Pedal robot for vehicle automatic driving control and automatic driving vehicle

Abstract

The utility model provides a pedal robot used for vehicle automatic driving control and an automatic driving vehicle, the pedal robot comprises a seat clamping mechanism, an execution mechanism, driving connecting rods and pedal clamping mechanisms, the execution mechanism drives the two driving connecting rods to move back and forth, the two pedal clamping mechanisms are respectively arranged at the front end parts of the two driving connecting rods, and the two pedal clamping mechanisms are respectively arranged on the front end parts of the two driving connecting rods. The two pedal clamping mechanisms are fixedly installed on the accelerator pedal and the brake pedal respectively, the combined action of the brake pedal and the accelerator pedal is achieved through two power transmission routes formed by the driving connecting rod and the pedal clamping mechanisms, and the acting moment and the acting force of the pedal robot can be accurately controlled. Accurate control over the vehicle speed is achieved, and automatic control over a vehicle brake pedal or an accelerator pedal is achieved. Meanwhile, the driving connecting rod is structurally provided with an extensible free stroke, and a safety redundancy function of supporting manual intervention to control the pedal is provided; an autonomous vehicle includes a pedal robot.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicle autonomous driving, and particularly relates to a pedal robot and an autonomous driving vehicle that can replace a driver to perform autonomous driving operations to complete acceleration or braking driving actions. Background Art

[0002] The development process of autonomous driving technology has gone through multiple stages from early exploration to technological growth and then to commercial application. After entering the 21st century, autonomous driving technology has entered the fast lane, and more and more automobile manufacturers and technology companies have increased their R & D and investment efforts in the field of autonomous driving, promoting the rapid development of autonomous driving technology.

[0003] With the development of autonomous driving technology, the autonomous driving devices equipped on autonomous driving vehicles have been able to realize the function of replacing drivers to complete a large number of driving actions. For example, the automatic control of the vehicle's brake pedal or accelerator pedal can be achieved through the autonomous driving device. However, some current autonomous driving devices can only achieve single accelerator pedal control or brake pedal control, and there are still deficiencies in functions. Although some autonomous driving devices can achieve the combined control of the accelerator pedal and the brake pedal, their structures are relatively complex, and the working reliability and stability are poor. Summary of the Utility Model

[0004] In view of the problems mentioned in the above background art, the utility model provides a pedal robot for vehicle autonomous driving control that can achieve the combined control of the accelerator pedal and the brake pedal.

[0005] The utility model adopts the following technical solutions: A pedal robot for vehicle autonomous driving control includes a seat clamping mechanism, an execution mechanism, driving link rods, and a pedal clamping mechanism. The seat clamping mechanism is fixedly installed on the seat base of the vehicle cockpit. The execution mechanism is installed on the seat clamping mechanism. The two driving link rods are respectively installed on the left and right sides of the execution mechanism, and the execution mechanism is used to drive the two driving link rods to move forward and backward.

[0006] The two pedal clamping mechanisms are respectively installed at the front ends of the two driving link rods, and the two pedal clamping mechanisms are respectively fixedly installed on the accelerator pedal and the brake pedal. By driving the forward and backward movement of the driving link rods, the two pedal clamping mechanisms are respectively pushed and pulled to realize the automatic control of the vehicle's brake pedal or accelerator pedal.

[0007] Further, the seat clamping mechanism includes support arms, support rods, nut supports, adjusting screws, and mounting slide bars. The two support arms are L-shaped and arranged in parallel at an interval. There are four support rods and two nut supports. One end of each of the two support rods is hinged to the cross bar of one support arm, and the other end is respectively hinged to the front and rear nut supports. One end of the other two support rods is respectively hinged to the cross bar of the other support arm, and the other end is respectively hinged to the front and rear nut supports, so that the four support rods form a parallelogram structure;

[0008] Screw holes are formed in the nut supports. The adjusting screw is threadedly connected to the screw holes in the two nut supports through left-handed and right-handed threads respectively. By rotating the adjusting screw, the front and rear nut supports are driven to move relatively closer or farther away. The mounting slide bar is horizontally and fixedly installed on the vertical rods of the two support arms for installing the actuator.

