Vehicle pedals that emulate mechanical hysteresis

Abstract

A pedal assembly for a vehicle including a pedal, a sensor configured to sense a force applied to the pedal, and an electronic processor coupled to the sensor, the electronic processor configured to determine a first output value and to receive a signal indicative of the force applied to the pedal from the sensor, the electronic processor further configured to determine a second output value based on the force applied to the pedal, the first output value, and a model defining mechanical hysteresis effects, and to generate an output signal for controlling the vehicle, the output signal corresponding to the second output value.

Description

[Technical field]

[0001] <Related Applications> This application claims priority to U.S. Provisional Application No. 63 / 362,021, filed March 28, 2022, the disclosure of which is incorporated herein by reference in its entirety.

[0002] <Field> The present disclosure relates to vehicle pedals, and more particularly, to a system and method for emulating mechanical hysteresis in a vehicle pedal. [Background technology]

[0003] <Background> Some vehicle pedal systems incorporate cooperating engageable friction members to create a desired mechanical hysteresis effect in response to movement of the vehicle pedal. Examples of such vehicle pedal systems are disclosed in U.S. Patent Nos. 7,926,384, 8,042,430, and 8,806,977, which are assigned to CTS Corporation. However, these mechanical hysteresis systems are not particularly suitable or applicable for use with low displacement vehicle pedals that operate in response to little or no pedal movement. An example of such a low displacement vehicle pedal is disclosed in U.S. Patent No. 10,175,712, which is assigned to CTS Corporation. DISCLOSURE OF THEINVENTION [Problem to be solved by the invention]

[0004] <Summary> Aspects of the present disclosure are directed to systems and methods for emulating mechanical hysteresis effects in vehicle pedals that do not include mechanical / friction vehicle pedal hysteresis systems. [Means for solving the problem]

[0005] One embodiment provides a pedal assembly for a vehicle, comprising a pedal, a sensor configured to sense a force applied to the pedal, and an electronic processor coupled to the sensor, the electronic processor configured to determine a first output value and to receive a signal indicative of the force applied to the pedal from the sensor, the electronic processor further configured to determine a second output value based on the force applied to the pedal, the first output value, and a model defining mechanical hysteresis effects, and to generate an output signal for controlling the vehicle, the second output signal corresponding to the second output value.

[0006] Another embodiment provides a pedal assembly for a vehicle, comprising a pedal, a sensor configured to sense a force applied to the pedal, and an electronic processor coupled to the sensor. The electronic processor is configured to determine a first output value. The electronic processor is also configured to determine a first threshold based on the first output value and a first parameter, receive a signal indicative of the force applied to the pedal from the sensor, determine whether the force applied to the pedal exceeds the first threshold, and determine a proposed output value when the force applied to the pedal exceeds the first threshold. The electronic processor is further configured to determine whether the proposed output value exceeds a maximum output value, generate a first output signal for controlling the vehicle if the proposed output value does not exceed the maximum output value, and generate a second output signal for controlling the vehicle if the proposed output value exceeds the maximum output value, the second output signal corresponding to the maximum output value.

[0007] Another embodiment provides a method for emulating mechanical hysteresis effects in a vehicle pedal assembly, the pedal assembly including a pedal, a sensor configured to sense a force applied to the pedal, and an electronic processor coupled to the sensor. The method includes determining, via the electronic processor, a first output value, determining, via the electronic processor, a first threshold value based on the first output value and a first parameter, receiving, via the electronic processor, a signal indicative of the force applied to the pedal from the sensor, determining, via the electronic processor, whether the force applied to the pedal exceeds the first threshold value, and determining, via the electronic processor, a proposed output value if the force applied to the pedal exceeds the first threshold value. The method further includes determining, via the electronic processor, whether the proposed output value exceeds a maximum output value, generating, via the electronic processor, a first output signal for controlling the vehicle if the proposed output value does not exceed the maximum output value, the first output signal corresponding to the proposed output value, and generating, via the electronic processor, a second output signal for controlling the vehicle if the proposed output value exceeds the maximum output value, the second output signal corresponding to the maximum output value. [Brief description of the drawings]

[0008] The accompanying drawings, in which like reference numerals refer to identical or functionally similar elements throughout the separate views, and together with the following detailed description, which are incorporated in and form a part of this specification, further illustrate examples, cases, and / or aspects of concepts that include the claimed subject matter and serve to explain various principles and advantages of the examples, cases, and / or aspects.

[0009] [Figure 1] FIG. 1 is a perspective view of a vehicle pedal according to one embodiment.

[0010] [Diagram 2] FIG. 2 is a side cross-sectional view of the vehicle pedal of FIG. 1 in its idle position, according to one embodiment.

[0011] [Diagram 3] 3 is a side cross-sectional view of the vehicle pedal of FIG. 1 in its engaged position according to one embodiment.

[0012] [Figure 4] FIG. 4 is a block diagram of a control system for a low displacement vehicle pedal assembly, according to one embodiment.

[0013] [Diagram 5] FIG. 5 is a block diagram of a control system for a low displacement vehicle pedal assembly, according to another embodiment.

[0014] [Figure 6] FIG. 6 is a graph illustrating the mechanical hysteresis effect emulated by the vehicle pedal of FIG. 1, according to one embodiment.

[0015] [Figure 7] FIG. 7 is a flow chart of a method for emulating mechanical hysteresis effects in a low displacement vehicle pedal, according to one embodiment.

[0016] Those skilled in the art will appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale - for example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help improve understanding of the examples.

