronously rotate, and the two ends, in the stretching and retracting direction, of the rebound assembly are connected with the pedal base and a load point of the pedal arm respectively. A simulated pedal feeling is provided for a driver through the compression rebound assembly, meanwhile, the multiple corner sensors synchronously send pedal corner signals to the electronic braking system controller to be used for calculating and recognizing the deceleration intention of the driver, and accurate braking control is achieved.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular relates to a dual-redundant brake-by-wire pedal structure and an automobile. Background Art

[0002] With the rapid development of automobile technology, people have higher and higher requirements for automobile safety and comfort, and require the brake system structure to be more simple and reliable, more responsive, and easy to manage. At present, most automobiles use vacuum-assisted braking systems, and the vacuum-assisted source is the negative pressure generated by the engine or electric vacuum pump for vacuum assistance. With the development of active safety technology and the rise of hybrid and pure electric vehicles, traditional braking systems can no longer meet the requirements of new automotive technologies such as AEB, regenerative braking energy recovery, and electronic mechanical braking systems (EMB). Compared with traditional braking systems, wire control braking technology has many advantages such as simple structure, fast braking response, high control accuracy, flexible layout, and consistent pedal characteristics. It is easy to integrate with the vehicle dynamic control system and can meet the regenerative braking system requirements of electric and hybrid vehicles, and has a good development prospect.

[0003] However, the electronic control braking system eliminates the direct connection between the brake pedal and the brake wheel cylinder, and a specific device must be used to simulate the brake pedal feel. During the braking process, the brake pedal travel simulator gives the driver a pedal reaction force, so that the driver has a good brake pedal feel, and the driver adjusts the brake pedal travel in real time according to the pedal reaction force to ensure braking safety.

[0004] The traditional brake-by-wire system has a complex structure, slow braking response, and cannot accurately simulate the correspondence between the traditional brake pedal displacement and the pedal force. As a result, it cannot accurately identify the driver's intention and it is difficult to achieve accurate braking control. Utility Model Content

[0005] The embodiments of the present application provide a dual-redundant brake-by-wire pedal structure and a vehicle, which can provide the driver with a simulated pedal feel and achieve accurate braking control, thereby solving the problem that the traditional brake-by-wire system cannot accurately simulate the correspondence between the displacement of the traditional brake pedal and the pedal force, and thus cannot accurately identify the driver's intention, making it difficult to achieve accurate braking control.

[0006] In a first aspect, an embodiment of the present application provides a dual redundant brake-by-wire pedal structure, including a pedal base, a pedal arm, a rotating shaft, a rebound assembly, and a rotation angle sensor;

[0007] The pedal arm is provided with a load point, a fulcrum and a force application point in sequence;

[0008] The rotating shaft is arranged at the fulcrum of the pedal arm, the rotating shaft is connected to the pedal base, and the pedal arm and the rotating shaft form a lever structure;

[0009] The two ends of the rebound assembly in the extension direction are respectively connected to the load points of the pedal base and the pedal arm;

[0010] The plurality of rotation angle sensors are all arranged on the pedal base and connected to the rotating shaft, and the plurality of rotation angle sensors rotate synchronously with the rotating shaft;

[0011] The multiple rotation angle sensors are electrically connected to the electronic brake system controller respectively, and each rotation angle sensor is configured to: detect the rotation angle of the rotating shaft and send an angle signal recording the rotation angle to the electronic brake system controller; the electronic brake system controller is configured to: calculate and identify the driver's deceleration intention based on the rotation angle recorded by the rotation angle signal to achieve accurate braking control.

[0012] The dual-redundant brake-by-wire pedal uses the lever principle, with the rotating shaft as the fulcrum of the lever. When the driver steps on the brake, the pedal arm rotates around the rotating shaft, pushing the rebound component to compress to provide the driver with a simulated pedal feel. At the same time, the two angle sensors synchronously send pedal angle signals to the electronic brake system controller for calculation and identification of the driver's intention to decelerate.