[0009] Further, the actuator includes a base plate, a brake motor, a brake motor mounting plate, a brake swing arm, a first fixing ring, and a sliding ring. The brake motor mounting plate is fixedly installed on one side of the base plate. At least one first fixing ring and at least one sliding ring are installed on the back of the base plate for fixedly installing the actuator on the seat clamping mechanism;

[0010] The brake motor is installed on the brake motor mounting plate. The brake swing arm is connected and installed on the drive shaft of the brake motor. The end of the drive link is hinged to the brake swing arm. By rotating the drive shaft, the brake swing arm is driven to move, and the drive link is driven to move back and forth to push and pull the push-pull pedal clamping mechanism fixedly installed on the vehicle brake pedal, realizing the automatic control of the vehicle brake pedal.

[0011] Further, the actuator further includes a throttle motor, a throttle motor mounting plate, and a throttle swing arm. The throttle motor mounting plate is fixedly installed on the opposite side of the base plate to the brake motor mounting plate. The throttle motor is installed on the throttle motor mounting plate. The throttle swing arm is connected and installed on the drive shaft of the throttle motor. The end of the drive link is hinged to the throttle swing arm. By rotating the drive shaft, the throttle swing arm is driven to move, and the drive link is driven to move back and forth to push and pull the pedal clamping mechanism fixedly installed on the vehicle throttle pedal, realizing the automatic control of the vehicle throttle pedal.

[0012] Further, there are two brake motors. Synchronous gears are respectively fixedly connected to the drive shafts of the two brake motors. The two synchronous gears are meshed. The brake swing arm is fixedly installed on any one of the synchronous gears. By rotating the drive shaft and the synchronous gears, the brake swing arm is driven to move, and the drive link is driven to move back and forth to push and pull the pedal clamping mechanism, realizing the automatic control of the vehicle brake pedal.

[0013] Further, the driving link includes an end joint head, an adjusting sleeve, an adjusting shaft, a second fixing ring, a force sensor and a connecting rod. The adjusting shaft and the connecting rod are coaxially and fixedly connected to both ends of the force sensor. The adjusting sleeve is coaxially sleeved outside the adjusting shaft, and the adjusting sleeve can slide axially along the adjusting shaft. The second fixing ring is fixedly connected to one end of the adjusting sleeve facing the force sensor, and the second fixing ring is used to fix the relative position of the adjusting sleeve and the adjusting shaft. The two end joint heads are respectively fixedly connected to the other ends of the adjusting sleeve and the connecting rod, and the two end joint heads are used to connect with the actuator and the pedal clamping mechanism.

[0014] Further, the connecting rod includes a movable shaft and a movable sleeve. One end of the movable shaft is fixedly connected to the force sensor. The movable sleeve is coaxially sleeved outside the other end of the movable shaft, and the movable sleeve can slide axially along the movable shaft. The other end of the movable sleeve is fixedly connected to the end joint head.

[0015] Further, the pedal clamping mechanism includes a left clamping block, a connecting screw, a right clamping block and a connecting rod support. The left clamping block and the right clamping block are relatively installed through the connecting screw. By rotating the connecting screw, the left clamping block and the right clamping block are driven to approach each other, so as to clamp and fix the vehicle brake pedal or the accelerator pedal. The connecting rod support is fixedly connected to one of the left clamping block or the right clamping block, and the connecting rod support is used to connect with the driving link.

[0016] An autonomous vehicle includes a pedal robot for autonomous driving control of the vehicle. The pedal robot is fixedly installed on the driver's seat base of the cockpit through a seat clamping mechanism. The actuator is used to drive the two driving links to move back and forth. The two pedal clamping mechanisms are respectively fixedly installed on the accelerator pedal and the brake pedal. By driving the two pedal clamping mechanisms to push and pull back and forth through the driving links, the automatic control of the vehicle brake pedal or the accelerator pedal is realized.

