Control system, sensor, control unit and terminal device

Abstract

A control system (2202), a sensor, a control unit, and a terminal device are provided. The control system (2202) includes a first control unit and a second control unit. Both the first control unit and the second control unit are connected to a sensor. The sensor includes a first detection module and a second detection module. The second control unit includes a sampling circuit. The sampling circuit includes a first channel and a second channel. The first channel is connected to the first detection module, and the second channel is connected to the second detection module. The second control unit acquires a first signal detected by the first detection module via the first channel, acquires a second signal detected by the second detection module via the second channel, and determines second pedal opening information based on the first signal and the second signal.

Description

[Technical Field]

[0001] [Related Applications] This application claims priority to Chinese Patent Application No. 202211229683.9, filed with the State Intellectual Property Office of the People's Republic of China on October 9, 2022, entitled "CONTROL SYSTEM, SENSING SYSTEM, SENSOR, CONTROLLER, AND TERMINAL DEVICE," which is incorporated herein by reference in its entirety.

[0002] [Technical field] The present application relates to the field of control technology, and in particular to control systems, sensors, controllers and terminal devices. [Background technology]

[0003] In the automotive field, the accelerator pedal is an important safety component that is directly related to the safety of the driver and passengers, so highly reliable accelerator pedal control is becoming increasingly important.

[0004] A current accelerator pedal control system (also known as an acceleration control system) is shown in Figure 1. When a driver depresses the accelerator pedal, an accelerator pedal position sensor detects accelerator pedal position information (which may further include the angle and position of the pedal when depressed), converts the accelerator pedal position information into an electrical signal, and transmits the electrical signal to a control unit via a cable or the like. The control unit processes the received electrical signal and signals transmitted from other related systems to obtain a control signal, transmits this control signal to an actuator, and controls the actuator to perform corresponding processing. However, if an error or malfunction occurs in the control unit of the acceleration control system during the signal processing process, the acceleration control system will be unable to output an accurate control signal, or the control unit will be unable to control the drive motor, resulting in a relatively high safety risk to vehicle operation.

[0005] In conclusion, how to improve the reliability of control systems is a technical issue that needs to be resolved urgently at present. Summary of the Invention [Problem to be solved by the invention]

[0006] The present application provides a control system, a sensor, a control unit, and a terminal device for improving the reliability of the control system. [Means for solving the problem]

[0007] According to a first aspect, the present application provides a control system. The control system includes a first control unit and a second control unit. The first control unit is connected to a sensor, and the second control unit is connected to the sensor. The sensor includes a first sensing module and a second sensing module. The second control unit includes a sampling circuit (e.g., a multi-connection differential sampling circuit). The sampling circuit includes a first channel and a second channel. The first channel is connected to the first sensing module, and the second channel is connected to the second sensing module. The second control unit acquires a first signal detected by the first sensing module via the first channel, acquires a second signal detected by the second sensing module via the second channel, and determines second pedal opening information based on the first signal and the second signal.

[0008] Based on the above solution, if a failure occurs in the first control unit, the second control unit takes over the operation of the first control unit and continues to operate, thereby avoiding single-point failures and improving the reliability of the control system. Furthermore, since the second control unit includes the first channel and the second channel, single-point failures can be avoided and the accuracy of the opening information (e.g., second opening information) obtained from the sensor can be improved.

[0009] In a possible implementation, the second control unit is further configured to send a second control signal to the actuator, and the second control signal is obtained based on the second opening degree information.

[0010] The second control unit can send a second control signal to the actuator and use the second control unit to control the actuator. For example, if a failure occurs in the first control unit, the second control unit can take over, which helps improve the reliability of the control system.

[0011] In a possible implementation, the first control unit is configured to acquire a first signal detected by the first detection module and a second signal detected by the second detection module, determine first pedal opening information based on the first signal and the second signal, and send a first control signal to the actuator, where the first control signal is based on the first opening information.

[0012] The first pedal opening information determined using the first control unit can further control the actuator.

[0013] In a possible implementation, the first channel includes a first analog to digital converter (ADC) and the second channel includes a second ADC.

[0014] Specifically, the first ADC includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal; The positive input terminal of the first ADC is connected to the first signal output terminal of the first sensing module, and the negative input terminal of the first ADC is connected to the first ground terminal of the first sensing module; The positive input terminal of the second ADC is connected to the second signal output terminal of the second sensing module, and the negative input terminal of the second ADC is connected to the second ground terminal of the second sensing module.

[0015] In a possible implementation, the second control unit further includes a first follower and a second follower, wherein the first ADC is connected to the first sensing module via the first follower, and the second ADC is connected to the second sensing module via the second follower.

[0016] The voltage follower has characteristics such as high input impedance (e.g., several megaohms) and low output impedance (e.g., several ohms). Therefore, the voltage follower can buffer and insulate the sensor. This helps to improve the load carrying capacity of the sensor and further helps to improve the accuracy of the second opening information obtained from the sensor by the second control unit.

[0017] In a possible implementation, the first control unit includes a first power supply, the second control unit includes a second power supply, and the first power supply is configured to supply power to the first follower and the second follower, or the second power supply is configured to supply power to the first follower and the second follower.

[0018] Since the first follower and the second follower are powered using the first power supply of the first control unit, the potential of the ground terminals of the first follower and the second follower is guaranteed to be the same as the potential of the ground terminal of the first control unit, and no additional potential difference occurs.

[0019] In a possible implementation, the first control unit includes a first power supply, and the second control unit includes a second power supply and a power supply detection module, and the power supply detection module is configured to detect when a failure occurs in the first power supply and switch to the second power supply to supply power to the first follower and the second follower.

[0020] The power supply detection module is used to ensure that after a failure occurs in the first power supply of the first control unit, the second power supply of the second control unit continues to supply power to the first follower and the second follower, allowing the first follower and the second follower to operate.

[0021] In one possible implementation, the control system further includes a first combiner module and a second combiner module, where the first controller includes a first power supply and the second controller includes a second power supply, the first combiner module is configured to control the first power supply or the second power supply to supply power to the first sensing module, and the second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module.

[0022] The redundant power supply to the first sensing module can be implemented using a first combiner module, and the redundant power supply to the second sensing module can be implemented using a second combiner module. If a failure occurs in the first control unit or if the second control unit is abnormal, the control system can still supply power to the sensor, further improving the reliability of the control system.

[0023] Specifically, the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to a first power source, a second end of the first switch is connected to a power source end of the first sensing module, a first end of the second switch is connected to a second power source, and a second end of the second switch is connected to a power source end of the first sensing module; and / or The second combiner module includes a third switch and a fourth switch, a first end of the third switch is connected to the first power supply, a second end of the third switch is connected to the power supply end of the second detection module, a first end of the fourth switch is connected to the second power supply, and a second end of the fourth switch is connected to the power supply end of the second detection module.

[0024] In a possible implementation, the first switch includes, for example, a first diode or a first chip, and / or the second switch includes, for example, a second diode or a second chip.

[0025] In a possible implementation, the first chip has coupling and anti-reverse functions and can provide two power sources for the first sensing module. In a possible implementation, the second chip has coupling and anti-reverse functions and can provide two power sources for the second sensing module.

[0026] In a possible implementation, the first combiner module, the second combiner module and the second control unit are integrated on the same printed circuit board, or At least two of the first combiner module, the second combiner module, and the second control unit are integrated on different printed circuit boards; or The first combiner module, the second combiner module, and the first control unit are integrated on the same printed circuit board; or At least two of the first combiner module, the second combiner module, and the first control unit are integrated on different printed circuit boards.

[0027] According to a second aspect, the present application provides a control unit. The control unit includes a sampling circuit. The sampling circuit includes a first channel and a second channel. The first channel is connected to a first detection module of a sensor, and the second channel is connected to a second detection module of the sensor. The control unit acquires a first signal detected by the first detection module via the first channel, acquires a second signal detected by the second detection module via the second channel, and determines second pedal opening information detected by the sensor based on the first signal and the second signal.

[0028] In a possible implementation, the control unit is further configured to send a second control signal to the actuator, the second control signal being obtained based on the second opening degree information.

[0029] In a possible implementation, the first channel includes a first ADC and the second channel includes a second ADC.

[0030] In a possible implementation, the first ADC includes a positive input and a negative input, and the second ADC includes a positive input and a negative input; The positive input terminal of the first ADC is connected to the first signal output terminal of the first sensing module, and the negative input terminal of the first ADC is connected to the first ground terminal of the first sensing module; The positive input terminal of the second ADC is connected to the second signal output terminal of the second sensing module, and the negative input terminal of the second ADC is connected to the second ground terminal of the second sensing module.

[0031] In a possible implementation, the control unit further includes a first follower and a second follower, wherein the first ADC is connected to the first sensing module via the first follower, and the second ADC is connected to the second sensing module via the second follower.

[0032] For the technical effects that can be achieved in either one of the two aforementioned aspects, please refer to the description of the advantageous effects in the first aspect, and the details will not be described again here.

[0033] According to a third aspect, the present application provides a control system. The control system includes a third control unit and a fourth control unit. The third control unit is connected to a sensor, and the fourth control unit is connected to the sensor. The third control unit, the fourth control unit, and the sensor are connected to each other and then grounded.

[0034] Based on the above solution, the third control unit, the fourth control unit, and the sensor are connected to each other and then grounded, so that the ground offset can be eliminated while maintaining compatibility with the existing control structure, and the control accuracy and reliability of the control system can be improved. Furthermore, the third control unit, the fourth control unit, and the sensor are connected to each other and then grounded, so that the flexibility of the component layout of the entire vehicle can be improved.

[0035] In one possible implementation, the control system further includes a first combiner module and a second combiner module, the third controller includes a third power supply, the fourth controller includes a fourth power supply, and the sensor includes a first sensing module and a second sensing module, the first combiner module is configured to control the third power supply or the fourth power supply to supply power to the first sensing module, and the second combiner module is configured to control the third power supply or the fourth power supply to supply power to the second sensing module.

[0036] In a possible implementation, the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to a third power source, a second end of the first switch is connected to a power source end of the first sensing module, a first end of the second switch is connected to a fourth power source, and a second end of the second switch is connected to a power source end of the first sensing module; and / or The second combiner module includes a third switch and a fourth switch, a first end of the third switch is connected to a third power supply, a second end of the third switch is connected to a power supply end of the second detection module, a first end of the fourth switch is connected to a fourth power supply, and a second end of the fourth switch is connected to a power supply end of the second detection module.

[0037] In a possible implementation, the first switch includes a first diode or a first chip, and / or the second switch includes a second diode or a second chip.

[0038] In a possible implementation, the first chip has coupling and anti-reverse functions and can provide two power sources for the first sensing module. In a possible implementation, the second chip has coupling and anti-reverse functions and can provide two power sources for the second sensing module.