[0017] Components of the apparatus and methods are represented, where appropriate, by conventional symbols in the drawings, and only specific details relevant to understanding the illustrated examples, cases, and aspects are shown, so as not to obscure the present disclosure with details that will be readily apparent to those skilled in the art having the benefit of the descriptions herein. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] <Detailed Description> One or more aspects are described and illustrated in the following description and the accompanying drawings. These aspects are not limited to the specific details provided herein and may be modified in various ways. Furthermore, there may be other aspects not described herein. For example, a device or structure "configured" in a certain way is at least configured in that way, but may be configured in a way not recited. Furthermore, some aspects described herein may include one or more electronic processors configured to perform the described functions by executing instructions stored in a non-transitory computer-readable medium. Similarly, aspects described herein may be implemented as a non-transitory computer-readable medium that stores instructions executable by one or more electronic processors to perform the described functions. As used in this application, "non-transitory computer-readable medium" includes all computer-readable media, but does not include a transitory propagating signal. Thus, a non-transitory computer-readable medium may include, for example, a hard disk, a CD-ROM, an optical storage device, a magnetic storage device, a ROM (read-only memory), a RAM (random access memory), a register memory, a processor cache, other memory and storage devices, or a combination thereof.

[0019] In addition, the phraseology and terminology used herein are for purposes of description and should not be considered limiting. For example, the use of "including," "containing," "comprising," "having," and variations thereof herein is meant to encompass the items listed thereafter, and equivalents thereof, as well as additional items. The terms "connected" and "coupled" are used broadly and encompass both direct and indirect connections and couplings. Furthermore, "connected" and "coupled" are not limited to physical or mechanical connections or couplings, but may include electrical connections or couplings, whether direct or indirect. Furthermore, electronic communications and notifications may be performed using wired connections, wireless connections, or a combination thereof, and may be transmitted directly or through one or more intermediary devices over various types of networks, communication channels, and connections. Furthermore, relationship terms, such as first and second, above and below, etc., may be used herein only to distinguish one entity or action from another entity or action, and do not necessarily require or imply any actual such relationship or order between such entities or actions.

[0020] The disclosed systems and methods for emulating mechanical hysteresis effects in vehicle pedals are adapted for use with, among other things, vehicle pedals that operate in response to little or no pivoting or movement of the vehicle pedal. An example of such a low displacement vehicle pedal is disclosed in U.S. Patent No. 10,175,712, entitled "COMPACT VEHICLE PEDAL," issued on January 8, 2019, the entire contents of which are incorporated herein by reference, portions of which are reproduced below. In some aspects, the disclosed systems and methods for emulating mechanical hysteresis effects in vehicle pedals are adapted for use with other types of low displacement vehicle pedals, such as electronic pads (ePads).

[0021] 1-3 illustrate an exemplary vehicle pedal assembly or pedal 100 adapted for use with the disclosed systems and methods for emulating mechanical hysteresis effects in a vehicle pedal. The pedal 100 is included in and operably connected to a vehicle (not shown). In the illustrated example, the pedal 100 includes a connector 105 configured to electrically and operably connect the pedal 100 to a bus system of the vehicle and / or a control unit included in the vehicle. In some examples, the vehicle pedal 100 is a low displacement vehicle pedal. In some examples, the vehicle is a passenger vehicle, such as a car or a light truck. In some examples, the vehicle is a commercial vehicle, such as a van, a bus, a box truck, or a semi-truck. In some examples, the vehicle is a small vehicle, such as a motorcycle, a scooter, or an all-terrain vehicle. In some examples, the vehicle is a low speed vehicle, such as a golf cart or a utility cart. In some examples, the vehicle is powered by an internal combustion engine. In some examples, the vehicle is an electric vehicle. In some examples, the pedal 100 is included in and connected to other types of vehicles.

[0022] The pedal 100 also includes, among other things, a pedal arm 110 pivotally secured to a pedal base 115 that is attached or otherwise coupled to a vehicle floor (not shown). The pedal arm 110 is generally flat and positioned to engage the foot of a vehicle driver. When the driver applies a pressure force to the pedal arm 110, the pedal arm 110 undergoes very little (or almost no) displacement relative to the pedal base 115. As shown in Figures 2 and 3, the pedal 100 also includes a sensor 120 configured to sense a force applied to the pedal arm 110 by the driver. As described in more detail below, a control unit of the vehicle is configured to control the power output of the vehicle based on the force sensed or measured by the sensor 120.

[0023] 2 and 3, the sensor 120 includes a strain gauge 125 and an actuator 130. The strain gauge 125 includes, for example, an electrical resistive strip element or resistor (not shown) arranged in a bridge circuit configuration and mounted on the strain gauge. The actuator 130 is positioned to abut a surface of the strain gauge 125. In some examples, the sensor 120 is electrically connected to a printed circuit board (PCB) 135 included in the pedal 100.

[0024] FIG. 2 illustrates the pedal arm 110 in an idle (or rest / idle) (e.g., no braking / acceleration) position, and FIG. 3 illustrates the pedal arm 110 in an engaged (e.g., acceleration / braking) position. When the driver pushes the pedal arm 110 from the idle position toward the pedal base 115 to the engaged position, the pedal arm 110 causes the actuator 130 to exert a force against a surface of the strain gauge 125. The force applied to the strain gauge 125 causes a deflection or bending of the strain gauge 125, resulting in a change in the properties of an electrical resistance element (not shown) formed or attached to the strain gauge 125. This change in resistance of the strain gauge 125 causes the sensor 120 to generate an electrical signal indicative of the amount of force applied by the driver on the pedal arm 110, or more generally, the amount of force applied to the pedal 100. As described in more detail below, the controller is configured to generate an output signal based in part on the electrical signal generated by the sensor 120 to drive the vehicle in accordance with the mechanical hysteresis emulation systems and methods described herein.