[0013] In a feasible implementation, the rebound assembly includes an upper connecting rod, an upper spring mounting seat, a lower connecting rod, a lower spring mounting seat and a spring;

[0014] The upper connecting rod is arranged on the pedal base, and the upper spring mounting seat is connected to the upper connecting rod;

[0015] The lower link is disposed at the load point of the pedal arm, and the lower spring mounting seat is connected to the lower link;

[0016] The two ends of the spring in the expansion and contraction direction are respectively connected to the upper spring mounting seat and the lower spring mounting seat.

[0017] In a feasible implementation, the upper spring mounting seat includes an upper connecting piece and an insert rod, and the insert rod is fixedly arranged on the side of the upper connecting piece facing the lower spring mounting seat;

[0018] The lower spring mounting seat comprises a lower connecting piece and a sleeve, wherein the sleeve is fixedly arranged on the side of the lower connecting piece facing the upper spring mounting seat;

[0019] The insertion rod and the sleeve are respectively plugged into the inner walls of both ends of the spring, the insertion rod is plugged into the sleeve, and both ends of the spring in the expansion and contraction direction are respectively abutted against the upper connecting piece and the lower connecting piece.

[0020] In a feasible implementation, the upper spring mounting seat further comprises a collar, and the collar is fixedly arranged on the side of the upper connecting piece facing away from the insertion rod;

[0021] The collar is sleeved on the upper connecting rod.

[0022] In a feasible implementation, the lower spring mounting seat further includes a connecting column, the connecting column is fixedly arranged on the side of the lower connecting piece facing away from the sleeve, and a through hole is provided on the connecting column;

[0023] The lower connecting rod is plugged into the through hole.

[0024] In a feasible implementation, the pedal base includes a bottom plate and a side plate, and the two side plates are fixedly arranged at two ends of the bottom plate relatively;

[0025] The two side plates are provided with connecting holes opposite to each other, and the upper connecting rod passes through the two connecting holes.

[0026] In a feasible implementation, mounting holes are provided on both sides of the bottom plate;

[0027] The rotation angle sensor comprises a first rotation angle sensor and a second rotation angle sensor, and the first rotation angle sensor and the second rotation angle sensor are respectively fixed on two sides of the bottom plate through the mounting holes.

[0028] In a feasible implementation, the bottom plate is provided with a plurality of fixing holes;

[0029] The fixing piece passes through the fixing hole to fix the brake pedal.

[0030] In a feasible implementation, a circular hole is provided at the fulcrum of the pedal arm, and the rotating shaft passes through the circular hole and is fixedly connected to the pedal arm;

[0031] The rotation angle sensor includes a first rotation angle sensor and a second rotation angle sensor, and the first rotation angle sensor and the second rotation angle sensor are respectively connected to two ends of the rotating shaft.

[0032] In a second aspect, an embodiment of the present application provides a vehicle, comprising a vehicle frame and the above-mentioned dual redundant brake-by-wire pedal structure;

[0033] The dual redundant brake-by-wire pedal structure is assembled on the vehicle frame.

[0034] The embodiment of the present application provides a dual-redundant brake-by-wire pedal structure and a vehicle. The dual-redundant brake-by-wire pedal structure arranges load points, fulcrums and force application points in sequence on the pedal arm. The rotating shaft is fixed at the fulcrum of the pedal arm and is rotatably connected to the pedal base so that the pedal arm and the rotating shaft form a lever structure. Multiple angle sensors are arranged on the pedal base and connected to the rotating shaft. The multiple angle sensors rotate synchronously with the rotating shaft. The two ends of the rebound component in the extension and contraction direction are respectively connected to the pedal base and the load points of the pedal arm. When the driver steps on the pedal, the pedal arm rotates around the rotating shaft, and the rebound component is compressed to provide the driver with a simulated pedal feel. At the same time, multiple angle sensors synchronously send pedal angle signals to the electronic brake system controller for calculating and identifying the driver's deceleration intention to achieve accurate braking control. The present application solves the problem that the traditional brake-by-wire system has a complex structure, slow braking response, and cannot accurately simulate the correspondence between the displacement of the traditional brake pedal and the pedal force, and thus cannot accurately identify the driver's intention and is difficult to achieve accurate braking control. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a structural schematic diagram of a dual redundant brake-by-wire pedal structure provided by the present application;

[0036] Figure 2 This is an exploded view of the dual redundant brake-by-wire pedal structure.