[0039] In a possible implementation, the first combiner module, the second combiner module and the third control unit are integrated on the same printed circuit board, or At least two of the first combiner module, the second combiner module, and the third control unit are integrated on different printed circuit boards; or The first combiner module, the second combiner module, and the fourth control unit are integrated on the same printed circuit board; or At least two of the first combiner module, the second combiner module, and the fourth control unit are integrated on different printed circuit boards.

[0040] For the technical effects that can be achieved in any one of the above three aspects, please refer to the description of the advantageous effects in the first aspect, and the details will not be described again here.

[0041] According to a fourth aspect, the present application provides a sensor. The sensor includes a first sensing module, a second sensing module, and a processing module. A first end of the processing module is connected to the first sensing module. A second end of the processing module is connected to the second sensing module. A third end and a fourth end of the processing module are connected to a third controller. The first sensing module and the second sensing module are grounded. The processing module is configured to process a first signal detected by the first sensing module into a first digital signal or a first I / O (input / output) bus signal, and transmit the first digital signal or the first I / O bus signal to the third controller via the third end of the processing module, and to process a second signal detected by the second sensing module into a second digital signal or a second I / O bus signal, and transmit the second digital signal or the second I / O bus signal to the third controller via the fourth end of the processing module.

[0042] Based on the above solution, a processing module is integrated into the sensor, and the processing module processes the first signal detected by the first sensing module and the second signal detected by the second sensing module, thereby improving the anti-interference performance of the signal output by the sensor. Furthermore, the processing module facilitates the connection between the sensor and different control units, helping to reduce the amount of cables between the sensor and the control unit.

[0043] In a possible implementation, the processing module includes a third ADC or a fifth MCU.

[0044] In a possible implementation, the third and fourth ends of the processing module are further connected to a fourth controller.

[0045] The processing module is separately connected to the third and fourth controllers so as to improve the reliability of the signals sent to the control system.

[0046] In a possible implementation, the first sensing module is connected to the first switch and the second switch of the first combiner module, and the second sensing module is connected to the third switch and the fourth switch of the second combiner module.

[0047] The redundant power supply to the first sensing module can be implemented using a first combiner module, and the redundant power supply to the second sensing module can be implemented using a second combiner module. If a failure occurs in the first control unit or if the second control unit is abnormal, the control system can still supply power to the sensor, further improving the reliability of the control system.

[0048] In a possible embodiment, the sensor further includes a first combiner module and / or a second combiner module, wherein the first combiner module is configured to control the third power supply of the third control unit or the fourth power supply of the fourth control unit to supply power to the first detection module, and the second combiner module is configured to control the third power supply or the fourth power supply to supply power to the second detection module.

[0049] Specifically, the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to a third power source, a second end of the first switch is connected to a power supply end of the first sensing module, a first end of the second switch is connected to a fourth power source, and a second end of the second switch is connected to a power supply end of the first sensing module; and / or The second combiner module includes a third switch and a fourth switch, a first end of the third switch is connected to a third power supply, a second end of the third switch is connected to a power supply end of the second detection module, a first end of the fourth switch is connected to a fourth power supply, and a second end of the fourth switch is connected to a power supply end of the second detection module.

[0050] In a possible implementation, the first switch includes a first diode or a first chip, and / or the second switch includes a second diode or a second chip.

[0051] In a possible implementation, the first chip has coupling and anti-reverse functions and can provide two power sources for the first sensing module. In a possible implementation, the second chip has coupling and anti-reverse functions and can provide two power sources for the second sensing module.

[0052] According to a fifth aspect, the present application provides a sensor. The sensor includes a first sensing module, a second sensing module, a first combiner module, and a second combiner module. The first combiner module is connected to the first sensing module, and the second combiner module is connected to the second sensing module. The first combiner module is further connected to a first controller and a second controller. The second combiner module is further connected to the first controller and the second controller. The first combiner module is configured to control a first power supply of the first controller or a second power supply of the second controller to supply power to the first sensing module. The second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module. Alternatively, the first combiner module is further connected to a third controller and a fourth controller, and the second combiner module is further connected to the third controller and the fourth controller. The first combiner module is configured to control the third power supply of the third control unit or the fourth power supply of the fourth control unit to supply power to the first sensing module, and the second combiner module is configured to control the third power supply or the fourth power supply to supply power to the second sensing module.

[0053] The redundant power supply to the first sensing module can be implemented using a first combiner module, and the redundant power supply to the second sensing module can be implemented using a second combiner module. When a failure occurs in the first control unit or when the second control unit is abnormal, the control system can still supply power to the sensor, further ensuring the reliability of the power supply to the sensor.

[0054] In a possible implementation, the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to a first power source, a second end of the first switch is connected to a power source end of the first sensing module, a first end of the second switch is connected to a second power source, and a second end of the second switch is connected to a power source end of the first sensing module; and / or The second combiner module includes a third switch and a fourth switch, a first end of the third switch is connected to the first power supply, a second end of the third switch is connected to the power supply end of the second detection module, a first end of the fourth switch is connected to the second power supply, and a second end of the fourth switch is connected to the power supply end of the second detection module.

[0055] In a possible implementation, the first switch includes a first diode or a first chip, and / or the second switch includes a second diode or a second chip.

[0056] In a possible implementation, the first chip has coupling and anti-reverse functions and can provide two power sources for the first sensing module. In a possible implementation, the second chip has coupling and anti-reverse functions and can provide two power sources for the second sensing module.

[0057] According to a sixth aspect, the present application provides a control system, the control system including a third controller connected to a third end and a fourth end of a processing module of a sensor, the third controller configured to receive a first digital signal from the third end of the processing module, receive a second digital signal from the fourth end of the processing module, and send a second control signal to an actuator, the second control signal being determined based on the first digital signal and the second digital signal; or The third control unit is configured to receive a first I / O bus signal from a third end of the processing module, receive a second I / O bus signal from a fourth end of the processing module, and send a third control signal to the actuator, where the third control signal is determined based on the first I / O bus signal and the second I / O bus signal.

[0058] In a possible implementation, the control system further includes a fourth controller, the fourth controller being connected to the third end and the fourth end of the processing module, the fourth controller being configured to receive a first digital signal from the third end of the processing module, a second digital signal from the fourth end of the processing module, and send a third control signal to the actuator when a fault occurs in the third controller, the third control signal being determined based on the first digital signal and the second digital signal; or The third control unit is configured to receive a first I / O bus signal from a third end of the processing module, receive a second I / O bus signal from a fourth end of the processing module, and send a fourth control signal to the actuator, where the third control signal is determined based on the first I / O bus signal and the second I / O bus signal.

[0059] For technical effects that can be achieved in any one of the above-mentioned sixth aspects, please refer to the description of the advantageous effects in the fifth aspect, and the details will not be described again here.

[0060] According to a seventh aspect, the present application provides a control system. The control system includes a first combiner module and a second combiner module. The first combiner module is connected to a first sensing module of a sensor, and the second combiner module is connected to a second sensing module of the sensor. The first combiner module is further connected to a first controller and a second controller. The second combiner module is further connected to the first controller and the second controller. The first combiner module is configured to control a first power supply of the first controller or a second power supply of the second controller to supply power to the first sensing module. The second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module. Alternatively, the first combiner module is further connected to a third controller and a fourth controller, and the second combiner module is further connected to the third controller and the fourth controller. The first combiner module is configured to control a third power supply of the third controller or a fourth power supply of the fourth controller to supply power to the first sensing module. The second combiner module is configured to control the third power source or the fourth power source to provide power to the second sensing module.

[0061] Based on the above solution, the redundant power supply to the first sensing module can be implemented using a first combiner module, and the redundant power supply to the second sensing module can be implemented using a second combiner module. When a failure occurs in the first control unit or when the second control unit is abnormal, the control system can still supply power to the sensor, thereby further improving the reliability of the control system.

[0062] In a possible implementation, the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to a first power source, a second end of the first switch is connected to a power source end of the first sensing module, a first end of the second switch is connected to a second power source, and a second end of the second switch is connected to a power source end of the first sensing module; and / or The second combiner module includes a third switch and a fourth switch, a first end of the third switch is connected to the first power supply, a second end of the third switch is connected to the power supply end of the second detection module, a first end of the fourth switch is connected to the second power supply, and a second end of the fourth switch is connected to the power supply end of the second detection module.

[0063] In a possible implementation, the first switch includes a first diode or a first chip, and / or the second switch includes a second diode or a second chip.

[0064] In a possible implementation, the first chip has coupling and anti-reverse functions and can provide two power sources for the first sensing module. In a possible implementation, the second chip has coupling and anti-reverse functions and can provide two power sources for the second sensing module.

[0065] According to an eighth aspect, the present application provides a sensing system. The sensing system includes a first sensor and a second sensor. The first sensor includes a first sensing module and a second sensing module. The second sensor includes a third sensing module and a fourth sensing module. The first sensing module and the second sensing module are both connected to a third controller. The third sensing module and the fourth sensing module are both connected to a fourth controller. The first sensing module is configured to detect a pedal, obtain a first signal, and transmit the first signal to the third controller. The second sensing module is configured to detect a pedal, obtain a second signal, and transmit the second signal to the third controller. The third sensing module is configured to detect a pedal, obtain a third signal, and transmit the third signal to the fourth controller. The fourth sensing module is configured to detect a pedal, obtain a fourth signal, and transmit the fourth signal to the fourth controller.

[0066] Based on the above solution, two sets of independent sensors may be integrated into the detection system and independently connected to different controllers. Specifically, the first sensor is connected to the first controller, and the second sensor is connected to the second controller. The dual connection between the first controller (a conventional vehicle control component) and the second controller (a controller used for highly automated driving) creates a redundancy mechanism. Therefore, even if the first controller is abnormal, the second controller can still maintain control functions (e.g., acceleration control). The control system can integrate manual driving functions in cooperation with functional modules such as brakes. Sampling is not affected by ground offset, allowing for more flexibility in the overall vehicle component layout.

[0067] According to a ninth aspect, a control system is provided. The control system includes a third controller and a fourth controller. The third controller is connected to the first sensing module and the second sensing module of the first sensor. The fourth controller is connected to the third sensing module and the fourth sensing module of the second sensor. The third controller is configured to receive a first signal from the first sensing module, a second signal from the second sensing module, and transmit a third control signal to the actuator, the third control signal being generated based on the first and second signals. Alternatively, the fourth controller is configured to receive a third signal from the third sensing module, a fourth signal from the fourth sensing module, and transmit a fourth control signal to the actuator, the fourth control signal being generated based on the third and fourth signals.