[0025] It should be understood that the sensor 120 is not limited in implementation to the sensor shown in FIGS. 2 and 3 and described above. That is, although the sensor 120 is shown and described as including a strain gauge 125 and an actuator 130, in some examples the sensor 120 is implemented as a different type of sensor. For example, in some examples the sensor 120 is implemented as a non-contact sensor, such as a Hall effect sensor. As another example, in some examples the sensor 120 is implemented as a contact resistance potentiometric sensor. In some examples the sensor 120 is implemented as another type of sensor not explicitly described herein. However, regardless of what type of sensor is used to implement the sensor 120, the sensor 120 is configured to generate an electrical signal indicative of the amount of force applied by the driver on the pedal 100.

[0026] FIG. 4 illustrates a block diagram of an example control system 400 of a low displacement pedal assembly 100 according to some embodiments of the disclosure. The control system 400 includes a sensor 120, a controller 405 electrically connected to the sensor 120, and a vehicle control unit (e.g., an engine control unit (ECU), a motor control unit (MCU), a brake control unit, etc.) 410 electrically connected to the controller 405. As illustrated in FIG. 4, the controller 405 is housed within a body or housing of the low displacement vehicle pedal assembly 100. For example, in some examples, the controller 405 is attached to and / or electrically connected to a PCB 135 included in the pedal 100. However, in other examples, the low displacement vehicle pedal assembly 100 does not include its own controller. In such cases, the functions described herein with respect to the controller 405 are performed by the vehicle control unit 410. As described in more detail below, FIG. 5 shows an exemplary control system 500 for a low-displacement vehicle pedal assembly 100, in which a vehicle control unit 410 is configured to perform the functions described herein as being performed by one or more components of a controller 405 included in the pedal 100.

[0027] The controller 405 includes multiple electrical and electronic components that provide power, operational control, and protection to components and modules within the controller 405. For example, in some examples, the controller 405 includes a power supply circuit 415 that provides operating power from a power source (e.g., a battery) to the controller 405 and / or components of the sensor 120. In some examples, the controller 405 includes a converter circuit, such as an analog-to-digital converter (not shown), for processing signals received from the sensor 120. Additionally, the controller 405 includes an electronic processor 420 (e.g., an application specific integrated circuit (ASIC), a programmable microprocessor, a microcontroller, a programmable logic controller, or other suitable device) and a memory 425.

[0028] Memory 425 is a non-transitory computer-readable medium including program storage areas, data storage areas, and the like. The program storage areas and data storage areas may include different types of memory, for example, one or more registers, read-only memory ("ROM"), random access memory ("RAM") (e.g., dynamic RAM ["DRAM"], synchronous DRAM ["SDRAM"], etc.), electrically erasable programmable read-only memory ("EEPROM"), flash memory, hard disk, SD card, or other suitable magnetic, optical, physical, or electronic memory device combinations. In one example, electronic processor 420 is coupled to memory 425 and executes software instructions, which may be stored (e.g., during execution) in the RAM of memory 425, (e.g., generally permanently) in the ROM of memory 425, or another non-transitory computer-readable medium. In some examples, software used to emulate the mechanical hysteresis effect of a vehicle pedal is stored in memory 425. Software includes, for example, firmware, one or more applications, program data, filters, rules, one or more program modules, and other executable instructions. The electronic processor 420 is configured to retrieve from the memory 425 and execute instructions related to, among other things, the control processes and methods described herein. In another example, the electronic processor 420 is an ASIC configured to perform logical functions according to data stored in one or more registers of the electronic processor 420. In some configurations, the controller 405 includes additional, fewer, or different components.

[0029] As mentioned above, in some examples, the low displacement vehicle pedal assembly 100 does not include its own controller. For example, FIG. 5 shows a block diagram of a control system 500 in which the low displacement vehicle pedal assembly 100 does not include its own controller. As shown, the sensor 120 included in the pedal assembly 100 is electrically connected directly to a controller within the vehicle, such as a vehicle control unit 410 located outside the body or housing of the pedal assembly 100. In such a case, the vehicle control unit 410 includes an electronic processor 505 configured to execute software stored in memory 510 and used to emulate the mechanical hysteresis effects of the vehicle pedal.

[0030] It should be understood that in some examples, the electronic processor 505 and memory 510 are similar in implementation and / or operation to the electronic processor 420 and memory 425 described above. Further, it should be understood that in some examples, the vehicle control unit 410, the electronic processor 505, and / or the memory 510 are configured to perform functions described herein as being performed by the controller 405, the electronic processor 420, and / or the memory 425. Thus, any function described herein as being performed by the controller 405, the electronic processor 420, and / or the memory 425 included in the vehicle pedal assembly 100 may also be performed by the vehicle control unit 410, the electronic processor 505, and / or the memory 510.

[0031] The controller 405 is configured to receive an electrical signal from the sensor 120 indicative of an amount of force applied to the pedal 100. The controller 405 is also configured to determine the amount of force applied to the pedal 100 based on the received signal and generate an output signal for controlling the vehicle according to the emulated mechanical hysteresis effect. For example, the controller 405 is configured to generate and provide to the vehicle control unit 410 an output signal for controlling the driving power output and / or the braking power output of the vehicle according to the emulated mechanical hysteresis effect. In some examples, the vehicle control unit 410 is an ECU configured to control a power output of an engine (not shown) based on the output signal received from the controller 405. In some examples, the vehicle control unit 410 is an MCU configured to control a power output of a motor (not shown) based on the output signal received from the controller 405. In some examples, the vehicle control unit 410 is a brake controller configured to control the operation of a brake (not shown) based on the output signal received from the controller 405.