[0017] The pedal robot in the utility model patent is stably installed on the driver's seat base of the vehicle cockpit through the seat clamping mechanism, and the combined actions of the brake pedal and the accelerator pedal are realized through two power transmission routes composed of the driving link and the pedal clamping mechanism. The two power transmission routes are respectively controlled by two groups of motors, which can accurately control the acting moment and the magnitude of the acting force of the pedal robot, realize the accurate control of the vehicle speed, and have high working reliability and stability; at the same time, the driving link is configured with an extendable free stroke in structure, providing a safety redundancy function to support manual intervention in controlling the pedal. Description of the Drawings

[0018] Att Figure 1 is a schematic diagram of the overall structure of the pedal robot in the utility model;

[0019] Att Figure 2It is a schematic structural diagram of the seat clamping mechanism 01 in the present utility model;

[0020] Appendix Figure 3 It is a schematic structural diagram of the actuator 02 in the present utility model Figure 1 ;

[0021] Appendix Figure 4 It is a schematic structural diagram of the actuator 02 in the present utility model Figure 2 ;

[0022] Appendix Figure 5 It is a schematic structural diagram of the actuator 02 in the present utility model Figure 3 ;

[0023] Appendix Figure 6 It is a schematic structural diagram of the drive link 03 in the present utility model;

[0024] Appendix Figure 7 It is a partial sectional view schematic diagram of the drive link 03 in the present utility model;

[0025] Appendix Figure 8 It is a partial sectional view schematic diagram of the two ends of the drive link 03 in the present utility model after being stretched;

[0026] Appendix Figure 9 It is a schematic structural diagram of the pedal clamping mechanism 04 in the present utility model.

[0027] The description of the reference numerals is as follows: seat clamping mechanism 01, support arm 0101, support rod 0102, nut support 0103, adjusting screw 0104, mounting slide bar 0105, actuator 02, base plate 0201, braking motor 0202, braking motor mounting plate 0203, synchronous gear 0204, braking swing arm 0205, throttle motor 0206, throttle motor mounting plate 0207, throttle swing arm 0208, first fixing ring 0209, sliding ring 0210, drive link 03, end joint head 0301, adjusting sleeve 0302, adjusting shaft 0303, second fixing ring 0304, force sensor 0305, movable shaft 0306, movable sleeve 0307, pedal clamping mechanism 04, left clamping block 0401, connecting screw 0402, right clamping block 0403 and link support 0404. Detailed implementation manners

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. The following further describes the content of the utility model in conjunction with the drawings:

[0029] Example 1

[0030] Refer to the instruction manual Figure 1 A pedal robot for automatic driving control of a vehicle includes a seat clamping mechanism 01, an actuator 02, a driving connecting rod 03, and a pedal clamping mechanism 04.

[0031] Refer to the instruction manual Figure 1 , 2 , the seat clamping mechanism 01 includes a support arm 0101, a support rod 0102, a nut support 0103, an adjusting screw rod 0104 and a mounting slide rod 0105;

[0032] The two support arms 0101 are L-shaped and are arranged in parallel with a certain distance. The support arms 0101 include a vertical and fixedly connected crossbar and vertical rod. There are four support rods 0102 and two nut supports 0103. One end of the two support rods 0102 is respectively hinged to the crossbar of one support arm 0101, and the other end is respectively hinged to one side of the front and rear nut supports 0103. One end of the other two support rods 0102 is respectively hinged to the crossbar of another support arm 0101, and the other end is respectively hinged to the other side of the front and rear nut supports 0103, so that the four support rods 0102 form a parallelogram structure. Two installation slide rods 0105 are horizontally and fixedly installed side by side on the vertical rods of the two support arms 0101.

[0033] A screw hole is provided on the nut support 0103, and the adjusting screw 0104 is provided with half left-handed threads and half right-handed threads. The adjusting screw 0104 is threadedly connected to the screw holes on the two nut supports 0103 through the left-handed and right-handed threads respectively. The front and rear nut supports 0103 are driven to move relatively close or away by rotating the adjusting screw 0104, and the two side support arms 0101 in the parallelogram structure are driven to open and close. Its structure and principle are similar to those of a car jack, so as to achieve the purpose of adjusting the relative distance between the two side support arms 0101, so that the distance between the two side support arms 0101 matches the distance of the vehicle seat base slide groove, so that the outer edge surfaces of the cross bars of the two support arms 0101 are pressed and fixed to the inner sides of the two slide grooves of the vehicle seat base, and the seat clamping mechanism 01 is fixedly installed on the vehicle cockpit seat base.