[0068] In a possible implementation, the third control unit includes a third power source and a fifth power source, the fourth control unit includes a fourth power source and a sixth power source, the third power source is configured to supply power to the first detection module, the fifth power source is configured to supply power to the second detection module, the fourth power source is configured to supply power to the third detection module, and the sixth power source is configured to supply power to the fourth detection module.

[0069] For technical effects that can be achieved in any one of the above nine aspects, please refer to the description of the advantageous effects in the eighth aspect, and the details will not be described again here.

[0070] According to a tenth aspect, the present application provides a terminal device, the terminal device including a vehicle frame and a control system according to any one of the first aspect or any of the implementations of the first aspect, the third aspect or any of the implementations of the third aspect, the sixth aspect or any of the implementations of the sixth aspect, or the seventh aspect or any of the implementations of the seventh aspect. The control system is fixed to the vehicle frame.

[0071] In a possible implementation, the terminal device further includes a sensor, which includes a first detection module and a second detection module. [Brief explanation of the drawings]

[0072] [Figure 1] FIG. 1 is a structural diagram of a system for controlling an accelerator pedal in the prior art.

[0073] [Figure 2] 1 is a diagram of an example of a specific application scenario of the control system.

[0074] [Figure 3] 1 is a schematic circuit diagram of a control system according to the present application.

[0075] [Figure 4] FIG. 2 is a diagram of the structure of a control system according to an embodiment of the present application.

[0076] [Figure 5A] FIG. 2 is a diagram of the structure of the second control unit of the present application.

[0077] [Figure 5B] FIG. 10 is a diagram showing the structure of another second control unit of the present application.

[0078] [Figure 5C]FIG. 10 is a diagram showing the structure of another second control unit of the present application.

[0079] [Figure 5D] FIG. 10 is a diagram showing the structure of another second control unit of the present application.

[0080] [Figure 6] FIG. 2 is a diagram of the structure of the first control unit of the present application.

[0081] [Figure 7A] 1 is a diagram of the structure of the first combiner module of the present application.

[0082] [Figure 7B] FIG. 10 is a diagram of the structure of another first combiner module of the present application.

[0083] [Figure 8] 1 is a diagram of the structure of a sensor with the present redundant design.

[0084] [Figure 9A] FIG. 1 is a diagram of the structure of the control system of the present application.

[0085] [Figure 9B] FIG. 1 is a diagram of the structure of the control system of the present application.

[0086] [Figure 10] FIG. 1 is a diagram of the structure of the follower of the present application.

[0087] [Figure 11] FIG. 10 is a diagram of yet another control system architecture of the present application.

[0088] [Figure 12] FIG. 10 is a diagram of yet another control system architecture of the present application.

[0089] [Figure 13] FIG. 10 is a diagram of yet another sensor structure of the present application.

[0090] [Figure 14A] FIG. 10 is a diagram of yet another control system architecture of the present application.

[0091] [Figure 14B] FIG. 10 is a diagram of yet another control system architecture of the present application.

[0092] [Figure 15] FIG. 10 is a diagram of yet another control system architecture of the present application.

[0093] [Figure 16A] FIG. 10 is a diagram of yet another control system architecture of the present application.

[0094] [Figure 16B] FIG. 10 is a diagram of yet another control system architecture of the present application.

[0095] [Figure 17] FIG. 1 is a diagram of the structure of the control system of the present application.

[0096] [Figure 18] 1 is a diagram of the structure of the detection system of the present application;

[0097] [Figure 19] FIG. 10 is a diagram of yet another control system architecture of the present application.

[0098] [Figure 20A] FIG. 10 is a diagram of yet another control system architecture of the present application.

[0099] [Figure 20B] FIG. 10 is a diagram of yet another control system architecture of the present application.

[0100] [Figure 21] 1 is a diagram of the structure of the sensor of the present application.

[0101] [Figure 22] FIG. 1 is a functional block diagram of an example vehicle of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0102] Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0103] The following describes possible application scenarios of this application.

[0104] In a possible application scenario, the control system of the present application may be integrated into a means of transportation. The means of transportation includes, but is not limited to, a vehicle. The vehicle may be, for example, an unmanned vehicle, an intelligent vehicle, an electric vehicle, or a digital vehicle. Specifically, the control system may be a pedal control system in the vehicle. The pedal control system may be configured to control the speed of the vehicle. The above application scenario may be applied to fields such as automated driving, autonomous driving, assisted driving, intelligent driving, and connected vehicles.

[0105] FIG. 2 illustrates an example of a specific application scenario of the control system. In this scenario, the pedal sensor is separately connected to a first control unit and a second control unit, which are two different components. The first control unit is primarily used for manual driving, and the second control unit is primarily used for autonomous driving. Signals detected by the pedal sensor are synchronously input to the first control unit and the second control unit, allowing for negotiation and control of the first and second control units in different scenarios. For example, if the first control unit malfunctions, the second control unit takes over. It should be understood that the above application scenario is merely an example. The control system provided herein may be further applied to other possible scenarios and is not limited to the scenario illustrated in the above example.

[0106] Please refer to Figure 3 for a specific circuit diagram of Figure 2. There is a potential difference ΔV between the potential of the ground terminal (ground, GND) 1 of the first control unit and the potential of the ground terminal GND2 of the second control unit. This potential difference can be called a ground offset, and its maximum value is ±1V. If the pedal sensor is directly connected to the first and second control units, it is equivalent to directly shorting the ground terminal GND1 of the first control unit and the ground terminal GND2 of the second control unit. As a result, a dynamic voltage difference ΔV exists between the ground terminal GND1 of the first control unit and the ground terminal GND2 of the second control unit, and a voltage drop mainly occurs in the low-impedance ground cable, resulting in V 12 , V 34 , V 56 Therefore, the first control unit and the second control unit cannot accurately obtain the signal detected by the pedal sensor.

[0107] In view of this, the present invention provides a control system that can achieve high reliability with a simple circuit.

[0108] Based on the above, the control system according to the present invention will be specifically described below with reference to the drawings.

[0109] Embodiment 1 FIG. 4 is a diagram of the structure of a control system according to an embodiment of the present application. The control system may include a first controller and a second controller. The first controller is connected to a sensor, and the second controller is connected to the sensor. The sensor includes a first sensing module and a second sensing module. The second controller includes a sampling circuit (e.g., a multi-connection differential sampling circuit). The sampling circuit includes a first channel and a second channel. The first channel is connected to the first sensing module, and the second channel is connected to the second sensing module. The second controller acquires a first signal detected by the first sensing module via the first channel, acquires a second signal detected by the second sensing module via the second channel, and determines second pedal position information based on the first signal and the second signal.

[0110] In a possible implementation, the second control unit is further configured to send a second control signal to the actuator to control the actuator to perform a corresponding operation, and the second control signal is obtained based on the second opening information.

[0111] In a possible implementation, the first control unit is configured to acquire a first signal detected by the first detection module and a second signal detected by the second detection module, determine first pedal opening information based on the first signal and the second signal, and send a first control signal to the actuator to control the actuator to perform a corresponding operation, and the first control signal is acquired based on the first opening information.

[0112] Based on the above control system, if a failure occurs in the first control unit, the second control unit takes over the operation of the first control unit and continues operation, thereby avoiding single-point failure and improving the reliability of the control system. In addition, since the second control unit includes a first channel and a second channel, single-point failure can be avoided and the problem of inaccurate second opening information obtained from the sensor by the first control unit and the second control unit due to ground offset can be further solved.

[0113] Below, we will explain the functional structure shown in Figure 4 individually as an example of a specific implementation solution.

[0114] 1. Second control section

[0115] FIG. 5A is a diagram of the structure of the second control unit of the present application. The second control unit includes a second control unit, which includes a sampling circuit. In this example, the sampling circuit is a dual-connected differential sampling circuit. Specifically, the sampling circuit includes a first channel and a second channel, where the first channel is configured to connect to the first sensing module and the second channel is configured to connect to the second sensing module. Optionally, the second control unit further includes a second power supply, which is configured to supply power to the second control unit. The first channel includes a first ADC, and the second channel includes a second ADC. The first ADC further includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal.

[0116] In possible implementations, the second control unit may include, for example, but is not limited to, a microcontroller unit (MCU) (also called a single-chip microcomputer), a field programmable gate array (FPGA), or a system on chip (SOC) integrating an image signal processor (ISP).

[0117] In a possible implementation, the second power supply may include, for example, but not limited to, a low-dropout regulator (LDO). Using an LDO can provide a stable DC voltage. In addition, an LDO can operate under a relatively small difference between the output voltage and the input voltage, which helps improve the accuracy of input signal detection.

[0118] FIG. 5B is a diagram of the structure of another second control unit of the present application. The second control unit includes a second control unit, a first follower, and a second follower. The second control unit includes a first ADC and a second ADC. The first ADC includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal. The two input terminals of the first follower are configured to be connected to the first signal terminal and the first ground terminal of the first sensing module, respectively. The output terminal of the first follower is connected to the positive input terminal of the first ADC. The negative input terminal of the first ADC is configured to be connected to the first ground terminal of the first sensing module. The two input terminals of the second follower are configured to be connected to the second signal terminal and the second ground terminal of the second sensing module, respectively. The output terminal of the second follower is connected to the positive input terminal of the second ADC. The negative input terminal of the second ADC is connected to the second ground terminal of the second sensing module.

[0119] FIG. 5C is a diagram of another second control unit structure of the present application. The second control unit includes a second control unit, a first follower, a second follower, a first resistor network, a second resistor network, a third resistor network, and a fourth resistor network. The first resistor network includes three series-parallel resistors (i.e., resistor R1, resistor R2, and resistor R3). The second resistor network includes three series-parallel resistors. The first signal output terminal 1 of the first sensing module is connected to the positive input terminal of the first ADC via the first resistor network. The first ground terminal 5 of the first sensing module is connected to the negative input terminal of the first ADC via the third resistor network. The second signal output terminal 4 of the second sensing module is connected to the positive input terminal of the second ADC via the second resistor network. The second ground terminal 6 of the second sensing module is connected to the negative input terminal of the second ADC via the fourth resistor network. For other connection relationships, please refer to the description of FIG. 5B. Details will not be repeated here. The first resistor network is configured to boost the voltage of the first signal from the first sensing module, the second resistor network is configured to boost the voltage of the second signal from the second sensing module, the third resistor network is configured to boost the voltage of the first ground signal from the first sensing module, and the fourth resistor network is configured to boost the voltage of the second ground signal from the second sensing module.

[0120] The first, second, third, and fourth resistor networks may be four identical resistor networks. The identical resistor networks include the same resistor network structure and the same resistor values. Specifically, the structures of the first, second, and third resistor networks are identical. The resistors R1, R1, R1 of the first, second, third, and fourth resistor networks are identical. The resistors R2, R2 of the first, second, third, and fourth resistor networks are identical. The resistors R3, R3 of the first, second, third, and fourth resistor networks are identical. The above-described resistor network configurations are merely examples. For the structure of the resistor networks, see FIG. 5D. Specifically, the resistor R2 in FIG. 5C may be replaced with a current source.