[0032] It should be appreciated by those skilled in the art that in some examples generating an output signal for controlling a vehicle and providing the output signal to the vehicle control unit 410 includes generating and providing at least two copies of the output signal to the vehicle control unit 410. In such cases, two copies of the same output signal are generated by the controller 405 and provided to the vehicle control unit 410 to increase the reliability of the pedal 100. That is, the redundant output signals generated by the controller 405 and provided to the vehicle control output unit 410 reduce the likelihood of an error occurring that would cause imprecise control of the vehicle. Thus, although the output signal generated by the pedal (peal) 100 for controlling a vehicle is described herein as a single output signal, it should be appreciated that the description of generating and providing a single output signal to the vehicle control unit 410 in some examples is also applicable to examples in which one or more redundant copies of the output signal are generated and provided to the vehicle control unit 410.

[0033] FIG. 6 illustrates an example mechanical hysteresis effect 600 modeled as a hysteresis loop or window. As described above, the controller 405 is configured to emulate the mechanical hysteresis effect 600 during operation of the vehicle. In the illustrated example, the mechanical hysteresis effect 600 is represented as a relationship between the force applied to the pedal 100 and the value of an output signal generated by the controller 405. More specifically, the mechanical hysteresis effect 600 is a function of the force applied to the pedal 100 by the vehicle driver. In operation, the controller 405 generates an output signal for controlling the output power (e.g., drive power or braking power) of the vehicle in accordance with emulating the mechanical hysteresis effect 600. It should be understood that the numerical values ​​illustrated in FIG. 6 are provided by way of example only and other implementations may use values ​​different from those illustrated.

[0034] In the illustrated example, the value of the output signal generated by the controller 405 is a percentage of the operating voltage of the controller 405 (e.g., 5V). For example, the controller 405 is configured to generate an output signal having a voltage value that is a first percentage (e.g., 30%) of the operating voltage of the controller 405 when a first force (e.g., 0 N) is applied to the pedal 100. In such an example, the output signal is provided to a vehicle control unit 410 configured to control the output power of the vehicle according to the voltage value of the output signal. As another example, the controller 405 is configured to generate an output signal having a voltage value that is a different percentage (e.g., 70%) of the voltage of the controller 405 when the force exerted on the pedal 100 changes (e.g., when the force is increased to 35 N). In such an example, the output signal is provided to a vehicle control unit 410 configured to control the output power of the vehicle according to the voltage value of the output signal.

[0035] However, it should be understood that in some examples, the value of the output signal does not correspond to a percentage of the operating voltage of the controller 405. For example, in some examples, the output signal is a digital signal that includes data indicative of a target power output of the vehicle. In such examples, the output signal is provided to a vehicle control unit 410 that is configured to control the output power of the vehicle according to the data included in the output signal. In some examples, the output signal is implemented in other manners.

[0036] 6, arrows 605A-605E are shown to help explain the mechanical hysteresis effect 600 emulated by the controller 405. As shown, when little or no force is applied to the pedal 100 (e.g., when the vehicle is starting up or when the vehicle is idling), the controller 405 generates an output signal having a minimum output value 610. In the illustrated example, the minimum output value 610 is 30% of the voltage of the controller 405. However, in some examples, the minimum output value 610 is a different value. In some examples, the minimum output value 610 is a predetermined value stored in the memory 425. In some examples, the minimum output value 610 is configurable.

[0037] As the force applied to the pedal 100 increases from zero (e.g., the driver increases the pressing force applied to the pedal arm 110) as indicated by arrow 605A, the value of the output signal generated by the controller 405 remains at a minimum output value 610 until the force applied to the pedal 100 is increased to a first value, such as a pressing force threshold 615 (e.g., 21 N). The pressing force threshold 615 is a force value that crosses a pressing boundary 620 included in the model of the mechanical hysteresis effect 600. In some examples, the pressing force threshold 615 is a function of the value of the most recent output signal generated by the controller 405. For example, if the pressing boundary 620 is modeled as a linear function, such as the pressing boundary 620 shown in FIG. 6, the equation for determining the pressing force threshold 615 is expressed as Equation 1: TIFF2025510299000002.tif13169

[0038] The controller 405 is configured to determine the value of the pressing force threshold 615 using Equation 1. With respect to Equation 1, the current output (or current output / Current_Output), i.e., the current output value (or current output value), is the value of the most recent output signal generated by the controller 405. In some examples, the value of the most recent output signal generated by the controller 405 is stored in one or more registers of the electronic processor 420. In other examples, the value of the most recent output signal generated by the controller 405 is stored in the memory 425, in a RAM included in the memory 425, or the like. Pressing_B is a value representing an offset of the pressing boundary 620. In some examples, the value of Pressing_B is a predetermined value stored in the memory 425. In some examples, the value of Pressing_B is configurable. Pressing_M is the rate of change, i.e., slope, of the pressing boundary 620. In some examples, the value of Pressing_M is a predetermined value stored in the memory 425. In some examples, the value of Pressing_M is configurable.

[0039] As discussed above, Equation 1 is used to determine the value of the pressure threshold 615 when the pressure boundary 620 is modeled as a linear function. However, it should be understood that different equations and / or methods for determining the pressure threshold 615 are used when the pressure boundary 620 is not modeled as a linear function. For example, the controller 405 uses a different equation to determine the pressure threshold 615 when the pressure boundary 620 is modeled as a different type of function (e.g., a quadratic function, a logarithmic function, an exponential function, a table-valued function, a step function, etc.).