[0037] Description of reference numerals:

[0038] 1- pedal pad; 2- pedal arm; 3- first rotation angle sensor; 4- second rotation angle sensor; 5- rotating shaft; 6- pedal base; 7- spring; 8- upper connecting rod; 9- upper spring mounting seat; 10- lower spring mounting seat; 11- lower connecting rod; 12- rebound assembly;

[0039] 21- load point; 22- fulcrum; 23- force application point. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0041] The electronic control braking system cancels the direct connection between the brake pedal and the brake wheel cylinder. A specific device must be used to simulate the brake pedal feel. During the braking process, the brake pedal travel simulator gives the driver a pedal reaction force, so that the driver has a good brake pedal feel, and the driver adjusts the brake pedal travel in real time according to the pedal reaction force to ensure braking safety. The traditional wire control braking system has a complex structure, slow braking response, and cannot accurately simulate the correspondence between the traditional brake pedal displacement and the pedal force, and thus cannot accurately identify the driver's intention, making it difficult to achieve accurate braking control.

[0042] The novel dual-redundant brake-by-wire pedal structure provided in the present application is applied to the electronic braking system to achieve full decoupling of the pedal and the electronic booster without mechanical connection, and can accurately simulate the correspondence between the uniqueness of the traditional brake pedal and the pedal force, so as to better identify the driver's intention and achieve accurate braking control; the dual-redundant brake-by-wire pedal adopts the lever principle, and the rotating shaft is the fulcrum of the lever. When the driver steps on the pedal, the pedal rotates around the rotating shaft, and the simulated pedal feeling is provided to the driver through the compression spring. At the same time, the two angle sensors synchronously send the pedal angle signal to the electronic braking system controller for calculating and identifying the driver's deceleration intention, so as to achieve accurate braking control. The present application solves the problem that the traditional brake-by-wire system has a complex structure, slow braking response, and cannot accurately simulate the correspondence between the traditional brake pedal displacement and the pedal force, and thus cannot accurately identify the driver's intention and is difficult to achieve accurate braking control.

[0043] The specific structure of the dual redundant brake-by-wire pedal structure provided in the present application is described in detail below in conjunction with the accompanying drawings.

[0044] Reference Figure 1-Figure 2 As shown, the embodiment of the present application provides a dual redundant brake-by-wire pedal structure, including a pedal base 6, a pedal arm 2, a rotating shaft 5, a rebound assembly 12 and a rotation angle sensor;

[0045] The pedal base 6 includes a bottom plate, two side plates and a top plate. Figure 1 As shown, the bottom plate can be a rectangular plate body, the side plate can be L-shaped, the two side plates are fixedly arranged at the left and right ends of the bottom plate respectively, and the top plate can be an arc-shaped plate body, and the top plate is fixedly arranged at the top of the two side plates;

[0046] The pedal arm 2 may be L-shaped, and a load point 21, a fulcrum 22 and a force application point 23 are sequentially arranged on the pedal arm 2, and the load point 21 of the pedal arm 2 extends into the pedal base 6;

[0047] The pedal pad 1 is fixed to the force application point 23 of the pedal arm 2;

[0048] The rotating shaft 5 is fixed at the fulcrum 22 of the pedal arm 2, and the rotating shaft 5 is rotatably connected to the pedal base 6. The pedal arm 2 and the rotating shaft 5 form a lever structure, and the distance between the load point 21 and the fulcrum 22 is smaller than the distance between the fulcrum 22 and the force application point 23, thereby achieving a labor-saving effect and facilitating the use of the driver;

[0049] Exemplarily, the rebound component 12 may be a hydraulic shock absorber or a spring shock absorber, which can be compressed in the length direction under the action of an external force, and in the process of compression, energy is stored to generate a rebound force. As the degree of compression increases, the stored energy gradually increases, and the rebound force increases. When the external force disappears, the rebound component 12 automatically rebounds and recovers. The first end of the rebound component 12 in the telescopic direction is rotatably connected to the pedal base 6, and the second end of the rebound component 12 in the telescopic direction is rotatably connected to the load point 21 of the pedal arm 2.