[0034] Refer to the instruction manual Figure 1 , 3 , 4, 5, the actuator 02 includes a base plate 0201, a brake motor 0202, a brake motor mounting plate 0203, a brake swing arm 0205, a throttle motor 0206, a throttle motor mounting plate 0207, a throttle swing arm 0208, a first fixed ring 0209 and a sliding ring 0210;

[0035] The brake motor mounting plate 0203 and the throttle motor mounting plate 0207 are respectively fixedly installed on both sides of the base plate 0201. The first fixing ring 0209 and the two sliding rings 0210 are installed on the back of the base plate 0201. The two sliding rings 0210 are sleeved on the lower mounting slide bar 0105 to realize the horizontal axial movement adjustment of the actuator 02 along the mounting slide bar 0105. The first fixing ring 0209 is sleeved on the upper mounting slide bar 0105. The first fixing ring 0209 consists of a bushing with a side opening and a screw installed on the bushing for locking and adjusting the opening. A handle is installed at the end of the screw. The rotation of the screw can be controlled by the handle to adjust the tightness or looseness of the opening of the bushing, so as to achieve the purpose of adjusting the locking or loosening of the bushing on the mounting slide bar 0105.

[0036] After the actuator 02 moves horizontally axially to the target position, it is adjusted and fastened on the mounting slide bar 0105 through the first fixing ring 0209 to fix the actuator 02, so that the actuator 02 is fixedly installed on the mounting slide bar 0105 of the seat clamping mechanism 01, increasing the stability and reliability of the device.

[0037] The brake motor 0202 is installed on the brake motor mounting plate 0203. The brake swing arm 0205 is connected and installed on the drive shaft of the brake motor 0202. One end of a drive link 03 is hinged to the brake swing arm 0205. A pedal clamping mechanism 04 is fixedly connected to the brake pedal. The rotation of the drive shaft drives the movement of the brake swing arm 0205 and drives the drive link 03 to move back and forth to push and pull the pedal clamping mechanism 04, realizing the automatic control of the vehicle brake pedal.

[0038] The throttle motor 0206 is installed on the throttle motor mounting plate 0207. The throttle swing arm 0208 is connected and installed on the drive shaft of the throttle motor 0206. One end of the other drive link 03 is hinged to the throttle swing arm 0208. The other pedal clamping mechanism 04 is fixedly connected to the throttle pedal. The rotation of the drive shaft drives the movement of the throttle swing arm 0208 and drives the drive link 03 to move back and forth to push and pull the pedal clamping mechanism 04, realizing the automatic control of the vehicle throttle pedal.

[0039] For general passenger cars, the maximum thrust required for the brake pedal is more than three times that of the throttle pedal. Therefore, in the design of the robot, a certain number of brake motors 0202 are configured according to specific requirements for braking. In a specific embodiment, refer to the attached instructions Figure 3 、 4, 5. There are two braking motors 0202. Synchronous gears 0204 are respectively and fixedly connected to the drive shafts of the two braking motors 0202. The two synchronous gears 0204 are meshed with each other. The braking swing arm 0205 is fixedly installed on the synchronous gear 0204 at the lower position. The rotation of the drive shaft and the synchronous gear 0204 drives the braking swing arm 0205 to move, and drives the drive link 03 to move back and forth to push and pull the pedal clamping mechanism 04 fixedly installed on the braking pedal, realizing the automatic control of the vehicle braking pedal.