[0040] When the value of the force applied to the pedal 100 increases past the pressure threshold 615, as indicated by arrow 605B, the value of the output signal generated by the controller 405 is determined according to a pressure boundary 620. As shown, the pressure boundary 620 defines a portion of the window or loop of the mechanical hysteresis effect 600 emulated by the controller 405. Furthermore, the pressure boundary 620 is a function of the force applied to the pedal 100. The function defining the pressure boundary 620 may be used by the controller 405 to determine the value of the output signal provided to the vehicle control unit 410. In the illustrated example, the pressure boundary 620 is a linear function represented by Equation 2: TIFF2025510299000003.tif12169

[0041] 6 and represented as a linear function in Equation 2, it should be understood that in some examples the push boundary 620 is modeled as a different type of equation that defines the mechanical hysteresis effect 600 emulated by the controller 405. For example, in some examples the push boundary 620 is modeled as one or more of a quadratic function, a logarithmic function, an exponential function, a table-valued function, a step function, and / or any other suitable mathematical function.

[0042] As described above, the controller 405 is configured to use Equation 2 to determine the value of the output signal when the force applied to the pedal 100 increases past the pressure threshold 615. However, in some examples, the value of the output signal generated by the controller 405 is prevented from exceeding the maximum output value 625. That is, as the force applied to the pedal 100, and the corresponding output value determined by the controller 405, continues to increase, the value of the output signal generated by the controller 405 does not exceed the maximum output value 625. In some examples, the maximum output value 625 is a predetermined value stored in the memory 425. In some examples, the maximum output value 625 is configurable.

[0043] 6, when the force applied to the pedal 100 is equal to 40 N, the controller 405 is configured to determine an output value approximately equal to 85% of the operating voltage of the controller 405 using Equation 2. However, as shown, the maximum output value 625 is approximately 71.5% of the operating voltage of the controller 405. Thus, the controller 405 is further configured to determine that the output value determined using Equation 2 (e.g., 85%) exceeds the maximum output value 625. The controller 405 generates an output signal having a value equal to the maximum output value 625 (e.g., 71.5%) rather than a determined output value that exceeds the maximum output value 625 (e.g., 85%).

[0044] As further shown in the illustrated example of FIG. 6, in some examples, the maximum output value 625 corresponds to the maximum pressure threshold 630. In the illustrated example, the maximum pressure threshold 630 is 35 N. When the force applied to the pedal 100 increases past the maximum pressure threshold 630 (e.g., 35 N), the value of the output signal generated by the controller 405 is set to the maximum output value 625 (e.g., 71.5%). In some examples, the controller 405 is configured to determine the value of the maximum pressure threshold 630 using a function of the value of the most recent output signal generated by the controller 405. In some examples, the maximum pressure threshold 630 is a predetermined value stored in the memory 425. In some examples, the value of the maximum pressure threshold 630 is configurable.

[0045] 6, arrow 605C illustrates when the force applied to pedal 100 decreases from maximum pressure threshold 630 (e.g., the vehicle operator decreases the force applied to pedal 100 and / or releases the pedal). As the force applied to pedal 100 decreases from maximum pressure threshold 630, the value of the output signal generated by controller 405 remains at maximum output value 625 until the force applied to pedal 100 decreases to a second value (e.g., approximately 17 N), such as releasing force threshold 635. By maintaining the value of the output signal generated by controller 405 at maximum output value 625, the vehicle operator does not need to sustain a precise amount of force on pedal 100 to operate the vehicle at a constant speed or braking pressure, even if the force exerted on pedal 100 decreases slightly. Rather, when the vehicle operator applies a force to the pedal 100 that is within the range between the maximum press force threshold 630 and the release force threshold 635 , the controller 405 maintains the value of the generated output signal at the maximum output value 625 .

[0046] Similar to the application force threshold 615, the releasing force threshold 635 is the force value that crosses a releasing boundary 640 included in the model of the mechanical hysteresis effect 600. In some examples, the releasing force threshold 635 is a function of the most recent value of the output signal generated by the controller 405. For example, if the releasing boundary 640 is modeled as a linear function, such as the releasing boundary 640 shown in FIG. 6, then the equation for the releasing force threshold 635 is expressed as Equation 3: TIFF2025510299000004.tif13169

[0047] In operation, the controller 405 is configured to use Equation 3 to determine the value of the releasing force threshold 635. With respect to Equation 3, Current_Output, or the current output value, is the value of the most recent output signal generated by the controller 405. In some examples, the value of the most recent output signal generated by the controller 405 is stored in one or more registers of the electronic processor 420. In other examples, the value of the most recent output signal generated by the controller 405 is stored in the memory 425, in a RAM included in the memory 425, or the like. Releasing_B is a value that represents an offset of the releasing boundary 640. In some examples, the value of Releasing_B is a predetermined value that is stored in the memory 425. In some examples, the value of Releasing_B is configurable. Releasing_M is the rate of change, or slope, of the releasing boundary 640. In some examples, the value of Releasing_M is a predetermined value that is stored in the memory 425. In some examples, the value of Releasing_M is configurable.

[0048] As discussed above, Equation 3 is used to determine the value of the release force threshold 635 when the release boundary 640 is modeled as a linear function. However, it should be understood that when the release boundary 640 is not modeled as a linear function, a different equation and / or method is used to determine the release force threshold 635. For example, the controller 405 may be configured to use a different equation to determine the release force threshold 635 when the release boundary 640 is modeled as a different type of function (e.g., a quadratic function, a logarithmic function, an exponential function, a table-valued function, a step function, etc.).