[0050] Multiple rotation angle sensors are all arranged on the pedal base 6 and connected to the rotating shaft 5. The multiple rotation angle sensors rotate synchronously with the rotating shaft 5. The multiple rotation angle sensors synchronously and independently measure the rotation angle of the rotating shaft 5, thereby realizing dual redundancy.

[0051] Multiple rotation angle sensors are electrically connected to the electronic brake system controller, each of which detects the rotation angle of the shaft and sends a rotation angle signal recording the rotation angle to the electronic brake system controller; the electronic brake system controller calculates and identifies the driver's deceleration intention based on the rotation angle recorded by the rotation angle signal, and realizes accurate braking control;

[0052] When any one of the rotation angle sensors fails, the electronic brake system controller can still obtain the rotation angle of the shaft 5 through other normal rotation angle sensors, and then identify the driver's deceleration intention to achieve accurate braking control.

[0053] like Figure 1 and Figure 2 As shown, the force application point 23 is located at the top of the pedal arm 2, the fulcrum 22 is located at the bottom of the pedal arm 2, the load point 21 is located on the upper surface of the bottom end of the pedal arm 2, the upper end of the rebound component 12 is connected to the top of the pedal base 6, and the lower end of the rebound component 12 is connected to the upper surface of the bottom end of the pedal arm 2;

[0054] When the driver steps on the brake, a downward force is applied to the force application point 23 of the pedal arm 2, the rotating shaft 5 rotates counterclockwise, and the lower part of the pedal arm 2 swings upward, causing the rebound component 12 to be gradually compressed. The rebound component 12 applies an upward rebound force to the driver through the pedal arm 2, providing the driver with a simulated pedal feel. At the same time, the two angle sensors synchronously send pedal angle signals to the electronic brake system controller for calculating and identifying the driver's deceleration intention, thereby achieving accurate braking control. The present application solves the problem that the traditional wire control brake system has a complex structure, slow braking response, and cannot accurately simulate the correspondence between the traditional brake pedal displacement and the pedal force, and thus cannot accurately identify the driver's intention and is difficult to achieve accurate braking control.

[0055] In some embodiments, a circular hole is provided at the fulcrum 22 of the pedal arm 2, and the rotating shaft 5 passes through the circular hole and is fixedly connected to the pedal arm 2;

[0056] There are two angle sensors in total, which are a first angle sensor 3 and a second angle sensor 4. The detection end of the first angle sensor 3 is connected to the first end of the rotating shaft 5, and the detection end of the second angle sensor 4 is connected to the second end of the rotating shaft 5. Both angle sensors are conventional sensors used to measure the rotation angle of the rotating shaft 5, and their model may be D6Y96-01.

[0057] Reference Figure 2 As shown, in some embodiments, the rebound assembly includes an upper link 8, an upper spring mount 9, a lower link 11, a lower spring mount 10, and a spring 7;

[0058] The upper connecting rod 8 is a conventional rod body. The upper parts of the two side plates of the pedal base 6 are provided with through holes. The upper connecting rod 8 passes through the two through holes to achieve fixation, and the upper connecting rod 8 can rotate freely. The upper spring mounting seat 9 is located in the pedal base 6. The upper spring mounting seat 9 is fixedly connected or rotatably connected to the upper connecting rod 8;

[0059] The load point of the pedal arm 2 is a U-shaped structure and is provided with a round hole. The lower connecting rod 11 is a straight rod body. The lower connecting rod 11 passes through the round hole. The lower connecting rod 11 can rotate freely. The lower spring mounting seat 10 is fixedly connected or rotatably connected to the lower connecting rod 11.

[0060] The spring 7 can be a conventional spring, and the two ends of the spring 7 in the expansion and contraction direction are respectively connected to the upper spring mounting seat 9 and the lower spring mounting seat 10.

[0061] When the driver steps on the brake, the spring 7 is compressed, generating a rebound force, providing the driver with a simulated pedal feel.