[0121] 2. First control section

[0122] FIG. 6 is a diagram of the structure of the first control unit of the present application. The first control unit includes a first control unit and a first power supply, and the first power supply is configured to supply power to the first control unit. For possible structures of the first control unit, please refer to the above description of the second control unit. Details will not be described again here. The first power supply can include, for example, but is not limited to, an LDO. It should be understood that the first control unit can include two or more first power supplies, which is not a limitation in the present application.

[0123] In this application, the control system may further include a combiner module, see below for details.

[0124] 3. Combiner module

[0125] In a possible implementation, the control system further includes a first combiner module and a second combiner module. The first combiner module is configured to control the first power supply or the second power supply to supply power to the first sensing module. The second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module. Furthermore, the power supplies supplying power to the first sensing module and the second sensing module belong to the same controller. For example, the first controller includes two first power supplies, a first power supply A and a first power supply B. The first power supply A supplies power to the first sensing module, and the first power supply B supplies power to the second sensing module, and the first power supply A and the first power supply B are two independent power supplies of the first controller. As another example, the second controller includes two second power supplies, a second power supply A and a second power supply B. The second power supply A supplies power to the first sensing module, and the second power supply B supplies power to the second sensing module, and the second power supplies A and the second power supplies B are two independent power supplies. Redundant power supply to the first sensing module can be implemented using a first combiner module, and redundant power supply to the second sensing module can be implemented using a second combiner module, further improving the reliability of the control system.

[0126] Specifically, the first power supply of the first control unit supplies power to the first detection module and the second detection module by default. If the first MCU in the first control unit detects that the first power supply has failed, the first MCU sends instruction information to the second MCU in the second control unit, and the second MCU in the second control unit receives the instruction information and controls the second power supply to supply power to the first detection module and the second detection module. Alternatively, the first power supply of the first control unit supplies power to the first detection module and the second detection module by default. The second control unit further includes a power supply detection module (as shown in FIG. 9B ). The power supply detection module is configured to detect whether the first power supply has failed. If a failure of the first power supply is detected, the power supply detection module sends instruction information to the second MCU, and the second MCU switches to using the second power supply to supply power to the first detection module and the second detection module based on the instruction information.

[0127] In addition, the first power supply that supplies power to the first detection module and the second detection module may be two independent first power supplies of the first control unit, and the second power supply that supplies power to the first detection module and the second detection module may be two independent second power supplies of the second control unit.

[0128] For example, the first combiner module includes a first switch and a second switch, and the first switch includes, for example, a first diode, a first metal-oxide-semiconductor field-effect transistor (MOSFET) (which may be abbreviated as a MOS transistor), or a first chip. The first chip may also be called a first combiner chip. The first chip has a coupling function and an anti-reverse function. The coupling function of the first chip means that the first chip may provide two power sources for the first sensing module. The anti-reverse function of the first chip means that current is prevented from flowing from the sensor to the first controller. The second switch includes a second diode, a second MOS transistor, or a second chip. The first chip may also be called a second combiner chip. The second chip has a coupling function and an anti-reverse function. The coupling function of the second chip means that the second chip may provide two power sources for the second sensing module. The anti-reverse function of the second chip means that current is prevented from flowing from the sensor to the second controller. The second combiner module includes a third switch and a fourth switch. For the third switch, see the description of the first switch. For the fourth switch, see the description of the second switch. Details will not be described again here. Note that the structures of the first combiner module and the second combiner module may be the same or different.

[0129] FIG. 7A uses an example in which the first combiner module includes a first diode and a second diode to explain the structure of the first combiner module. When the first diode is controlled to be conductive, a first power supply of the first control unit can supply power to the first sensing module. When the second diode is controlled to be conductive, a second power supply of the second control unit can supply power to the first sensing module. The first diode and the second diode may be the same or different. This is not a limitation in the present application.

[0130] 7B uses an example in which the first combiner module includes a first MOS transistor and a second MOS transistor. When the first MOS transistor is controlled to be conductive, the first power supply of the first control unit can supply power to the first sensing module. When the second MOS transistor is controlled to be conductive, the second power supply of the second control unit can supply power to the first sensing module.

[0131] 7A and 7B are merely examples. The specific structure of the first combiner module in this application may alternatively be another module capable of supplying power to the first sensing module and the second sensing module. This is not a limitation of this application.

[0132] In a possible implementation, the first combiner module, the second combiner module and the second control unit are integrated on the same printed circuit board.

[0133] Alternatively, at least two of the first combiner module, the second combiner module, and the second controller are integrated on different printed circuit boards. For example, the first combiner module and the second combiner module may be integrated on the same printed circuit board, referred to as the first printed circuit board, and the second controller is integrated on the second printed circuit board. In another example, the first combiner module and the second controller may be integrated on the same printed circuit board, referred to as the third printed circuit board, and the second combiner module is integrated on the fourth printed circuit board. In another example, the second combiner module and the second controller may be integrated on the same printed circuit board, referred to as the fifth printed circuit board, and the first combiner module is integrated on the sixth printed circuit board.

[0134] Alternatively, the first combiner module, the second combiner module and the second control unit are each integrated onto three different printed circuit boards.

[0135] Alternatively, the first combiner module, the second combiner module and the first control unit are integrated on the same printed circuit board.

[0136] Alternatively, at least two of the first combiner module, the second combiner module, and the first controller are integrated on different printed circuit boards. For example, the first combiner module and the second combiner module may be integrated on the same printed circuit board referred to as the seventh printed circuit board, and the first controller is integrated on the eighth printed circuit board. In another example, the first combiner module and the second controller may be integrated on the same printed circuit board referred to as the ninth printed circuit board, and the second combiner module is integrated on the tenth printed circuit board. In another example, the second combiner module and the first controller may be integrated on the same printed circuit board referred to as the eleventh printed circuit board, and the first combiner module is integrated on the twelfth printed circuit board.

[0137] To facilitate the explanation of how the control system and the sensors are connected, the sensors will be described first.

[0138] To prevent the sensor from failing to detect pedal signals in a timely manner due to a failure, the sensor may employ a redundant design. A redundant design means repeatedly configuring several key components or functions to ensure safety and reliability. If a failure occurs in one component, the configured redundant component can be used as a standby component to take over and perform the function of the failed component in a timely manner. This reduces downtime. In a possible implementation, the sensor includes a variable resistance sensor using a variable resistance potentiometer or a Hall effect sensor using a Hall effect non-contact potentiometer. The variable resistance pedal position sensor is typically configured to detect contact pedal position information. The Hall effect sensor is typically configured to detect non-contact pedal position information.

[0139] FIG. 8 is a diagram of the structure of a sensor with a redundant design according to the present invention. The sensor in this example uses a variable resistance potentiometer as an example. The sensor includes a first sensing module and a second sensing module. To ensure the reliability of the signal output from the sensor, the circuits of the first and second sensing modules are independent. Specifically, the first sensing module includes a variable resistance potentiometer 1 and a power cable, a signal cable, and a ground cable connected to the variable resistance potentiometer 1. The grounding ensures that the first sensing module has a stable reference potential. The first sensing module can have three terminals: a first signal output terminal 1, a first ground terminal 5, and a first power supply terminal 2. The second sensing module includes a variable resistance potentiometer 2 and a power cable, a signal cable, and a ground cable connected to the variable resistance potentiometer 2. The second sensing module can have three terminals: a second signal output terminal 4, a second ground terminal 6, and a second power supply terminal 3. The resistance values ​​of the variable resistance potentiometer 1 and the variable resistance potentiometer 2 are different. The first sensing module can detect first pedal position information when the pedal position changes and convert the first pedal position information into a first electrical signal, and the second sensing module can detect second pedal position information and convert the second pedal position information into a second electrical signal.

[0140] As a sensor for detecting the non-contact pedal, a non-contact potentiometer (as shown in FIG. 11 below) may be used instead of the variable resistance potentiometer shown in FIG.

[0141] Based on the above, the following description will be given for cases where the sensor for detecting the pedal is a contact sensor or a non-contact sensor. A contact sensor for detecting the pedal may be referred to as a contact sensor. A contact sensor means that the potentiometer included in the sensor is a contact potentiometer, for example, a variable resistance potentiometer. A non-contact sensor for detecting the pedal may be referred to as a non-contact sensor. A non-contact sensor means that the potentiometer included in the sensor is a non-contact potentiometer, for example, a Hall effect non-contact potentiometer. The following description will be given taking as an example a case where the first control unit is a first MCU and the second control unit is a second MCU. Note that the first power supply of the first control unit that supplies power to the first detection module and the second detection module may be two independent first power supplies, and the second power supply of the second control unit that supplies power to the first detection module and the second detection module may be two independent second power supplies. Note that, for convenience of explanation, the power supplies of the first control unit in the following embodiments may be collectively referred to as the first power supply, and the power supplies of the second control unit may be collectively referred to as the second power supply.

[0142] Case 1: The sensor that detects the pedal is a contact sensor.

[0143] 9A is a diagram of the structure of the control system of the present application. In this example, the control system includes a first control unit, a second control unit, a first combiner module, and a second combiner module. The first control unit includes a first power supply and a first MCU. The second control unit includes a second power supply, a second MCU, a first follower, and a second follower. The second MCU includes a first ADC and a second ADC, where the first ADC includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal. In this example, the first sensing module of the sensor includes a first signal output terminal 1, a first ground terminal 5, and a first power supply terminal 2, and the second sensing module of the sensor includes a second signal output terminal 4, a second ground terminal 6, and a second power supply terminal 3.

[0144] The first combiner module is configured to control the first power supply or the second power supply to supply power to the first sensing module. Specifically, the first combiner module includes a first switch and a second switch. A first end of the first switch is connected to the first power supply and a second end of the first switch is connected to the first power supply end 2 of the first sensing module. A first end of the second switch is connected to the second power supply and a second end of the second switch is connected to the first power supply end 2 of the first sensing module. The second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module. Specifically, the second combiner module includes a third switch and a fourth switch. A first end of the third switch is connected to the first power supply and a second end of the third switch is connected to the second power supply end 3 of the second sensing module. A first end of the fourth switch is connected to the second power supply and a second end of the fourth switch is connected to the second power supply and a second end of the fourth switch is connected to the second power supply end 3 of the second sensing module.