[0049] When the value of the force applied to the pedal 100 decreases past the release force threshold 635, as indicated by arrow 605D, the value of the output signal generated by the controller 405 is determined according to a release boundary 640. As shown, the release boundary 640 defines (or defines) a portion of the window or loop of the mechanical hysteresis effect 600 that is emulated by the controller 405. In addition, the release boundary 640 is a function of the force applied to the pedal 100. The function defining the release boundary 640 may be used by the controller 405 to determine the value of the output signal provided to the vehicle control unit 410. In the illustrated example, the release boundary 640 is a linear function represented by Equation 4: TIFF2025510299000005.tif8169

[0050] 6 and represented as a linear function, it should be understood that in some examples the release boundary 640 is modeled as a different type of equation that defines the emulated mechanical hysteresis effect 600. For example, in some examples the release boundary 640 is modeled as one or more of a quadratic function, a logarithmic function, an exponential function, a table-valued function, a step function, and / or any other suitable mathematical function.

[0051] As discussed above, the controller 405 is configured to use Equation 4 to determine the value of the output signal when the force applied to the pedal 100 decreases past the release force threshold 635. However, in some examples, the value of the output signal generated by the controller 405 is prevented from falling below the minimum output value 610. That is, as the force applied to the pedal 100, and correspondingly, the suggestion value determined by the controller 405, continues to decrease, the value of the output signal generated by the controller 405 should not fall below the minimum output value 610.

[0052] 6, when the force applied to the pedal 100 decreases to 5 N, the controller 405 uses Equation 4 to determine an output value approximately equal to 0% of the operating voltage of the controller 405. However, as shown, the minimum output value 610 is approximately 30% of the voltage of the controller 405. Thus, the controller 405 also determines that the output value determined using Equation 4 (e.g., 0%) is less than the minimum output value 610. Thus, the controller 405 generates an output signal having a value equal to the minimum output value 610 (e.g., 30%) rather than the determined output value (e.g., 0%), which is less than the minimum output value 610.

[0053] As further shown in the illustrated example of FIG. 6, in some examples, the minimum output value 610 corresponds to a minimum release force threshold 645. In the illustrated example, the minimum release force threshold 645 is approximately 10 N. When the force applied to the pedal 100 decreases past the minimum release force threshold 645 (e.g., 10 N), as indicated by the arrow 605E, the value of the output signal generated by the controller 405 is set to the minimum output value 610 (e.g., 30%). In some examples, the controller 405 is configured to determine the value of the minimum release force threshold 645 as a function of the value of the most recent output signal generated by the controller 405. In some examples, the minimum release force threshold 645 is a predetermined value stored in the memory 425. In some examples, the value of the minimum release force threshold 645 is configurable.

[0054] While the above-described functions related to emulating the mechanical hysteresis effect 600 are generally described as being performed by the controller 405 included in the low displacement vehicle pedal assembly 100, it should be understood that in some examples one or more of the above-described functions are performed by the electronic processor 420 and / or the memory 425. Furthermore, it should be understood that in some examples one or more of the above-described functions related to emulating the mechanical hysteresis effect 600 are performed by the vehicle control unit 410, the electronic processor 505 included in the vehicle control unit 410, and / or the memory 510 included in the vehicle control unit 410.

[0055] 7 illustrates one exemplary method 700 for emulating mechanical hysteresis effects in a low displacement vehicle pedal assembly, such as pedal 100. Method 700 is described as being performed in part by controller 405. However, in some examples, some aspects of method 700 are performed by sensor 120, electronic processor 420 included in controller 405, and / or memory 425 included in controller 405. Similarly, in other examples, some aspects of method 700 are performed by sensor 120, vehicle control unit 410, electronic processor 505 included in vehicle control unit 410, and / or memory 510 included in vehicle control unit 410.

[0056] In block 705, the controller 405 determines a current output value, which is the value of the most recent output signal generated and provided to the vehicle control unit 410. As discussed above, the current output value is indicative of the current power output of the vehicle. In some examples, the controller 405 is configured to retrieve the current output value from a register included in the electronic processor 420 or from the memory 425. In some examples, such as when the vehicle is first started and / or is idling, the current output value is equal to the minimum output value 610. In some examples, the current output value is a different value.

[0057] In block 710, the controller 405 determines a value for the pressure threshold 615. In one example where the pressure boundary 620 is modeled as a linear function, the controller 405 is configured to determine the pressure threshold 615 by using Equation 1 above. In an example where the pressure boundary 620 is modeled as another type of function (e.g., a quadratic function, a logarithmic function, an exponential function, a table-valued function, a step function, etc.), the controller 405 is configured to determine the pressure threshold 615 using a different method.

[0058] In block 715, the controller 405 receives a signal from the sensor 120 indicative of the amount of force currently being applied to the pedal 100. In block 715, the controller 405 determines a value of the force applied to the pedal 100 based on the signal received from the sensor 120.

[0059] In block 720, the controller 405 determines whether the force value currently being applied to the pedal 100 exceeds the pressure threshold 615. If the controller 405 determines that the force being applied to the pedal 100 exceeds the pressure threshold 615, the controller 405 determines a proposed output value for controlling the vehicle (block 725). In one example where the pressure boundary 620 is modeled as a linear function, the controller 405 determines the proposed output value by using Equation 2 above. In examples where the pressure boundary 620 is modeled as another type of function (e.g., quadratic function, logarithmic function, exponential function, table-valued function, step function, etc.), the controller 405 uses a different method to determine the proposed output value.

[0060] At block 730, the controller 405 determines whether the proposed output value determined at block 725 exceeds the maximum output value 625. If the controller 405 determines that the proposed output value exceeds the maximum output value 625, the controller 405 sets the proposed output value equal to the maximum output value 625 (block 735).