[0040] Refer to the attached instructions Figure 1 , 6 , 7, 8. The drive link 03 includes end joint heads 0301, adjustment sleeves 0302, adjustment shafts 0303, second fixing rings 0304, force sensors 0305, movable shafts 0306 and movable sleeves 0307;

[0041] The adjustment shaft 0303 and the movable shaft 0306 are coaxially and fixedly connected to both ends of the force sensor 0305. The force sensor 0305 monitors the pulling and pressing forces. The adjustment sleeve 0302 is coaxially sleeved outside the adjustment shaft 0303, and the adjustment sleeve 0302 can slide axially along the adjustment shaft 0303 to adjust the overall length of the drive link 03. The second fixing ring 0304 is fixedly connected to one end of the adjustment sleeve 0302 facing the force sensor 0305. The second fixing ring 0304 consists of a shaft sleeve with a side opening and a screw installed on the shaft sleeve for locking and adjusting the opening. A handle is installed at the end of the screw. The rotation of the screw can be controlled by the handle to adjust the loosening and tightening of the shaft sleeve opening, so as to achieve the purpose of locking or loosening the adjustment shaft 0303 by the shaft sleeve;

[0042] After the adjustment sleeve 0302 slides axially along the adjustment shaft 0303 to the target length, it is adjusted and fastened on the adjustment shaft 0303 through the second fixing ring 0304 to fix the adjustment sleeve 0302 and fix the length of the drive link 03;

[0043] The movable sleeve 0307 is coaxially sleeved outside the other end of the movable shaft 0306, and the movable sleeve 0307 can slide axially along the movable shaft 0306. The two end joint heads 0301 are respectively fixedly connected to the other ends of the adjustment sleeve 0302 and the movable sleeve 0307. The end joint head 0301 at one end of the drive link 03 is hinged to the hinge seats at the tops of the braking swing arm 0205 and the throttle swing arm 0208. The end joint head 0301 at the other end of the drive link 03 is hinged to the hinge seat on the pedal clamping mechanism 04.

[0044] The above movable sleeve 0307 and the movable shaft 0306 are in a sliding connection structure and are not fixed to each other. When an axial force is applied to the movable sleeve 0307, the movable sleeve 0307 can slide axially along the movable shaft 0306, forming a stretchable free stroke in the structure. This enables manual intervention to control the brake pedal and the accelerator pedal in an emergency. Especially when manually intervening to control the brake pedal, when the brake pedal is stepped on manually, the movable sleeve 0307 is driven to slide axially along the movable shaft 0306, while the movable shaft 0306 does not move axially following the movable sleeve 0307. When the brake pedal is released, the return of the brake pedal drives the movable sleeve 0307 to return, and the automatic control of the vehicle's brake pedal or accelerator pedal by the pedal robot can be restored, providing a safety redundancy function to support manual intervention in controlling the pedal.

[0045] When adjusting the overall length of the adjusting drive link 03, first loosen the second fixing ring 0304, and slide the adjusting sleeve 0302 axially along the adjusting shaft 0303 to lengthen the drive link 03. Then fix the pedal clamping mechanism 04 installed at the front end of the drive link 03 to the brake pedal or the accelerator pedal, and finally tighten the second fixing ring 0304 to fix the length of the drive link 03.

[0046] Refer to the attached Figure 1 、 9 , the pedal clamping mechanism 04 includes a left clamping block 0401, a connecting screw 0402, a right clamping block 0403, and a connecting rod support 0404;

[0047] There are two through holes provided on the right clamping block 0403, and two threaded through holes are provided on the left clamping block 0401. Two connecting screws 0402 pass through the through holes and are threadedly connected to the threaded through holes, so that the left clamping block 0401 and the right clamping block 0403 are relatively installed through the connecting screws 0402. By tightening the connecting screws 0402, the left clamping block 0401 and the right clamping block 0403 are driven to approach each other, thereby clamping and fixing the vehicle's brake pedal or accelerator pedal. The connecting rod support 0404 is fixedly connected to one of the left clamping block 0401 or the right clamping block 0403. Specifically, when the pedal clamping mechanism 04 clamps the brake pedal, the connecting rod support 0404 is fixedly connected to the left clamping block 0401; when the pedal clamping mechanism 04 clamps the accelerator pedal, the connecting rod support 0404 is fixedly connected to the right clamping block 0403. The hinge shaft on the connecting rod support 0404 is hinged to the end joint 0301 at the front end of the drive link 03.