[0145] The first signal output terminal 1 of the first sensing module is connected to the first MCU, and the first ground terminal 5 of the first sensing module is connected to the first MCU. The first signal output terminal 1 of the first sensing module is connected to the positive input terminal of the first ADC via the first input terminal of the first follower. The first ground terminal 5 of the first sensing module is connected to the second input terminal of the first follower. The first ground terminal 5 of the first sensing module is connected to the negative input terminal of the first ADC. The second signal output terminal 4 of the second sensing module is connected to the first MCU, and the second ground terminal 6 of the second sensing module is connected to the first MCU. The second signal output terminal 4 of the second sensing module is connected to the positive input terminal of the second ADC via the first input terminal of the second follower. The second ground terminal 6 of the first sensing module is connected to the second input terminal of the second follower. The second ground terminal 6 of the second sensing module is connected to the negative input terminal of the second ADC.

[0146] FIG. 10 shows a schematic circuit diagram of the first follower according to the present invention. The output voltage and input voltage of the first follower are the same, and the first follower has characteristics such as high input impedance (e.g., several megaohms) and low output impedance (e.g., several ohms). Therefore, the first follower can buffer and isolate the sensor, which helps improve the load-bearing capability of the sensor. The first follower includes an output terminal, an operational amplifier U, a first resistor R11, a second resistor R12, and a first capacitor C11. The first resistor R11 and the first capacitor C1 form an RC circuit. The output terminal of the first follower is configured to connect to the first channel of the second control unit. The first resistor R11 is connected between the first signal output terminal 1 of the first sensing module of the sensor and the positive terminal of the operational amplifier U, and the second resistor R12 is connected between the negative terminal of the operational amplifier U and the output terminal. The first capacitor C1 is connected between the ground terminal 5 of the first sensing module and the positive terminal of the operational amplifier U. This can also be understood as follows: The first follower provides the sensor with at least two terminals, terminal J11 and terminal J12. Terminal J11 of the first follower is configured to be connected to the first signal output terminal 1 of the first sensor, and terminal J12 of the first follower is configured to be connected to the ground terminal 5 of the sensor. For example, R11=20 kΩ, R12=10 kΩ, and C11=10 μF. The structure of the second follower may be the same as that of the first follower. For details, please refer to the description of the first follower. The details will not be described again here.

[0147] In a possible implementation, the first follower and the second follower may be powered by a first power supply of the first control unit or a second power supply of the second control unit. See Fig. 10. The operational amplifier U of the first follower further includes two pins that can be denoted as V+ and V-. The pin V+ is configured to be connected to a power supply (e.g., the first power supply or the second power supply) that supplies power to the first follower, and the pin V- is connected to the end J12 of the follower.

[0148] In another possible implementation, the second control unit further includes a power supply detection module as shown in FIG. 9B. The power supply detection module is configured to detect whether a failure occurs in the first power supply. If a failure of the first power supply is detected, the power supply detection module sends instruction information to the second MCU, and the second MCU switches to use the second power supply to supply power to the first follower and the second follower based on the instruction information.

[0149] In yet another possible implementation, the first power supply of the first control unit is used by default to supply power to the first follower and the second follower. The first MCU of the first control unit detects the first power supply. If a failure of the first power supply is determined, the first MCU sends instruction information to the second MCU of the second control unit. The second MCU of the second control unit receives the instruction information and controls the second power supply to supply power to the first follower and the second follower.

[0150] In yet another possible implementation, the second power supply of the second control unit is used by default to supply power to the first follower and the second follower. The second MCU of the second control unit detects the second power supply. If a failure of the second power supply is determined, the second MCU sends instruction information to the first MCU in the first control unit. The first MCU in the first control unit receives the instruction information and controls the first power supply to supply power to the first follower and the second follower.

[0151] In yet another possible implementation, a first power supply of the first controller and a second power supply of the second controller may supply power to the first follower and the second follower.

[0152] Note that both FIG. 9A and FIG. 9B use an example in which the first combiner module and the second combiner module are independently integrated on one printed circuit board.

[0153] Case 2: The sensor that detects the pedal is a non-contact sensor.

[0154] FIG. 11 is a diagram of the structure of yet another control system of the present application. In this example, the control system includes a first control unit, a second control unit, a first combiner module, and a second combiner module. The first control unit includes a first power supply and a first MCU. The second control unit includes a second power supply and a second MCU. The second MCU includes a first ADC and a second ADC. The first ADC includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal. In this example, the first sensing module of the sensor includes a first signal output terminal 1, a first ground terminal 5, and a first power supply terminal 2, and the second sensing module of the sensor includes a second signal output terminal 4, a second ground terminal 6, and a second power supply terminal 3. The first combiner module includes a first switch and a second switch, and the second combiner module includes a third switch and a fourth switch.

[0155] The first signal output terminal 1 of the first sensing module is connected to the first MCU, and the first ground terminal 5 of the first sensing module is connected to the first MCU. The first signal output terminal 1 of the first sensing module is connected to the positive input terminal of the first ADC via a first resistor network. The first signal output terminal 1 of the first sensing module is connected to the first input terminal of the first follower. The first ground terminal 5 of the first sensing module is connected to the negative input terminal of the first ADC via a third resistor network. The first ground terminal 5 of the first sensing module is connected to the second input terminal of the first follower. The second signal output terminal 4 of the second sensing module is connected to the first MCU, and the second ground terminal 6 of the second sensing module is connected to the first MCU. The second signal output terminal 4 of the second sensing module is connected to the positive input terminal of the second ADC via a second resistor network. The second signal output terminal 1 of the second sensing module is connected to the first input terminal of the second follower. The second ground terminal 6 of the second sensing module is connected to the negative input terminal of the second ADC via a fourth resistor network. For the functions of the first combiner module and the second combiner module, please refer to the relevant descriptions above, and the details will not be described again here.

[0156] As shown in FIG. 12, based on the configuration of the control system, the voltage of the first signal detected by the first sensing module is boosted through a first resistor network, and the boosted first signal is input to the positive input terminal of the first ADC. The voltage of the first ground signal detected by the first sensing module is boosted through a third resistor network, and the boosted first ground signal is input to the negative input terminal of the ADC. The boosted first signal and the boosted first ground signal are subtracted to obtain first actual pedal position information. The voltage of the second signal detected by the second sensing module is boosted through a second resistor network, and the boosted second signal is input to the positive input terminal of the second ADC. The voltage of the second ground signal detected by the second sensing module is boosted through a fourth resistor network, and the boosted second ground signal is input to the negative input terminal of the ADC. The boosted second signal and the boosted second ground signal are subtracted to obtain second actual pedal position information. In this example, the first resistor network, the second resistor network, the third resistor network, and the fourth resistor network are the same. For specific descriptions of the first resistor network, the second resistor network, the third resistor network, and the fourth resistor network, please refer to the related descriptions above. The details will not be described again here. The first ADC and the second ADC may perform sampling simultaneously. If the difference between the first actual opening information and the second actual opening information does not meet the standard, it indicates that a sensor failure has occurred, and the fault protection mode is enabled, and control is performed based on "no pedal depression."

[0157] The output voltage 1 (Vout_1) boosted through the first resistor network can be expressed by Equation 1. The output voltage 2 (Vout_2) boosted through the third resistor network can be expressed by Equation 2.

number

[0158] V CC indicates the voltage of the power supply. R1, R2, and R3 indicate the resistances of the first resistor network (and the second resistor network). Vs1 indicates the voltage of the first signal. GND1 indicates the voltage of the ground signal.

[0159] Based on Equations 1 and 2, the output voltages (Vout_1, Vout_2) can be varied by changing the resistance values ​​of resistors R1, R2, and R3 to eliminate the ground offset.

[0160] For example, as shown in Equation 3, the input / output relationship can be obtained by setting R1=20KΩ, R2=100KΩ, and R3=100KΩ.

number

[0161] Y represents Vout_1 or Vout_2 boosted through a resistor network, and X represents the voltage of the input first signal or the voltage of the input first ground signal.

[0162] Based on Equation 3, if the input voltage is -1V, the output voltage will be 0. If the input voltage is 6V, the output voltage will be 5V. Both meet the ±1V ground offset requirement.

[0163] The first ADC in the present application may alternatively be an existing ADC, specifically, the existing ADC performs a subtraction operation based on software to obtain the first actual opening information, and the second ADC may alternatively be an existing ADC, performing a subtraction operation based on the existing ADC to obtain the second opening information.

[0164] Embodiment 2 FIG. 13 is a diagram of the structure of yet another sensor of the present application. The sensor includes a first sensing module, a second sensing module, and a processing module, and the first and second sensing modules are grounded. A first end of the processing module is connected to the first sensing module, a second end of the processing module is connected to the second sensing module, a third end of the processing module is connected to a third controller, and a fourth end of the processing module is also connected to the third controller. Specifically, the third end of the processing module may be connected to the third controller using a first digital signal cable or a first I / O bus, and the fourth end of the processing module may be connected to the fourth controller via a second digital signal cable or a second I / O bus. The first sensing module includes a signal output terminal 1, a ground terminal 5, and a power supply terminal 2. The second sensing module includes a signal output terminal 4, a ground terminal 6, and a power supply terminal 3. The signal output terminal 1 of the first sensing module is connected to the first end of the processing module. The signal output terminal 4 of the second sensing module is connected to the second end of the processing module. The ground terminal 5 of the first sensing module and the ground terminal 6 of the second sensing module are directly grounded. The power terminal 2 of the first sensing module and the power terminal 3 of the second sensing module are configured to be connected to a power source. The potentiometer in this example may be a Hall effect contactless potentiometer or a variable resistance potentiometer.

[0165] The processing module is configured to process the first signal detected by the first detection module into a first digital signal or a first I / O bus signal, and send the first digital signal or the first I / O bus signal to a third controller, and to process the second signal detected by the second detection module into a second digital signal or a second I / O bus signal, and send the second digital signal or the second I / O bus signal to the third controller.

[0166] The two signals detected by the first and second sensing modules may first be checked using a processing module included in the sensor to remove any ground offset within the sensor.

[0167] In a possible implementation, the processing module may include, but is not limited to, a third ADC or a fifth MCU. The fifth MCU may be the same as the first MCU. For specific implementation, please refer to the description of the first MCU. Details will not be described again here.

[0168] Based on the above, FIG. 14A is a diagram of the structure of yet another control system of the present application. The control system includes a third control unit. The third control unit includes a third power supply and a third control unit. In this example, the third control unit includes a third MCU. The sensor includes a first sensor module, a second sensor module, and a processing module. For an explanation of the first sensing module and the second sensing module, please refer to FIG. 13. Details will not be described again here. The signal output terminal 1 of the first sensing module is connected to the first terminal of the processing module. The signal output terminal 4 of the second sensing module is connected to the second terminal of the processing module. The third terminal of the processing module is connected to the third control unit of the third control unit. The fourth terminal of the processing module is connected to the third control unit of the third control unit. This can also be understood as follows: The processing module is dual-connected to the third control unit. The third controller is configured to receive a first digital signal from the third end of the processing module, a second digital signal from the fourth end of the processing module, and send a second control signal to the actuator, where the second control signal is determined based on the first digital signal and the second digital signal. Alternatively, the third controller is configured to receive a first I / O bus signal from the third end of the processing module, a second I / O bus signal from the fourth end of the processing module, and send a third control signal to the actuator to control the actuator to perform a corresponding process. The third control signal is determined based on the first I / O bus signal and the second I / O bus signal.

