Operation control system, operation control method and related device

Abstract

The present disclosure provides a driving control system, a driving control method, and related devices, and relates to the field of vehicle technology. The driving control system includes an accelerator pedal position detection unit (1), a first electronic control unit (2), and a second electronic control unit (3). The accelerator pedal position detection unit (1) includes a position sensor (11), a first signal transmission circuit (12), and a second signal transmission circuit (13). The position sensor (11) can output a position signal to the first electronic control unit (2) and the second electronic control unit (3) via the first signal transmission circuit (12) and the second signal transmission circuit (13), respectively. In this way, if one of the first electronic control unit (2) and the second electronic control unit (3) fails, the other electronic control unit can control the vehicle based on the position signal.

Description

[Technical Field]

[0001] The present disclosure relates to the field of vehicle technology, and more particularly to driving control systems, driving control methods and related devices. [Background technology]

[0002] In the process of driving a vehicle, the driver controls the power output of the vehicle by controlling the angle at which the accelerator pedal is depressed, thereby completing the control of the vehicle speed.

[0003] To implement the above-mentioned functions, in the prior art, a position sensor is disposed on the accelerator pedal and electrically connected to an electronic control unit (ECU), where the position sensor is configured to detect a position signal of the accelerator pedal, and the electronic control unit is configured to control the power output of the vehicle based on the position signal of the accelerator pedal.

[0004] Currently, if an electronic control unit fails, the vehicle cannot run normally, resulting in a decrease in vehicle reliability. Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure provides a driving control system, a driving control method, and related devices. A position sensor in the driving control system is connected to a first electronic control unit and a second electronic control unit. If one of the first electronic control unit and the second electronic control unit fails, the other can control the vehicle. This improves the reliability of the vehicle. Technical solutions for the driving control system, the driving control method, and related devices are described below. [Means for solving the problem]

[0006] According to a first aspect, the present disclosure provides a driving control system. The driving control system includes an accelerator pedal position detection unit, a first electronic control unit (ECU), and a second electronic control unit. The accelerator pedal position detection unit includes a position sensor, a first signal transmission circuit, and a second signal transmission circuit. The position sensor is connected to the first electronic control unit via the first signal transmission circuit. The position sensor is connected to the second electronic control unit via the second signal transmission circuit.

[0007] The position sensor is configured to detect a position signal of the accelerator pedal, and the position signal may be a signal of an angle at which the accelerator pedal is depressed. The type of the position sensor is not limited in this disclosure. In a possible implementation, the position sensor is a resistive sensor. In another possible implementation, the position sensor is a non-contact sensor, such as a Hall effect sensor.

[0008] The first signal transmission circuit is configured to transmit the position signal detected by the position sensor to the first electronic control unit, and the second signal transmission circuit is configured to transmit the position signal detected by the position sensor to the second electronic control unit.

[0009] The first electronic control unit and the second electronic control unit are each configured to control the power output of the vehicle based on an accelerator pedal position signal, and in addition, when one of the first electronic control unit and the second electronic control unit fails, the other electronic control unit can still operate normally.

[0010] In the technical solution provided in the present disclosure, based on the above configuration, the accelerator pedal position signal detected by the position sensor can be transmitted to the first electronic control unit and the second electronic control unit via the first signal transmission circuit and the second signal transmission circuit. This allows the other electronic control unit to control the vehicle based on the accelerator pedal position signal when one of the first electronic control unit and the second electronic control unit fails, thereby improving the reliability of the vehicle.

[0011] In one possible implementation, the first signal transmission circuit includes a first position signal circuit and a first ground signal circuit, one end of the first position signal circuit is connected to the position sensor and the other end is connected to the first signal collecting end of the first electronic control unit, and one end of the first ground signal circuit is connected to the position sensor and the other end is connected to the first ground end of the first electronic control unit.

[0012] In a possible implementation, the second signal transmission circuit includes a second position signal circuit, a second ground signal circuit, and a differential operation circuit. The second position signal circuit includes a position signal input circuit and a position signal output circuit. The second ground signal circuit includes a first ground circuit and a second ground circuit. One end of the position signal input circuit is connected to the position sensor and the other end is connected to the differential operation circuit. One end of the first ground circuit is connected to the position sensor and the other end is connected to the differential operation circuit. One end of the position signal output circuit is connected to the differential operation circuit and the other end is connected to a second signal collecting end of the second electronic control unit. One end of the second ground circuit is connected to the differential operation circuit and the other end is connected to a second ground end of the second electronic control unit. The differential operation circuit is configured to adjust the voltage V1 of the position signal input via the position signal input circuit with respect to the first ground circuit so that the voltage V2 of the position signal output via the position signal output circuit with respect to the second ground circuit has a linear relationship with V1.