[0062] Reference Figure 2As shown, in some embodiments, the upper spring mounting seat 9 includes an upper connecting piece and an insert rod, the upper connecting piece can be a circular metal sheet, the insert rod can be a metal rod body, and the insert rod is fixedly arranged on the side of the upper connecting piece facing the lower spring mounting seat 10;

[0063] The lower spring mounting seat 10 includes a lower connecting piece and a sleeve. The lower connecting piece can be a circular metal sheet. The lower connecting piece and the upper connecting piece are arranged opposite to each other. The sleeve can be a metal tube body. The sleeve is fixedly arranged on the side of the lower connecting piece facing the upper spring mounting seat 9.

[0064] When the upper spring mounting seat 9, the lower spring mounting seat 10 and the spring 7 are combined, the insertion rod and the sleeve are respectively plugged into the inner walls of the two ends of the spring 7, the insertion rod is plugged into the sleeve, and the two ends of the spring 7 in the expansion and contraction direction are respectively abutted against the upper connecting piece and the lower connecting piece.

[0065] In some embodiments, the upper spring mounting seat 9 further comprises a collar, which is a metal ring body arranged transversely, and the collar is fixedly arranged on the side of the upper connecting piece facing away from the insertion rod;

[0066] The collar is sleeved on the upper connecting rod 8 , thereby realizing a stable rotation connection between the upper spring mounting seat 9 and the upper connecting rod 8 .

[0067] In some embodiments, the lower spring mounting seat 10 further includes a connecting column, which may be a cylinder, and is fixedly arranged on the side of the lower connecting piece facing away from the sleeve, and a through hole is arranged on the connecting column, and the through hole is arranged transversely;

[0068] The lower connecting rod 11 is plugged into the through hole, thereby realizing a stable rotation connection between the lower spring mounting seat 10 and the lower connecting rod 11 .

[0069] Reference Figure 2 As shown, in some embodiments, mounting holes are provided on both the left and right sides of the front portion of the bottom plate;

[0070] The rotation angle sensor comprises a first rotation angle sensor 3 and a second rotation angle sensor 4 . The first rotation angle sensor 3 and the second rotation angle sensor 4 are respectively fixed on both sides of the bottom plate through mounting holes. The first rotation angle sensor and the second rotation angle sensor are respectively connected to both ends of the rotating shaft 5 .

[0071] In some embodiments, a plurality of fixing holes are provided on the bottom plate of the pedal base 6, and two fixing holes are provided, which are respectively arranged on the left and right sides of the rear part of the bottom plate. The fixing parts pass through the fixing holes to fix the brake pedal, and the fixing parts can be bolts or screws.

[0072] The embodiment of the present application also provides a car, comprising a frame and the above-mentioned dual redundant brake-by-wire pedal structure;

[0073] The dual redundant brake-by-wire pedal structure is mounted on the frame.

[0074] According to the above technical features, the working principle of the dual redundant brake-by-wire pedal structure provided by the present application in actual application scenarios is:

[0075] When using the dual-redundant brake-by-wire pedal structure, when the driver steps on the pedal pad 1, the pedal arm 2 rotates around the rotating shaft 5, and the lower part of the pedal arm 2 swings upward, causing the spring 7 to gradually compress. The spring 7 provides the driver with a simulated pedal feel. At the same time, the first angle sensor 3 and the second angle sensor 4 detect the rotation angle of the rotating shaft 5, and synchronously send a pedal angle signal to the electronic brake system controller for calculating and identifying the driver's deceleration intention. The dual-redundant setting can ensure the safety of braking and achieve accurate braking control.

[0076] The dual redundant brake-by-wire pedal structure has no mechanical connection between the pedal and the electronic booster, and transmits the pedal angle signal according to the driver's pedal pressing situation. The brake-by-wire system achieves accurate deceleration and parking according to the angle signal. It is easy to integrate with the automotive electronic brake control system, and can meet the electronic braking needs of electric vehicles and hybrid vehicles, and has a good development prospect.