[0169] 14A uses an example in which the processing module and the third controller are dual-connected, i.e., the processing module can transmit a first digital signal or a first I / O bus signal through one channel and a second digital signal or a second I / O bus signal through the other channel. The first channel may be, for example, a first I / O bus or a first digital signal line, and the second channel may be, for example, a second I / O bus or a second digital signal line. Also, between the processing module and the third controller, there may be one channel for the first digital signal or the first I / O bus signal, and the second digital signal or the second I / O bus signal may be transmitted to the third controller through the same channel. See FIG. 14B.

[0170] FIG. 15 is a diagram of the structure of yet another control system of the present application. The control system includes a third controller and a fourth controller. The third controller includes a third power source and a third control unit. The fourth controller includes a fourth power source and a fourth control unit. The sensor includes a first sensor module, a second sensor module, and a processing module. For an explanation of the first sensing module and the second sensing module, please refer to FIG. 13. Details will not be described again here. For a method of connecting the third controller to the sensor, please refer to the explanation of FIG. 14A. Details will not be described again here. The method of connecting the fourth controller and the sensor is the same as the method of connecting the third controller and the sensor, and details will not be described again here. It may also be understood that the processing module is dual-connected to the third controller, and the processing module is also dual-connected to the fourth controller.

[0171] In a possible implementation, if a failure occurs in the third control unit, the fourth control unit is configured to receive a first digital signal from the third end of the processing module, receive a second digital signal from the fourth end of the processing module, and send a third control signal to the actuator, where the third control signal is determined based on the first digital signal and the second digital signal.

[0172] Alternatively, the fourth control unit is configured to receive a first I / O bus signal from a third end of the processing module, receive a second I / O bus signal from a fourth end of the processing module, and send a third control signal to the actuator, the third control signal being determined based on the first I / O bus signal and the second I / O bus signal.

[0173] In a possible implementation, the power supply terminal 2 of the first sensing module and the power supply terminal 3 of the second sensing module are connected to a third power supply of a third control unit, as shown in Figure 15. This can also be understood as follows: the third power supply of the third control unit supplies power to the first sensing module and the second sensing module.

[0174] Alternatively, the power supply terminal 2 of the first sensing module and the power supply terminal 3 of the second sensing module are connected to a fourth power supply of a fourth control unit, as shown in Fig. 16A. This can also be understood as follows: the fourth power supply of the fourth control unit supplies power to the first sensing module and the second sensing module.

[0175] Alternatively, the control system further includes a first combiner module and a second combiner module. See FIG. 16B. The first combiner module is configured to control the first power supply or the second power supply to supply power to the first sensing module. Specifically, the first combiner module includes a first switch and a second switch, where a first end of the first switch is connected to the first power supply and a second end of the first switch is connected to the first power supply end 2 of the first sensing module. A first end of the second switch is connected to the second power supply and a second end of the second switch is connected to the first power supply end 2 of the first sensing module. The second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module. Specifically, the second combiner module includes a third switch and a fourth switch. A first end of the third switch is connected to the first power supply and a second end of the third switch is connected to the second power supply end 3 of the second sensing module. The first end of the fourth switch is connected to the second power supply, and the second end of the fourth switch is connected to the second power supply end 3 of the second detection module. For further details of the first combiner module and the second combiner module, please refer to the related descriptions above. The details will not be described again here.

[0176] Further, optionally, the first combiner module, the second combiner module, and the third controller may be integrated on the same printed circuit board. Alternatively, at least two of the first combiner module, the second combiner module, and the third controller are integrated on different printed circuit boards. Alternatively, the first combiner module, the second combiner module, and the fourth controller are integrated on the same printed circuit board. Alternatively, at least two of the first combiner module, the second combiner module, and the fourth controller are integrated on different printed circuit boards.

[0177] In the above-described second embodiment, an example in which the sensor is configured to detect a non-contact pedal has been described.

[0178] Embodiment 3 17 is a diagram of the structure of a control system according to an embodiment of the present application. The control system may include a third controller and a fourth controller. The third controller is connected to the sensor, and the fourth controller is connected to the sensor. Specifically, the third controller is connected to the first and second sensing modules of the sensor, and the fourth controller is also connected to the first and second sensing modules of the sensor. The third controller, the fourth controller, and the sensor are connected to each other and then grounded. This can also be understood as follows: the third controller, the fourth controller, and the sensor are first connected via cables and then grounded.

[0179] The third control unit, the fourth control unit and the sensor are first connected via cables and then grounded, so that the ground offset can be effectively eliminated.

[0180] The third control unit includes a third power source and a third control unit, and the fourth control unit includes a fourth power source and a fourth control unit. It can be understood that the third control unit may be the same as the fourth control unit, the third control unit may be the same as the first control unit, or the fourth control unit may be the same as the first control unit. Based on this, the third control unit and the fourth control unit may be compatible with existing control unit structures. For the third control unit and the fourth control unit, please refer to the above description of the first control unit. Details will not be described again here.

[0181] Furthermore, the control system may further include a first combiner module and a second combiner module. For the first combiner module and the second combiner module, please refer to the relevant description above. Details will not be described again here. For the integrated relationship between the first combiner module, the second combiner module, the third control unit, and the fourth control unit, please refer to the relevant description of the second embodiment above. Details will not be described again here.

[0182] Embodiment 4 FIG. 18 is a diagram of the structure of the sensing system of the present application. The sensing system includes a first sensor and a second sensor. The first sensor includes a first sensing module and a second sensing module. The second sensor includes a third sensing module and a fourth sensing module. The third sensing module includes a variable resistance potentiometer 3 and a power cable, a signal cable, and a ground cable connected to the variable resistance potentiometer 2. The third sensing module may provide three ends: a third signal output end 7, a third ground end 11, and a third power supply end 8. The fourth sensing module includes a variable resistance potentiometer 4 and a power cable, a signal cable, and a ground cable connected to the variable resistance potentiometer 4. The third sensing module may provide three ends: a third signal output end 10, a third ground end 12, and a third power supply end 9. For the first and second sensing modules, please refer to the relevant descriptions above and will not be described in detail again here. It is understood that the variable resistance potentiometer in FIG. 18 may be replaced with a non-contact potentiometer. Figure 18 is just one possible example.

[0183] When the position of the pedal changes, the first sensing module is configured to detect the pedal to obtain a first signal and transmit the first signal to the third control unit, and the second sensing module is configured to detect the pedal to obtain a second signal and transmit the second signal to the third control unit. This can also be understood as follows: The third control unit can receive the first signal from the first sensing module and can also receive the second signal from the second sensing module. The third sensing module is configured to detect the pedal to obtain a third signal and transmit the third signal to the fourth control unit, and the fourth sensing module is configured to detect the pedal to obtain a fourth signal and transmit the fourth signal to the fourth control unit. This can also be understood as follows: The fourth control unit can receive the third signal from the third sensing module and can also receive the fourth signal from the fourth sensing module.

[0184] In a possible implementation, the first sensor may be the same as the second sensor. Specifically, the first sensing module is the same as the third sensing module, and the second sensing module is the same as the fourth sensing module. This can also be understood as follows: variable resistance potentiometer 3 is the same as variable resistance potentiometer 1, and variable resistance potentiometer 4 is the same as variable resistance potentiometer 2.

[0185] Two sets of independent sensors may be integrated into the detection system and independently connected to different controllers. Specifically, the first sensor is connected to the first controller, and the second sensor is connected to the second controller. The dual connection between the first controller (a conventional vehicle control component) and the second controller (a controller used for highly automated driving) creates a redundancy mechanism. Therefore, even if the first controller is abnormal, the second controller can still maintain control functions (e.g., acceleration control). The control system can integrate manual driving functions in cooperation with functional modules such as brakes. Sampling is not affected by ground offsets, allowing for greater flexibility in the overall vehicle component layout.

[0186] FIG. 19 is a diagram of another control system structure of the present application. The control system includes a third control unit and a fourth control unit. Furthermore, the control system further includes a sensing system. The variable resistance potentiometers of each sensing module in the sensor may be replaced with non-contact potentiometers. The sensing system of FIG. 19 is merely a possible example. The third control unit includes a third power supply and a third MCU. The fourth control unit includes a fourth power supply and a fourth MCU. The third control unit is connected to the first sensing module of the first sensor and the second sensing module. Specifically, the first signal output terminal 1 of the first sensing module is connected to the third MCU, and the first ground terminal 5 of the first sensing module is connected to the third MCU. The second signal output terminal 4 of the second sensing module is connected to the third MCU, and the second ground terminal 6 of the second sensing module is connected to the third MCU. The fourth control unit is connected to the third sensing module of the second sensor and the fourth sensing module. Specifically, the third signal output terminal 7 of the third sensing module is connected to the fourth MCU, and the first ground terminal 11 of the third sensing module is connected to the fourth MCU. The fourth signal output terminal 10 of the fourth sensing module is connected to the fourth MCU, and the fourth ground terminal 12 of the fourth sensing module is connected to the fourth MCU. The third control unit is configured to receive a first signal from the first sensing module, a second signal from the second sensing module, and send a third control signal to the actuator, where the third control signal is generated based on the first and second signals. Alternatively, the fourth control unit is configured to receive a third signal from the third sensing module, a fourth signal from the fourth sensing module, and send a fourth control signal to the actuator, where the fourth control signal is generated based on the third and fourth signals.

[0187] Furthermore, the third control unit further includes a fifth power supply, and the fourth control unit further includes a sixth power supply. The third power supply of the third control unit is configured to supply power to the first sensing module. The fifth power supply of the third control unit is configured to supply power to the second sensing module. The fourth power supply of the fourth control unit is configured to supply power to the third sensing module. The sixth power supply of the fourth control unit is configured to supply power to the fourth sensing module.

[0188] Embodiment 5 FIG. 20A is a diagram of the structure of yet another control system of the present application. The control system includes a first combiner module and a second combiner module. The first combiner module is connected to a first sensing module of a sensor, and the second combiner module is connected to a second sensing module of the sensor. The first combiner module is further connected to a first controller and a second controller. The second combiner module is further connected to the first controller and the second controller. The first combiner module is configured to control a first power supply of the first controller or a second power supply of the second controller to supply power to the first sensing module. The second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module. For further details about the first combiner module and the second combiner module, please refer to the related descriptions above. Details will not be repeated here. For the connection relationship between the first combiner module, the second combiner module, the first controller, the second controller, and the sensor, please refer to the description of FIG. 11. Details will not be repeated here.