[0013] The first ground circuit may be connected to the first ground signal circuit, and the position signal input circuit may be connected to the first position signal circuit. In this case, the voltage of the position signal input circuit relative to the first ground circuit is the same as the voltage of the first position signal circuit relative to the first ground circuit, both being V1. V1 corresponds one-to-one to the position of the position sensor, and V1 is the voltage collected by the first signal collecting end of the first electronic control unit.

[0014] In the technical solution provided in the present disclosure, the differential operation circuit is configured to adjust V1 and V2 to have a linear relationship, so that V2 collected by the second electronic control unit is not affected by the voltage difference between the first ground terminal and the second ground terminal, and is related only to V1. In this way, V1 and V2 correspond one-to-one to the position of the accelerator pedal. Therefore, the accelerator pedal position determined by the second electronic control unit based on V2 is accurate.

[0015] A possible implementation is V2=k×V1+V0, where V0 is the target non-negative voltage and k is a constant greater than zero.

[0016] In the technical solution provided in the present disclosure, the differential operation circuit is configured to adjust V1 and V2 to satisfy the relationship V2=k×V1+V0, so that V1 collected by the first electronic control unit and V2 collected by the second electronic control unit have a linear relationship and are not affected by other unknown parameters (such as the voltage difference between the first ground terminal and the second ground terminal). In this way, V1 and V2 correspond one-to-one to the position of the accelerator pedal. Therefore, the position of the accelerator pedal determined by the second electronic control unit based on V2 is accurate.

[0017] In addition, because k is greater than zero and V0 is greater than 0 V, the voltage of the position signal output via the position signal output circuit relative to the second ground terminal is a non-negative voltage. This prevents the second signal collecting terminal of the second electronic control unit from being unable to properly collect the position signal due to a negative voltage being input to the second signal collecting terminal. This improves the robustness of the system.

[0018] In a possible implementation, k×V1max+V0≦V1max, where V1max is the maximum value of V1.

[0019] In the technical solution provided in the present disclosure, the differential operation circuit is configured to adjust V1 and V2 to satisfy the relationship k×V1max+V0≦V1max, so that the maximum voltage collected by the second electronic control unit does not exceed the maximum voltage that can be collected, thereby improving the accuracy and reliability of the system.

[0020] In one possible implementation, the differential operational circuit includes a first operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor. The first operational amplifier has a first positive input terminal, a first negative input terminal, and a first operational output terminal. The position signal input circuit is connected to the first positive input terminal via the first resistor. The first ground circuit is connected to the first negative input terminal via the fourth resistor. The position signal output circuit is connected to the first operational output terminal, and the first operational output terminal is connected to the first negative input terminal via the third resistor. The second ground circuit is connected to the first positive input terminal via the second resistor.

[0021] In one possible implementation, the differential operation circuit further includes a booster unit and a fifth resistor, the booster unit being connected to the first positive input terminal via the fifth resistor.

[0022] In the technical solution provided in the present disclosure, a booster unit is disposed in the differential operation circuit to boost the voltage of the position signal input by the first positive input terminal of the first operational amplifier, and by appropriately designing the boost value of the booster unit, it is possible to avoid a case where a negative voltage is input to the first positive input terminal. In this way, an operational amplifier that can only input a positive voltage to the first positive input terminal can be selected as the first operational amplifier. This widens the selection range of the first operational amplifier, making it easier to implement the technical solution.

[0023] In a possible implementation, the voltage booster is a power supply output by the second electronic control unit.

[0024] In a possible implementation, the position signal input circuit includes a voltage follower, the input terminal of which is connected to the position sensor and the output terminal of which is connected to the differential operation circuit.

[0025] The input terminal of the voltage follower may be connected to the first position signal circuit, and the voltage of the position signal input by the input terminal of the voltage follower is the same as the voltage of the position signal output by the output terminal.

[0026] In the technical solution provided in the present disclosure, the above-mentioned characteristics of the voltage follower can block the influence of the position sensor and the first signal transmission circuit on the differential operation circuit.