[0048] Embodiment 2

[0049] An autonomous vehicle, comprising a cockpit seat base, an accelerator pedal, a brake pedal, and a pedal robot for vehicle autonomous driving control described in Embodiment 1. The pedal robot is fixedly installed on the cockpit seat base through a seat clamping mechanism 01, and an actuator 02 is used to drive two driving linkages 03 to move back and forth. Two pedal clamping mechanisms 04 are respectively fixedly installed on the accelerator pedal and the brake pedal, and the two pedal clamping mechanisms 04 are respectively pushed and pulled through the forward and backward movement of the driving linkages 03 to achieve automatic control of the vehicle brake pedal or accelerator pedal.

[0050] Obviously, components of the above-mentioned pedal robot, autonomous vehicle, and corresponding method can be modified and / or added without departing from the field and scope of the present invention.

[0051] It is also clear that although the present invention has described the pedal robot and autonomous vehicle in detail, those skilled in the art will surely be able to obtain many other equivalent forms of the pedal robot, autonomous vehicle, and corresponding method. The pedal robot, autonomous vehicle, and corresponding method have the features described in the claims, and thus are all within the scope of protection defined thereby.

Claims

1. A pedal robot for automatic driving of a vehicle, characterized in that: It comprises a seat clamping mechanism (01), an actuator (02), a driving connecting rod (03), and a pedal clamping mechanism (04), wherein the seat clamping mechanism (01) is fixedly mounted on a seat base of a vehicle cockpit, the actuator (02) is mounted on the seat clamping mechanism (01), and two driving connecting rods (03) are respectively mounted on the left and right sides of the actuator (02), and the actuator (02) is used to drive the two driving connecting rods (03) to move forward and backward; The two pedal clamping mechanisms (04) are respectively mounted on the front ends of the two driving connecting rods (03), and the two pedal clamping mechanisms (04) are respectively fixedly mounted on the accelerator pedal and the brake pedal, and the two pedal clamping mechanisms (04) are respectively pushed and pulled by the driving connecting rods (03) moving forward and backward, thereby realizing automatic control of the brake pedal or the accelerator pedal of the vehicle; The actuator (02) comprises a base plate (0201), a brake motor (0202), a brake motor mounting plate (0203), a brake swing arm (0205), a first fixed ring (0209) and a sliding ring (0210); the brake motor mounting plate (0203) is fixedly mounted on one side of the base plate (0201); at least one of the first fixed rings (0209) and at least one sliding ring (0210) are mounted on the back of the base plate (0201) to fix the actuator (02) on the seat clamping mechanism (01); The brake motor (0202) is installed on the brake motor mounting plate (0203), and the brake swing arm (0205) is connected and installed on the driving shaft of the brake motor (0202). The end of the driving connecting rod (03) is hinged to the brake swing arm (0205), and the brake swing arm (0205) is driven to move by the rotation of the driving shaft, and the driving connecting rod (03) is driven to move forward and backward to fix the push-pull pedal clamping mechanism (04) installed on the brake pedal, thereby realizing automatic control of the vehicle brake pedal.

2. The pedal robot according to claim 1, characterized in that: The seat clamping mechanism (01) comprises a support arm (0101), a support rod (0102), a nut support (0103), an adjusting screw rod (0104) and a mounting slide rod (0105); the two support arms (0101) are L-shaped and are arranged in parallel at a certain distance; there are four support rods (0102) and two nut supports (0103); one end of the two support rods (0102) is respectively hinged to the cross rod of one support arm (0101), and the other end is respectively hinged to the front and rear nut supports (0103); one end of the other two support rods (0102) is respectively hinged to the cross rod of another support arm (0101), and the other end is respectively hinged to the front and rear nut supports (0103), so that the four support rods (0102) form a parallelogram structure; A screw hole is provided on the nut support (0103), and the adjusting screw (0104) is threadedly connected to the screw holes on the two nut supports (0103) through left-handed and right-handed threads respectively. The front and rear nut supports (0103) are driven to move closer or farther relative to each other by rotating the adjusting screw (0104). The mounting slide rod (0105) is horizontally fixedly mounted on the vertical rods of the two support arms (0101) for mounting the actuator (02).