[0077] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0078] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A dual redundant brake-by-wire pedal structure, characterized in that: include; Pedal base (6); A pedal arm (2), wherein a load point (21), a fulcrum (22) and a force application point (23) are sequentially arranged on the pedal arm (2); A rotating shaft (5), the rotating shaft (5) is fixedly arranged at the fulcrum (22) of the pedal arm (2), the rotating shaft (5) is rotatably connected to the pedal base (6), and the pedal arm (2) and the rotating shaft (5) form a lever structure; A rebound component (12), wherein a first end of the rebound component (12) in a telescopic direction is connected to the pedal base (6), and a second end of the rebound component (12) in a telescopic direction is connected to the load point (21) of the pedal arm (2); A rotation angle sensor, wherein a plurality of the rotation angle sensors are arranged on the pedal base (6) and connected to the rotating shaft (5), the plurality of the rotation angle sensors rotate synchronously with the rotating shaft (5), and the plurality of the rotation angle sensors are respectively electrically connected to an external electronic brake system controller.

2. The dual redundant brake-by-wire pedal structure according to claim 1, characterized in that: The rebound component (12) comprises: An upper connecting rod (8), wherein the upper connecting rod (8) is arranged on the pedal base (6); An upper spring mounting seat (9), wherein the upper spring mounting seat (9) is connected to the upper connecting rod (8); A lower connecting rod (11), wherein the lower connecting rod (11) is arranged at the load point (21) of the pedal arm (2); A lower spring mounting seat (10), wherein the lower spring mounting seat (10) is connected to the lower connecting rod (11); A spring (7), wherein two ends of the spring (7) in the expansion and contraction direction are respectively connected to the upper spring mounting seat (9) and the lower spring mounting seat (10).

3. The dual redundant brake-by-wire pedal structure according to claim 2, characterized in that: The upper spring mounting seat (9) comprises an upper connecting piece and an insert rod, wherein the insert rod is fixedly arranged on the side of the upper connecting piece facing the lower spring mounting seat (10); The lower spring mounting seat (10) comprises a lower connecting plate and a sleeve, wherein the sleeve is fixedly arranged on the side of the lower connecting plate facing the upper spring mounting seat (9); The insertion rod and the sleeve are respectively plugged into the inner walls of the two ends of the spring (7), the insertion rod is plugged into the sleeve, and the two ends of the spring (7) in the expansion and contraction direction are respectively abutted against the upper connecting piece and the lower connecting piece.

4. The dual redundant brake-by-wire pedal structure according to claim 3, characterized in that: The upper spring mounting seat (9) further comprises a collar, which is fixedly arranged on the side of the upper connecting piece facing away from the insertion rod; The sleeve ring is sleeved on the upper connecting rod (8).

5. The dual redundant brake-by-wire pedal structure according to claim 3, characterized in that: The lower spring mounting seat (10) further comprises a connecting column, the connecting column is fixedly arranged on the side of the lower connecting plate facing away from the sleeve, and a through hole is provided on the connecting column; The lower connecting rod (11) is plugged into the through hole.

6. The dual redundant brake-by-wire pedal structure according to claim 3, characterized in that: The pedal base (6) comprises a bottom plate and a side plate, wherein the two side plates are fixedly arranged at two ends of the bottom plate opposite to each other; The two side plates are provided with connecting holes opposite to each other, and the upper connecting rod (8) passes through the two connecting holes.

7. The dual redundant brake-by-wire pedal structure according to claim 6, characterized in that: Both sides of the bottom plate are provided with mounting holes; The rotation angle sensor comprises a first rotation angle sensor and a second rotation angle sensor, and the first rotation angle sensor and the second rotation angle sensor are respectively fixed on two sides of the bottom plate through the mounting holes.

8. The dual redundant brake-by-wire pedal structure according to claim 6 or 7, characterized in that: The bottom plate is provided with a plurality of fixing holes; The fixing piece passes through the fixing hole to fix the brake pedal.

9. The dual redundant brake-by-wire pedal structure according to claim 1, characterized in that: A circular hole is provided at the fulcrum (22) of the pedal arm (2), and the rotating shaft (5) passes through the circular hole and is fixedly connected to the pedal arm (2); The rotation angle sensor comprises a first rotation angle sensor and a second rotation angle sensor, wherein a detection end of the first rotation angle sensor is connected to a first end of the rotating shaft (5), and a detection end of the second rotation angle sensor is connected to a second end of the rotating shaft (5).

10. An automobile, characterized in that: It comprises a vehicle frame and a dual redundant brake-by-wire pedal structure as claimed in any one of claims 1 to 9; The dual redundant brake-by-wire pedal structure is assembled on the vehicle frame.

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