[0027] In one possible implementation, the accelerator pedal position detection unit further includes a power transmission circuit, one end of which is connected to the first power supply terminal of the first electronic control unit, and the other end of which is connected to the position sensor.

[0028] In the technical solution provided in the present disclosure, based on the above configuration, the first power supply terminal of the first electronic control unit can supply power to the position sensor, which is simple to implement and has low circuit complexity.

[0029] In one possible implementation, the accelerator pedal position detection unit further includes a first input circuit, a second input circuit, a power source selection circuit, and an output circuit. One end of the first input circuit is connected to the first power source terminal of the first electronic control unit and the other end is connected to the power source selection circuit. One end of the second input circuit is connected to the second power source terminal of the second electronic control unit and the other end is connected to the power source selection circuit. One end of the output circuit is connected to the power source selection circuit and the other end is connected to the position sensor. The power source selection circuit is configured to output the electrical energy input via the first input circuit or the electrical energy input via the second input circuit from the output circuit.

[0030] In the technical solution provided in the present disclosure, based on the above configuration, when one of the first input circuit and the second input circuit cannot supply power, electrical energy can be output to the position sensor via the other circuit, thereby improving the reliability of supplying power to the position sensor.

[0031] In a possible implementation, the power source selection circuit is configured to output the electrical energy input via the second input circuit from the output circuit when electrical energy is not input via the first input circuit and electrical energy is normally input via the second input circuit.

[0032] In a possible implementation, the power source selection circuit is configured to output the electrical energy input via the first input circuit from the output circuit when the electrical energy is normally input via the first input circuit.

[0033] In a possible implementation, the voltage at the input end of the second input circuit relative to the second ground end of the second electronic control unit is equal to the voltage at the output end of the second input circuit relative to the first ground end of the first electronic control unit.

[0034] In one possible implementation, the second input circuit includes an isolation circuit, the input terminal of the isolation circuit being connected to the second power supply terminal and the output terminal being connected to the power supply selection circuit, and the voltage of the input terminal of the isolation circuit relative to the second ground terminal of the second electronic control unit is equal to the voltage of the output terminal of the isolation circuit relative to the first ground terminal of the first electronic control unit.

[0035] The voltage of the first power supply terminal of the first electronic control unit relative to the first ground terminal may be equal to the voltage of the second power supply terminal of the second electronic control unit relative to the second ground terminal, for example, both are 5V.

[0036] The technical solution provided in the present disclosure is based on the above-mentioned configuration, and eliminates the influence of the voltage difference between the first ground terminal and the second ground terminal, so that the same electrical energy is output from the power supply selection circuit regardless of whether the electrical energy is input via the first input circuit or the second input circuit, thereby improving the reliability of the power supply and the stability of the voltages collected by the first electronic control unit and the second electronic control unit.

[0037] In a possible implementation, the isolation circuit includes a primary circuit, a transformer, and a secondary circuit. The primary circuit is coupled to the secondary circuit via the transformer. The primary circuit is connected to a second power supply terminal of the second electronic control unit and is grounded using a second ground terminal. The secondary circuit is connected to the power supply selection circuit and is grounded using a first ground terminal.

[0038] In a possible implementation, the transformer has a voltage transformation ratio of 1:1.

[0039] In a possible implementation, there are two position sensors, two first signal transmission circuits, and two second signal transmission circuits, where the two position sensors are respectively connected to the first electronic control unit via the two first signal transmission circuits, and the two position sensors are respectively connected to the second electronic control unit via the two second signal transmission circuits.

[0040] The technical solution provided in the present disclosure is provided with two position sensors, two first signal transmission circuits, and two second signal transmission circuits, so that the electronic control unit (the first electronic control unit or the second electronic control unit) can control the power output of the vehicle based on the position signals detected by the two position sensors, thereby improving the control accuracy.

[0041] In addition, when one position sensor fails, the other position sensor can still send a position signal to the electronic control unit, which improves the reliability of the driving control system.

[0042] In a possible implementation, the position sensor, the first signal transmission circuit and the second signal transmission circuit are integrated on the same circuit board.

[0043] In a possible implementation, the first signal transmission circuit is connected to the first electronic control unit via a first harness, and the second signal transmission circuit is connected to the second electronic control unit via a second harness.

[0044] In the technical solution provided in the present disclosure, a first harness is used to connect a position sensor to a first electronic control unit, and a second harness is used to connect the position sensor to a second electronic control unit, so that when one of the first harness and the second harness fails, the other harness can still transmit the position signal to the corresponding electronic control unit, thereby improving the reliability of the driving system.