3. The pedal robot according to claim 1, characterized in that: The actuator (02) also includes a throttle motor (0206), a throttle motor mounting plate (0207) and a throttle swing arm (0208). The throttle motor mounting plate (0207) is fixedly mounted on the base plate (0201) and on the opposite side of the brake motor mounting plate (0203). The throttle motor (0206) is mounted on the throttle motor mounting plate (0207). The throttle swing arm (0208) is connected and mounted on the drive shaft of the throttle motor (0206). The end of the driving connecting rod (03) is hinged to the throttle swing arm (0208). The throttle swing arm (0208) is driven to move by the rotation of the driving shaft, and the driving connecting rod (03) is driven to move forward and backward to push and pull the pedal clamping mechanism (04) fixedly mounted on the throttle pedal, thereby realizing automatic control of the vehicle throttle pedal.

4. The pedal robot according to claim 1, characterized in that: There are two brake motors (0202), and synchronous gears (0204) are fixedly connected to the driving shafts of the two brake motors (0202). The two synchronous gears (0204) are meshed, and the brake swing arm (0205) is fixedly installed on any one of the synchronous gears (0204). The rotation of the driving shaft and the synchronous gear (0204) drives the brake swing arm (0205) to move, and drives the driving connecting rod (03) to move forward and backward to push and pull the pedal clamping mechanism (04), thereby realizing automatic control of the vehicle brake pedal.

5. The pedal robot according to claim 1, characterized in that: The driving connecting rod (03) comprises an end joint head (0301), an adjusting sleeve (0302), an adjusting shaft (0303), a second fixing ring (0304), a force sensor (0305) and a connecting rod. The adjusting shaft (0303) and the connecting rod are coaxially fixedly connected at both ends of the force sensor (0305). The adjusting sleeve (0302) is coaxially sleeved on the outside of the adjusting shaft (0303), and the adjusting sleeve (0302) can slide axially along the adjusting shaft (0303). The second fixing ring (0304) is fixedly connected to one end of the adjusting sleeve (0302) facing the force sensor (0305), and the second fixing ring (0304) is used to fix the relative position of the adjusting sleeve (0302) and the adjusting shaft (0303). The two end joint heads (0301) are respectively fixedly connected to the other end of the adjusting sleeve (0302) and the connecting rod, and the two end joint heads (0301) are used to be connected to the actuator (02) and the pedal clamping mechanism (04).

6. The pedal robot according to claim 5, characterized in that: The connecting rod includes a movable shaft (0306) and a movable sleeve (0307), one end of the movable shaft (0306) is fixedly connected to the force sensor (0305), the movable sleeve (0307) is coaxially sleeved on the outside of the other end of the movable shaft (0306), and the movable sleeve (0307) can slide axially along the movable shaft (0306), and the other end of the movable sleeve (0307) is fixedly connected to the end joint head (0301).

7. The pedal robot according to claim 1, characterized in that: The pedal clamping mechanism (04) comprises a left clamping block (0401), a connecting screw (0402), a right clamping block (0403) and a connecting rod support (0404); the left clamping block (0401) and the right clamping block (0403) are relatively installed by means of the connecting screw (0402); the left clamping block (0401) and the right clamping block (0403) are driven to approach each other by rotating the connecting screw (0402), thereby clamping and fixing the brake pedal or the accelerator pedal of the vehicle; the connecting rod support (0404) is fixedly connected to one of the left clamping block (0401) or the right clamping block (0403); the connecting rod support (0404) is used to be connected to the driving connecting rod (03).

8. An autonomous driving vehicle, characterized in that: It comprises the pedal robot as described in any one of claims 1 to 7, wherein the pedal robot is fixedly mounted on the cockpit seat base via a seat clamping mechanism (01), an actuator (02) is used to drive two driving connecting rods (03) to move forward and backward, and two pedal clamping mechanisms (04) are respectively fixedly mounted on the accelerator pedal and the brake pedal, and the two pedal clamping mechanisms (04) are respectively pushed and pulled by the driving connecting rod (03) to move forward and backward, thereby realizing automatic control of the vehicle's brake pedal or accelerator pedal.

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