[0189] FIG. 20B is a structural diagram of yet another control system of the present application. The control system includes a first combiner module and a second combiner module. The first combiner module is connected to a first sensing module of a sensor, and the second combiner module is connected to a second sensing module of the sensor. The first combiner module is further connected to a third controller and a fourth controller. The second combiner module is further connected to the third controller and the fourth controller. The first combiner module is configured to control a third power supply of the third controller or a fourth power supply of the fourth controller to supply power to the first sensing module. The second combiner module is configured to control the third power supply or the fourth power supply to supply power to the second sensing module. For the connection relationship between the first combiner module, the second combiner module, the first controller, the second controller, and the sensor, please refer to the relevant description above. Details will not be described again here.

[0190] Embodiment 6 21 is a diagram of the structure of the sensor of the present application. The sensor includes a first sensing module, a second sensing module, a first combiner module, and a second combiner module. For the connection relationship between the first combiner module, the second combiner module, the first sensing module, and the second sensing module, please refer to the related description above. The details will not be described again here.

[0191] In the embodiments of the present application, unless otherwise specified or there is no logical contradiction, the terms and / or descriptions between different embodiments are consistent and can be mutually referenced, and the technical features in different embodiments can be combined based on their internal logical relationships to form a new embodiment.

[0192] In the above-described embodiment, the third control unit or the fourth control unit may further include a follower. In the above-described embodiment, an example in which the third control unit or the fourth control unit does not include a follower is used. This is not a limitation of the present application.

[0193] Based on the architecture and functional principles of the above-described control system, the present application can further provide a terminal device. The terminal device can include a vehicle frame and a control system according to any of the above-described embodiments. The vehicle frame is configured to fix the control system according to any of the above-described embodiments. For a specific description of the control system, please refer to the relevant description above. The details will not be described again here.

[0194] It should be noted that the terminal device may further include other possible functional structures, for example, may further include pedals, which is not limited in the present application.

[0195] For example, the terminal device may be, for example, a vehicle (e.g., an unmanned vehicle, an intelligent vehicle, an electric vehicle, or a digital vehicle), a robot, a surveying and mapping device, an unmanned aerial vehicle, a smart home device (e.g., a television, a robot vacuum cleaner, a smart desk lamp, a sound system, an intelligent lighting system, an electrical control system, home background music, a home theater system, an intercom system, video surveillance), an intelligent manufacturing device (e.g., an industrial device), an intelligent transportation device (e.g., an AGV, an automatic guided vehicle, a truck, etc.), an intelligent terminal (e.g., a mobile phone, a computer, a tablet computer, a palmtop computer, a desktop computer, a headset, an audio device, a wearable device, an in-vehicle device, a virtual reality device, or an augmented reality device), etc.

[0196] FIG. 22 illustrates a functional block diagram of an example of a vehicle according to the present application, using an example where the terminal device is a vehicle. Components coupled to or included in the vehicle 220 may include a sensor system 2201 and a control system 2202. It is understood that the vehicle function framework illustrated in FIG. 22 is merely an example. In another example, the vehicle 220 may include more, fewer, or different systems, and each system may include more, fewer, or different components. Furthermore, the illustrated systems and components may be combined or divided in any manner, which is not specifically limited in the present application. For example, the vehicle may further include a power source 2203, a propulsion system 2204, a user interface 2205, peripheral devices 2206, etc. In some embodiments, the peripheral devices 2206 provide a means of interaction between a user in the vehicle 220 and the user interface 2205. For example, a touchscreen may provide information to the user of the vehicle 220, such as displaying autonomous and manual driving modes for the driver to select. The user interface 2205 may further operate a touchscreen to receive user input, such as entering or selecting an autonomous driving mode or a manual driving mode. Alternatively, the peripheral devices 2206 may provide a means for the vehicle 220 to communicate with other devices disposed within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from a user of the vehicle 220. Similarly, a speaker may output audio to the user of the vehicle 220. The components of the vehicle 220 may be configured to operate to interconnect with each other and / or couple to other components in various systems for interconnection. For example, the power source 2203 may provide power to all components of the vehicle 220. The control system 2202 may be configured to receive and control data from the sensor system 2201 and the peripheral devices 2206.

[0197] The sensor system 2201 may include several sensors configured to detect information about the environment in which the vehicle 220 is located. For example, the sensors in the sensor system 2201 may include, but are not limited to, millimeter-wave radar and / or lidar and / or vision devices. For the functions of millimeter-wave radar, lidar, and vision devices, see the related descriptions above. Details will not be described again here. Furthermore, the sensor system 2201 may further include a Global Positioning System (GPS), an Inertial Measurement Unit (IMU), and a brake configured to change the position and / or orientation of the sensor. In some embodiments, the GPS may be any sensor configured to estimate the geographic position of the vehicle 220. Thus, the GPS may include a transceiver that estimates the position of the vehicle 220 relative to the Earth based on satellite positioning data. In some examples, the control system 2202 may use the GPS in combination with map data to estimate the road on which the vehicle 220 is traveling. The IMU may be configured to detect changes in the position and orientation of the vehicle 220 based on inertial acceleration and any combination thereof. In some examples, the combination of sensors in an IMU may include, for example, an accelerometer and a gyroscope. Additionally, other combinations of sensors in an IMU are possible.

[0198] It should be understood that the sensor system 2201 may further include sensors of internal systems of the monitored vehicle 220 (e.g., an on-board air quality monitor, a fuel gauge, an oil temperature gauge, a pedal position sensor). Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). Such detection and identification is an important function for the safe operation of the vehicle 220. The sensor system 2201 may include further sensors, which are not specifically limited in this application.

[0199] Some or all functions of vehicle 220 are controlled by control system 2202. Control system 2202 may include at least one processor 22021. Additionally, control system 2202 may further include interface circuitry 22022. Processor 22021 executes instructions stored on a non-transitory computer-readable medium, such as memory 22023. Alternatively, control system 2202 may be multiple computing devices that control individual components or subsystems of vehicle 220 in a distributed manner.

[0200] The processor 22021 may be a circuit having signal (or data) processing capabilities. In one implementation, the processor may be a circuit having instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may also be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement specific functions based on the logical relationships of hardware circuits. The logical relationships of the hardware circuits may be fixed or reconfigurable. For example, the processor may be a hardware circuit implemented by a programmable logic device (PLD) such as an application-specific integrated circuit (ASIC) or a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of loading a configuration document to the processor to implement a hardware circuit configuration may be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. Furthermore, the reconfigurable hardware circuit may be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, for example a neural network processing unit (NPU), a tensor processing unit (TPU), or a deep learning processing unit (DPU).For example, the reconfigurable hardware circuit may be an application processor (AP), an image signal processor (ISP), another programmable logic element, a transistor logic element, a hardware component, or any combination thereof.

[0201] The propulsion system 2204 can provide power and motion to the vehicle 220. The propulsion system 2204 can include an engine, an energy source, a transmission, wheels / tires, etc. It can be understood that the propulsion system 2204 can additionally or alternatively include other possible components, which are not specifically limited herein.

[0202] 22 functionally depicts the processor, memory, and other elements of control system 2202 within the same block, those skilled in the art should understand that the processor and memory may actually include multiple processors or memories that are not housed within the same physical housing. For example, the memory may be a hard disk drive or other storage medium located in a housing different from that of control system 2202. As another example, the processor may be located remotely from the vehicle but may communicate wirelessly with the vehicle.

[0203] In some embodiments, memory 22023 may include instructions (e.g., program logic) that may be read by processor 22021 to perform various functions of vehicle 220, including those described above. Memory 22023 may also include additional instructions, including instructions for transmitting data to, receiving data from, interacting with, and / or controlling one or more of sensor system 2201, propulsion system 2204, and peripherals 2206. In addition to instructions, memory 22023 may also store data, such as road maps, route information, data detected by sensors, position, direction, speed, and other vehicle data of the vehicle, and other information. Such information may be used by vehicle 220 and control system 2202 in the autonomous, semi-autonomous, and / or manual modes of vehicle 220.

[0204] The memory may be random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, a hard disk, a removable hard disk, a CD-ROM, or any other form of storage medium known in the art. For example, the storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In another example, the storage medium may be a component of the processor. The processor and the storage medium may be located within an ASIC. Further, the ASIC may be located within the control system. Of course, the processor and the storage medium may reside as separate components in the control system.

[0205] Control system 2202 may control functions of vehicle 220 based on inputs received from various subsystems (e.g., sensor system 2201) and user interface 2205. For example, control system 2202 may use inputs from sensor system 2201 to control the vehicle to accelerate or decelerate to avoid an obstacle detected by an obstacle avoidance system. In some embodiments, control system 2202 may operate in many aspects to provide control over vehicle 220 and the subsystems of vehicle 220.

[0206] Optionally, one or more of the aforementioned components may be located separately from or in association with vehicle 220. For example, memory 22023 may be partially or completely separate from vehicle 220. The aforementioned components may be communicatively coupled to one another in a wired and / or wireless manner.

[0207] However, this is not limited to this embodiment of the present application.

[0208] In this application, "connection" may mean a direct connection. Optionally, where possible, a connection may be made through several elements rather than a direct connection. "At least one" means one or more, and "multiple" means two or more. The term "and / or" describes an association relationship between associated objects and indicates that three relationships may exist. For example, A and / or B may refer to the following three cases: A exists alone, both A and B exist, and B exists alone, where A and B may be singular or plural. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of a single item or multiple items. For example, "at least one of a, b, or c" may refer to a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be singular or plural. In the text descriptions herein, the character " / " typically indicates an "or" relationship between related objects. In formulas herein, the character " / " represents a "divide by" relationship between related objects. Furthermore, herein, the word "example" is used to indicate an example, illustration, or explanation. Any embodiment or design manner described herein as an "example" should not be described as being preferred or having more advantages than another embodiment or design manner. Alternatively, the word "example" may be used to present a concept in a particular way and should not be understood to constitute a limitation of the present application.

[0209] It should be understood that various numbers in this application are distinguished merely for ease of description and are not used to limit the scope of the embodiments of this application. The sequence numbers of the above-described processes do not imply an execution sequence, and the execution sequence of the processes should be determined based on the functions and internal logic of the processes. The terms "first," "second," and the like are used to distinguish similar objects without describing a specific order or sequence. Furthermore, the terms "comprise," "have," and any variants thereof are intended to cover non-exclusive inclusions, for example, including a series of steps or units. For example, a method, system, product, or device is not necessarily limited to those steps or units explicitly described, but may include other steps or units not explicitly described or inherent to such a process, method, product, or device.