[0045] In a possible implementation, one of the first electronic control unit and the second electronic control unit is a vehicle control unit (VCU) and the other is an autonomous driving control unit, or one of the first electronic control unit and the second electronic control unit is an engine management system (EMS) and the other is an autonomous driving control unit, and the autonomous driving control unit is configured to control the power output of the vehicle based on an accelerator pedal position signal detected by a position sensor when the vehicle control unit or the engine control unit fails.

[0046] The vehicle control unit is a controller that controls the electric vehicle based on the accelerator pedal position signal in manual driving mode. The engine control unit is a controller that controls the fuel vehicle based on the accelerator pedal position signal in manual driving mode. The autonomous driving control unit is a controller that automatically controls the vehicle in autonomous driving mode. The autonomous driving control unit is sometimes called an assisted driving controller or an autonomous driving solution (ADS) controller.

[0047] In the technical solution provided in the present disclosure, the vehicle control unit (or engine control unit) and the autonomous driving control unit of the vehicle are selected as the first electronic control unit and the second electronic control unit, so there is no need to add a new electronic control unit to the vehicle. This reduces implementation costs and makes the technical solution easier to implement. In addition, based on the above configuration, the autonomous driving control unit can be reused as a controller in manual driving mode. This can improve the reliability of the driving system.

[0048] In a possible implementation, the first electronic control unit is connected to the second electronic control unit.

[0049] According to a second aspect, the present disclosure provides an accelerator pedal position detection unit. The accelerator pedal position detection unit includes a position sensor, a first signal transmission circuit, and a second signal transmission circuit. The position sensor is connected to the first signal transmission circuit and the second signal transmission circuit. The first signal transmission circuit is configured to connect to a first electronic control unit. The second signal transmission circuit is configured to connect to a second electronic control unit.

[0050] In one possible implementation, the first signal transmission circuit includes a first position signal circuit and a first ground signal circuit, one end of the first position signal circuit is connected to the position sensor and the other end is connected to the first signal collecting end of the first electronic control unit, and one end of the first ground signal circuit is connected to the position sensor and the other end is connected to the first ground end of the first electronic control unit.

[0051] In a possible implementation, the second signal transmission circuit includes a second position signal circuit, a second ground signal circuit, and a differential operation circuit. The second position signal circuit includes a position signal input circuit and a position signal output circuit. The second ground signal circuit includes a first ground circuit and a second ground circuit. One end of the position signal input circuit is connected to the position sensor and the other end is connected to the differential operation circuit. One end of the first ground circuit is connected to the position sensor and the other end is connected to the differential operation circuit. One end of the position signal output circuit is connected to the differential operation circuit and the other end is connected to a second signal collecting end of the second electronic control unit. One end of the second ground circuit is connected to the differential operation circuit and the other end is connected to a second ground end of the second electronic control unit. The differential operation circuit is configured to adjust the voltage V1 of the position signal input via the position signal input circuit with respect to the first ground circuit so that the voltage V2 of the position signal output via the position signal output circuit with respect to the second ground circuit has a linear relationship with V1.

[0052] A possible implementation is V2=k×V1+V0, where V0 is the target non-negative voltage and k is a constant greater than zero.

[0053] In a possible implementation, k×V1max+V0≦V1max, where V1max is the maximum value of V1.

[0054] In one possible implementation, the differential operational circuit includes a first operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor. The first operational amplifier has a first positive input terminal, a first negative input terminal, and a first operational output terminal. The position signal input circuit is connected to the first positive input terminal via the first resistor. The first ground circuit is connected to the first negative input terminal via the fourth resistor. The position signal output circuit is connected to the first operational output terminal, and the first operational output terminal is connected to the first negative input terminal via the third resistor. The second ground circuit is connected to the first positive input terminal via the second resistor.

[0055] In one possible implementation, the differential operation circuit further includes a voltage booster connected to the first positive input terminal via the fifth resistor, and configured to allow the voltage input by the first positive input terminal to be greater than or equal to zero.

[0056] In a possible implementation, the voltage booster is a power supply output by the second electronic control unit.

[0057] In a possible implementation, the position signal input circuit includes a voltage follower, the input terminal of which is connected to the position sensor and the output terminal of which is connected to the differential operation circuit.