[0061] In block 740, the controller 405 generates an output signal for controlling the output power of the vehicle. In one example, the controller 405 generates an output signal having a value equal to the current proposed output value. For example, if in block 730 the controller 405 determines that the proposed output value exceeds the maximum output value 625, the controller 405 generates an output signal having a value equal to the maximum output value 625 in block 740. Alternatively, if in block 730 the controller 405 determines that the proposed output value does not exceed the maximum output value 625, the controller 405 generates an output signal having a value equal to the proposed output value determined in block 725. The controller 405 is further configured to provide the generated output signal to the vehicle control unit 410 and return to block 710 of the method 700. In some examples, the controller 405 stores the value of the output signal generated in block 720 in a register(s) included in the electronic processor 420 and / or memory 425 as a current output value.

[0062] Referring to block 720, if the controller 405 determines that the force being applied to the pedal 100 does not exceed the depression force threshold 615, the controller 405 determines (block 745) the value of the release force threshold 635. In one example where the release boundary 640 is modeled as a linear function, the controller 405 determines the release force threshold 635 by using Equation 3 above. In examples where the release boundary 640 is modeled as another type of function (e.g., a quadratic function, a logarithmic function, an exponential function, a table-valued function, a step function, etc.), the controller 405 may be configured to determine the release force threshold 635 using a different method.

[0063] In block 750, the controller 405 determines whether the value of the force currently applied to the pedal 100 is less than the release force threshold 635. If the controller 405 determines that the force currently applied to the pedal 100 is greater than or equal to the release force threshold 635, the controller 405 generates an output signal having a value equal to the current output value (block 740). In the illustrated example, the controller 405 provides the generated output signal to the vehicle control unit 410 and returns to block 710 of the method 700. In some examples, the controller 405 stores the value of the output signal generated in block 720 in a register(s) included in the electronic processor 420 and / or memory 425 as a current output value.

[0064] If the controller 405 determines that the force being applied to the pedal 100 is less than the release force threshold 635, the controller 405 determines a proposed output value for controlling the vehicle (block 755). In one example where the release boundary 640 is modeled as a linear function, the controller 405 determines the proposed output value by using Equation 4 above. In examples where the release boundary 640 is modeled as another type of function (e.g., quadratic, logarithmic, exponential, table-valued, step, etc.), the controller 405 uses a different method to determine the proposed output value.

[0065] At block 760, the controller 405 is configured to determine whether the proposed output value determined at block 755 is less than the minimum output value 610. If the controller 405 determines that the proposed output value determined at block 755 is greater than or equal to the minimum output value 610, the controller 405 proceeds to block 740 and is configured to generate an output signal having a value equal to the proposed output value determined at block 755. The controller 405 is further configured to provide the generated output signal to the vehicle control unit 410 and return to block 710 of the method 700. In some examples, the controller 405 stores the value of the output signal generated at block 740 in a register(s) included in the electronic processor 420 and / or memory 425 as a current output value.

[0066] If the controller 405 determines that the proposed output value determined in block 755 is less than the minimum output value 610, then the controller 405 sets the proposed output value equal to the minimum output value 610 (block 765). In the illustrated example, the controller 405 proceeds to block 740 and generates an output signal having a value equal to the minimum output value 610. The controller 405 also provides the generated output signal to the vehicle control unit 410 and returns to block 710 of the method 700. In some examples, the controller 405 stores the value of the output signal generated in block 740 in a register(s) included in the electronic processor 420 and / or memory 425 as a current output value.

[0067] As discussed above, in one example, after the controller 405 generates and provides the output signal to the vehicle control unit at block 740 of the method 700, it returns to block 710 of the method 700. Thus, the controller 405 repeats the method 700 beginning at block 710. In some examples, the controller 405 is configured to repeatedly perform the method 700 at a rate of 100 Hertz (Hz). In some examples, the controller 405 is configured to repeatedly perform the method 700 at a rate of 1 kHz. In some examples, the controller 405 is configured to repeatedly perform the method 700 at a rate of 10 kHz. In some examples, the controller 405 is configured to repeatedly perform the method 700 at a rate of 1 MHz. In some examples, the controller 405 is configured to repeatedly perform the method 700 at different rates.

[0068] While "low displacement" is not specifically defined in the industry, one skilled in the art would understand that a conventional accelerator pedal has a displacement or travel of about 2.0 to 2.5 inches, or about 50 to 65 millimeters, with a displacement limit of about 3 inches, or about 75 millimeters. The present invention contemplates a low displacement or low travel for the accelerator pedal of about zero to 35 millimeters. Similarly, one skilled in the art would understand that a conventional brake pedal has a displacement or travel range of about 65 to 85 millimeters, with a limit of about 100 millimeters. The same low displacement implementations described herein for accelerator pedals also apply to brake pedals used in non-conventional electronic braking applications, where a low displacement pedal travels in the range of about zero to about 55 millimeters.

[0069] Specific examples have been described above. However, those skilled in the art will appreciate that various modifications and changes may be made without departing from the scope of the invention as set forth in the following claims. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of the present teachings.

[0070] Benefits, advantages, solutions to problems, and any elements that may cause or make any benefit, advantage, or solution more noticeable should not be construed as critical, necessary, or essential features or elements of any or all of the claims. The invention is defined solely by the appended claims, including any amendments made during the pendency of this application, and all equivalents of those claims as issued.

[0071] Additionally, unless the context of their usage clearly dictates otherwise, the articles "a" and "an" should not be construed as meaning "one" or "only one"; rather, these articles should be construed as meaning "at least one" or "one or more."

[0072] The Abstract of the Disclosure is provided to enable the reader to quickly ascertain the nature of the technical disclosure. It is to be understood that the Abstract is not used to interpret or limit the scope of the claims. Moreover, in the foregoing Detailed Description, it will be appreciated that various features have been grouped together in various examples for the purpose of streamlining the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the claimed examples require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive subject matter lies in less than all features of a single disclosed example. Thus, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as separately claimed subject matter.