[0210] The above description is merely a specific implementation of the present application and is not intended to limit the scope of protection of the present application. Any modifications or replacements that are readily conceived by those skilled in the art within the technical scope disclosed in the present application should be embraced within the scope of protection of the present application. Therefore, the scope of protection of the present application should be subject to the scope of protection of the claims.

Claims

1. a control system including a first controller and a second controller, the first controller connected to a sensor, the second controller connected to the sensor, the sensor including a first sensing module and a second sensing module, the second controller including a sampling circuit, the sampling circuit including a first channel and a second channel, the first channel connected to the first sensing module and the second channel connected to the second sensing module; The second control unit is configured to acquire a first signal detected by the first detection module via the first channel, acquire a second signal detected by the second detection module via the second channel, and determine second pedal opening information based on the first signal and the second signal.

2. The system of claim 1 , wherein the second control unit is further configured to send a second control signal to an actuator, and the second control signal is obtained based on the second opening degree information.

3. 2. The system of claim 1, wherein the first control unit is configured to acquire the first signal detected by the first detection module and the second signal detected by the second detection module, determine first pedal opening information based on the first signal and the second signal, and send a first control signal to an actuator, wherein the first control signal is based on the first opening information.

4. The system of any one of claims 1 to 3, wherein the first channel includes a first analog-to-digital converter (ADC) and the second channel includes a second ADC.

5. the first ADC includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal; The positive input terminal of the first ADC is connected to the first signal output terminal of the first sensing module, and the negative input terminal of the first ADC is connected to the first ground terminal of the first sensing module; The positive input terminal of the second ADC is connected to the second signal output terminal of the second sensing module, and the negative input terminal of the second ADC is connected to the second ground terminal of the second sensing module; The system of claim 4.

6. the second control unit further includes a first follower and a second follower, the first ADC is connected to the first detection module via the first follower; the second ADC is connected to the second detection module via the second follower; 6. A system according to claim 4 or 5.

7. the first control unit includes a first power source, and the second control unit includes a second power source; the first power source is configured to provide power to the first follower and the second follower; or The system of claim 6 , wherein the second power source is configured to provide power to the first follower and the second follower.

8. The first control unit includes a first power source, and the second control unit includes a second power source and a power source detection module; 7. The system of claim 6, wherein the power supply detection module is configured to detect when the first power supply fails and switch to the second power supply to provide power to the first follower and the second follower.

9. the control system further includes a first combiner module and a second combiner module, the first controller including the first power supply, and the second controller including the second power supply; the first combiner module is configured to control the first power source or the second power source to supply power to the first sensing module; The system of any one of claims 1 to 8, wherein the second combiner module is configured to control the first power source or the second power source to supply power to the second sensing module.

10. the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to the first power supply, a second end of the first switch is connected to a power supply end of the first sensing module, a first end of the second switch is connected to the second power supply, and a second end of the second switch is connected to a power supply end of the first sensing module; and / or 10. The system of claim 9, wherein the second combiner module includes a third switch and a fourth switch, a first end of the third switch connected to the first power supply, a second end of the third switch connected to a power supply end of the second sensing module, a first end of the fourth switch connected to the second power supply, and a second end of the fourth switch connected to a power supply end of the second sensing module.

11. The system of claim 10 , wherein the first switch comprises a first diode or a first chip, and / or the second switch comprises a second diode or a second chip.

12. the first combiner module, the second combiner module, and the second controller are integrated on the same printed circuit board; or At least two of the first combiner module, the second combiner module, and the second controller are integrated on different printed circuit boards; or the first combiner module, the second combiner module, and the first controller are integrated on the same printed circuit board; or At least two of the first combiner module, the second combiner module, and the first control unit are integrated on different printed circuit boards. A system according to any one of claims 9 to 11.

13. a control unit including a sampling circuit, the sampling circuit including a first channel and a second channel, the first channel being connected to a first sensing module of a sensor, and the second channel being connected to a second sensing module of the sensor; The control unit is configured to acquire a first signal detected by the first detection module via the first channel, acquire a second signal detected by the second detection module via the second channel, and determine second pedal opening information detected by the sensor based on the first signal and the second signal.

14. The control unit according to claim 13 , wherein the control unit is further configured to send a second control signal to the actuator, and the second control signal is obtained based on the second opening degree information.

15. 15. The control unit of claim 13 or 14, wherein the first channel includes a first analog-to-digital converter (ADC) and the second channel includes a second ADC.

16. the first ADC includes a positive input terminal and a negative input terminal, and the second ADC includes a positive input terminal and a negative input terminal; The positive input terminal of the first ADC is connected to the first signal output terminal of the first sensing module, and the negative input terminal of the first ADC is connected to the first ground terminal of the first sensing module; The positive input terminal of the second ADC is connected to the second signal output terminal of the second sensing module, and the negative input terminal of the second ADC is connected to the second ground terminal of the second sensing module; The control unit according to claim 15.

17. the control unit further includes a first follower and a second follower; the first ADC is connected to the first detection module via the first follower; the second ADC is connected to the second detection module via the second follower; 17. The control unit according to claim 15 or 16.

18. A control system comprising a third control unit and a fourth control unit, wherein the third control unit is connected to a sensor, the fourth control unit is connected to the sensor, and the third control unit, the fourth control unit, and the sensor are connected to each other and grounded.

19. the control system further includes a first combiner module and a second combiner module, the third controller includes a third power supply, the fourth controller includes a fourth power supply, and the sensor includes a first sensing module and a second sensing module; the first combiner module is configured to control the third power source or the fourth power source to supply power to the first sensing module; 20. The system of claim 18, wherein the second combiner module is configured to control the third power source or the fourth power source to provide power to the second sensing module.

20. the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to the third power supply, a second end of the first switch is connected to a power supply end of the first sensing module, a first end of the second switch is connected to the fourth power supply, and a second end of the second switch is connected to a power supply end of the first sensing module; and / or 20. The system of claim 19, wherein the second combiner module includes a third switch and a fourth switch, a first end of the third switch connected to the third power supply, a second end of the third switch connected to a power supply end of the second sensing module, a first end of the fourth switch connected to the fourth power supply, and a second end of the fourth switch connected to a power supply end of the second sensing module.

21. 21. The system of claim 20, wherein the first switch comprises a first diode or a first chip, and / or the second switch comprises a second diode or a second chip.

22. the first combiner module, the second combiner module, and the third controller are integrated on the same printed circuit board; or At least two of the first combiner module, the second combiner module, and the third controller are integrated on different printed circuit boards; or the first combiner module, the second combiner module, and the fourth controller are integrated on the same printed circuit board; or At least two of the first combiner module, the second combiner module, and the fourth control unit are integrated on different printed circuit boards. A system according to any one of claims 18 to 21.

23. a sensor including a first sensing module, a second sensing module, and a processing module, a first end of the processing module connected to the first sensing module, a second end of the processing module connected to the second sensing module, third and fourth ends of the processing module connected to a third controller, and the first sensing module and the second sensing module grounded; The processing module is configured to process a first signal detected by the first sensing module into a first digital signal or a first I / O bus signal, transmit the first digital signal or the first I / O bus signal to the third controller via the third end of the processing module, process a second signal detected by the second sensing module into a second digital signal or a second I / O bus signal, and transmit the second digital signal or the second I / O bus signal to the third controller via the fourth end of the processing module.

24. The sensor of claim 23 , wherein the processing module includes a third analog-to-digital converter (ADC) or a fifth MCU.

25. 25. The sensor of claim 23 or 24, wherein the third end and the fourth end of the processing module are further connected to a fourth controller.

26. 26. The sensor of claim 25, wherein the first sensing module is connected to a first switch and a second switch of a first combiner module, and the second sensing module is connected to a third switch and a fourth switch of a second combiner module.

27. a control system including a third controller, the third controller connected to a third end and a fourth end of the processing module of the sensor; the third controller is configured to receive a first digital signal from the third end of the processing module, receive a second digital signal from the fourth end of the processing module, and send a second control signal to an actuator, the second control signal being determined based on the first digital signal and the second digital signal; or a third control unit configured to receive a first I / O bus signal from the third end of the processing module, a second I / O bus signal from the fourth end of the processing module, and send a third control signal to an actuator, the third control signal being determined based on the first I / O bus signal and the second I / O bus signal;

28. The system further includes a fourth controller connected to the third end and the fourth end of the processing module; When a failure occurs in the third controller, the fourth controller is configured to receive the first digital signal from the third end of the processing module, receive the second digital signal from the fourth end of the processing module, and send the third control signal to the actuator, the third control signal being determined based on the first digital signal and the second digital signal; or 28. The system of claim 27, wherein the fourth controller is configured to receive the first I / O bus signal from the third end of the processing module, receive the second I / O bus signal from the fourth end of the processing module, and send the third control signal to the actuator, the third control signal being determined based on the first I / O bus signal and the second I / O bus signal.

29. a control system including a first combiner module and a second combiner module, the first combiner module being connected to a first sensing module of a sensor, and the second combiner module being connected to a second sensing module of the sensor; the first combiner module is further connected to a first controller and a second controller, the second combiner module is further connected to the first controller and the second controller, the first combiner module is configured to control a first power source of the first controller or a second power source of the second controller to supply power to the first sensing module, and the second combiner module is configured to control the first power source or the second power source to supply power to the second sensing module; or A control system, wherein the first combiner module is further connected to a third control unit and a fourth control unit, the second combiner module is further connected to the third control unit and the fourth control unit, the first combiner module is configured to control a third power supply of the third control unit or a fourth power supply of the fourth control unit to supply power to the first detection module, and the second combiner module is configured to control the third power supply or the fourth power supply to supply power to the second detection module.

30. the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to the first power supply, a second end of the first switch is connected to a power supply end of the first sensing module, a first end of the second switch is connected to the second power supply, and a second end of the second switch is connected to a power supply end of the first sensing module; and / or 30. The system of claim 29, wherein the second combiner module includes a third switch and a fourth switch, a first end of the third switch connected to the first power supply, a second end of the third switch connected to a power supply end of the second sensing module, a first end of the fourth switch connected to the second power supply, and a second end of the fourth switch connected to a power supply end of the second sensing module.

31. 31. The system of claim 30, wherein the first switch comprises a first diode or a first chip, and / or the second switch comprises a second diode or a second chip.

32. A terminal device comprising a vehicle frame and a control system according to any one of claims 1 to 12, any one of claims 18 to 22, any one of claims 27 to 28 or any one of claims 29 to 31, wherein the control system is fixed to the vehicle frame.

33. The terminal device of claim 32 , further comprising the sensor, wherein the sensor comprises a first sensing module and a second sensing module.

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