[0058] In a possible implementation, the accelerator pedal position detection unit further includes a power transmission circuit, one end of which is configured to connect to the first power terminal of the first electronic control unit and the other end of which is configured to connect to the position sensor.

[0059] In one possible implementation, the accelerator pedal position detection unit further includes a first input circuit, a second input circuit, a power source selection circuit, and an output circuit. One end of the first input circuit is configured to connect to a first power source terminal of the first electronic control unit, and the other end is configured to connect to the power source selection circuit. One end of the second input circuit is configured to connect to a second power source terminal of the second electronic control unit, and the other end is connected to the power source selection circuit. One end of the output circuit is connected to the power source selection circuit, and the other end is connected to the position sensor. The power source selection circuit is configured to output the electrical energy input via the first input circuit or the electrical energy input via the second input circuit from the output circuit.

[0060] In a possible implementation, the power source selection circuit is configured to output the electrical energy input via the second input circuit from the output circuit when electrical energy is not input via the first input circuit and electrical energy is normally input via the second input circuit.

[0061] In a possible implementation, the power source selection circuit is configured to output the electrical energy input via the first input circuit from the output circuit when the electrical energy is normally input via the first input circuit.

[0062] In one possible implementation, the second input circuit includes an isolation circuit, the input terminal of the isolation circuit being configured to connect to the second power supply terminal and the output terminal being connected to the power supply selection circuit, and the voltage of the input terminal of the isolation circuit relative to the second ground terminal of the second electronic control unit is equal to the voltage of the output terminal of the isolation circuit relative to the first ground terminal of the first electronic control unit.

[0063] In one possible implementation, the isolation circuit includes a primary circuit, a transformer, and a secondary circuit. The primary circuit is coupled to the secondary circuit via the transformer. The primary circuit is configured to connect to a second power supply terminal of the second electronic control unit and is grounded using a second ground terminal. The secondary circuit is connected to the power supply selection circuit and is grounded using a first ground terminal.

[0064] In a possible implementation, the transformer has a voltage transformation ratio of 1:1.

[0065] In a possible implementation, there are two position sensors, two first signal transmission circuits, and two second signal transmission circuits, where the two position sensors are respectively connected to the first electronic control unit via the two first signal transmission circuits, and the two position sensors are respectively connected to the second electronic control unit via the two second signal transmission circuits.

[0066] In a possible implementation, the position sensor, the first signal transmission circuit and the second signal transmission circuit are integrated on the same circuit board.

[0067] In a possible implementation, the first signal transmission circuit is configured to connect to a first electronic control unit via a first harness, and the second signal transmission circuit is configured to connect to a second electronic control unit via a second harness.

[0068] In a possible implementation, one of the first electronic control unit and the second electronic control unit is a vehicle control unit and the other is an autonomous driving control unit, or one of the first electronic control unit and the second electronic control unit is an engine control unit and the other is an autonomous driving control unit, and the autonomous driving control unit is configured to control the power output of the vehicle based on an accelerator pedal position signal detected by the position sensor when the vehicle control unit or the engine control unit fails.

[0069] According to a third aspect, the present disclosure provides an accelerator pedal, the accelerator pedal including an accelerator pedal mechanism and an accelerator pedal position detection unit according to any of the implementations of the second aspect.

[0070] According to a fourth aspect, the present disclosure provides a vehicle, the vehicle including a driving control system according to any implementation of the first aspect.

[0071] According to a fifth aspect, the present disclosure provides a driving control method. The driving control method is applied to a driving control system according to any one of the first and second aspects. The driving control method includes a second electronic control unit detecting that the first electronic control unit has failed. The second electronic control unit controls a power output of the vehicle based on a position signal received via a second signal transmission circuit.

[0072] In the technical solution provided in the present disclosure, based on the above configuration, when the first electronic control unit fails, the second electronic control unit can also control the power output of the vehicle based on the accelerator pedal position signal, thereby improving the reliability of the vehicle.

[0073] In a possible implementation, the driving control method further includes restarting the vehicle after the second electronic control unit detects that the vehicle has been turned off before the second electronic control unit controls the power output of the vehicle based on the position signal received via the second signal transmission circuit.

[0074] In the technical solution provided in the present disclosure, after the first electronic control unit fails, the second electronic control unit takes over the power output control of the vehicle when the vehicle is turned off and restarted, thereby improving the driving safety of the vehicle and preventing the second electronic control unit from suddenly taking over the power output control of the vehicle when the driver accidentally presses the accelerator pedal suddenly, causing the vehicle to accelerate instantaneously.