Claims

1. Pedals and a sensor configured to sense a force applied to the pedal; an electronic processor connected to the sensor, the electronic processor comprising: determining a first output value; receiving a signal from the sensor indicative of the force applied to the pedal; determining a second output value based on the force applied to the pedal, the first output value, and a model defining mechanical hysteresis effects; A pedal assembly configured to generate an output signal for controlling the vehicle, the output signal corresponding to the second output value.

2. the electronic processor is housed within a body of the pedal assembly; The pedal assembly of claim 1 , wherein the electronic processor is further configured to provide the output signal to a vehicle control unit located outside the body of the pedal assembly.

3. the electronic processor being included in a vehicle control unit; The pedal assembly of claim 1 , wherein the vehicle control unit is disposed outside a body of the pedal assembly.

4. The pedal assembly of claim 1 , wherein the model of the mechanical hysteresis effect includes a first boundary defined by a linear function.

5. The pedal assembly of claim 4 , wherein the electronic processor is further configured to determine a force threshold based on the first output value and parameters of the linear function.

6. 6. The pedal assembly of claim 5, wherein the electronic processor is further configured to determine the second output value using the linear function if the first output value exceeds the force threshold, and the pedal is a low displacement pedal.

7. Pedals and a sensor configured to sense a force applied to the pedal; an electronic processor connected to the sensor, the electronic processor comprising: determining a first output value; determining a first threshold based on the first output value and a first parameter; receiving a signal from the sensor indicative of the force applied to the pedal; determining whether the force applied to the pedal exceeds the first threshold; determining a suggested output value if the force applied to the pedal exceeds the first threshold; determining whether the proposed output value exceeds a maximum output value; generating a first output signal for controlling the vehicle if the proposed power output value does not exceed the maximum power output value, the first output signal corresponding to the proposed power output value; A pedal assembly configured to generate a second output signal for controlling the vehicle when the proposed output value exceeds the maximum output value, the second output signal corresponding to the maximum output value.

8. The pedal assembly of claim 7 , wherein the first parameter is a rate of change of a first function defining a first boundary in a hysteresis loop.

9. The pedal assembly of claim 8 , wherein the electronic processor is further configured to determine the suggested output value using the first function.

10. The electronic processor further comprises: determining a second threshold value based on the first output value and a second parameter if the force applied to the pedal does not exceed the first threshold value; determining whether the force applied to the pedal is less than the second threshold; determining a second suggested output value if the force applied to the pedal is less than the second threshold; determining whether the second proposed output value is less than a minimum output value; generating a third output signal for controlling the vehicle when the second proposed output value is less than the minimum value, the third output signal corresponding to the minimum output value; 8. The pedal assembly of claim 7, configured to generate a fourth output signal for controlling the vehicle if the second suggested output value exceeds the minimum output value, the fourth output signal corresponding to the fourth suggested output value.

11. 11. The pedal assembly of claim 10, wherein the second parameter is a rate of change of a second function defining a second boundary within a hysteresis loop, and the pedal is a low displacement pedal.

12. The pedal assembly of claim 11 , wherein the electronic processor is further configured to determine the second proposed output value using the second function.

13. the electronic processor is housed within a body of the pedal assembly; The pedal assembly of claim 7 , wherein the electronic processor is further configured to provide the second output signal to a vehicle control unit located outside the body of the pedal assembly.

14. the electronic processor being included in a vehicle control unit; The pedal assembly of claim 7 , wherein the vehicle control unit is disposed outside a body of the pedal assembly.

15. 1. A method for emulating a mechanical hysteresis effect in a vehicle pedal assembly, the pedal assembly including a pedal, a sensor configured to sense a force applied to the pedal, and an electronic processor coupled to the sensor, the method comprising: determining, via said electronic processor, a first output value; determining, via the electronic processor, a first threshold value based on the first output value and a first parameter; receiving, via the electronic processor, a signal from the sensor indicative of the force applied to the pedal; determining, via the electronic processor, whether the force applied to the pedal exceeds the first threshold; determining, via the electronic processor, a suggested output value if the force applied to the pedal exceeds the first threshold; determining, via said electronic processor, whether said proposed output value exceeds a maximum output value; generating, via the electronic processor, a first output signal for controlling the vehicle if the proposed output value does not exceed the maximum output value, the first output signal corresponding to the proposed output value; and generating, via the electronic processor, a second output signal for controlling the vehicle if the proposed output value exceeds the maximum output value, the second output signal corresponding to the maximum output value.

16. 16. The method of claim 15, wherein the first parameter is a rate of change of a first function that defines a first boundary in a hysteresis loop.

17. The method of claim 16 further comprising the step of: determining, via the electronic processor, the proposed output value using the first function.

18. determining, via the electronic processor, a second threshold value based on the first output value and a second parameter if the force applied to the pedal does not exceed the first threshold value; determining, via the electronic processor, whether the force applied to the pedal is less than the second threshold; determining, via the electronic processor, a second suggested output value if the force applied to the pedal is less than the second threshold; determining, via the electronic processor, whether the second proposed output value is less than a minimum output value; generating, via the electronic processor, a third output signal for controlling the vehicle when the second proposed output value is less than the minimum value, the third output signal corresponding to the minimum output value; 16. The method of claim 15, further comprising: generating, via the electronic processor, a fourth output signal for controlling the vehicle if the second proposed output value exceeds the minimum output value, the fourth output signal corresponding to the second proposed output value.

19. 20. The method of claim 18, wherein the second parameter is a rate of change of a second function that defines a second boundary in the hysteresis loop.

20. 20. The method of claim 19, further comprising the step of determining, via the electronic processor, the second suggested output value using the second function, and wherein the pedal is a low displacement pedal.

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