[0075] In a possible implementation, the driving control method further includes, when the first electronic control unit is normal, the first electronic control unit controlling the power output of the vehicle based on the position signal received via the first signal transmission circuit.

[0076] In a possible implementation, after the second electronic control unit controls the vehicle's power output based on the position signal received via the second signal transmission circuit, the driving control method further includes, when the first electronic control unit is normal, the first electronic control unit controls the vehicle's power output based on the position signal received via the first signal transmission circuit.

[0077] In a possible implementation, before the first electronic control unit controls the power output of the vehicle based on the position signal received via the first signal transmission circuit, the driving control method further includes restarting the vehicle after the first electronic control unit detects that the vehicle has been turned off.

[0078] According to a sixth aspect, the present disclosure provides a driving control method, the driving control method being applied to a second electronic control unit of a driving control system according to any implementation of the first aspect, and including the steps of detecting that the first electronic control unit has failed and controlling a power output of a vehicle based on a position signal received via a second signal transmission circuit.

[0079] When the first electronic control unit is normal, the first electronic control unit may control the power output of the vehicle.

[0080] In the technical solution provided in the present disclosure, based on the above configuration, when the first electronic control unit fails, the second electronic control unit can also control the power output of the vehicle based on the accelerator pedal position signal, thereby improving the reliability of the vehicle.

[0081] In a possible implementation, before controlling the power output of the vehicle based on the position signal received via the second signal transmission circuit, the method further includes restarting the vehicle after the second electronic control unit detects that the vehicle has been turned off.

[0082] In the technical solution provided in the present disclosure, after the first electronic control unit fails, the second electronic control unit takes over the power output control of the vehicle when the vehicle is turned off and restarted, thereby improving the driving safety of the vehicle and preventing the second electronic control unit from suddenly taking over the power output control of the vehicle when the driver accidentally presses the accelerator pedal suddenly, causing the vehicle to accelerate instantaneously.

[0083] According to a seventh aspect, the present disclosure provides a driving control device configured in a second electronic control unit of a driving control system according to any one of the first aspects, the driving control device comprising: a detection module configured to detect that the first electronic control unit has failed; a control module configured to control a power output of the vehicle based on the position signal received via the second signal transmission circuit; Includes.

[0084] In a possible implementation, the detection module is further configured to restart the vehicle after detecting that the vehicle has been turned off before the control module controls the power output of the vehicle based on the position signal received via the second signal transmission circuit.

[0085] According to an eighth aspect, the present disclosure provides a computer-readable storage medium storing at least one instruction, the instruction being loaded and executed by a controller to implement a driving control method according to any implementation of the sixth aspect.

[0086] According to a ninth aspect, the present disclosure provides a computer program product storing at least one instruction, the instruction being executable by an electronic control unit to enable the electronic control unit to implement a driving control method according to any implementation of the sixth aspect.

[0087] According to a tenth aspect, the present disclosure provides a chip, the chip including a controller configured to retrieve and execute instructions stored in the memory from a memory to enable an electronic control unit equipped with the chip to perform an operational control method according to any implementation of the sixth aspect.

[0088] According to an eleventh aspect, the present disclosure provides another chip. The chip includes an input interface, an output interface, a controller, and a memory. The input interface, the output interface, the controller, and the memory are connected via an internal connection path. The controller is configured to execute code in the memory. When the code is executed, the controller is configured to perform an operational control method according to any implementation of the sixth aspect.

[0089] According to a twelfth aspect, the present disclosure provides an electronic control unit. The electronic control unit includes a controller. The controller is coupled to a memory. The memory stores at least one instruction. The at least one instruction is loaded and executed by the controller to implement a driving control method according to any implementation of the sixth aspect. [Brief explanation of the drawings]

[0090] [Figure 1]1 is a diagram of an electric vehicle driving control system according to an embodiment of the present disclosure.

[0091] [Figure 2] 1 is a diagram of a fuel vehicle operation control system according to an embodiment of the present disclosure.

[0092] [Figure 3] FIG. 1 is a diagram of a driving control system according to an embodiment of the present disclosure.

[0093] [Figure 4] FIG. 1 is a diagram of a driving control system according to an embodiment of the present disclosure.

[0094] [Figure 5] FIG. 2 is a diagram of a differential operation circuit according to an embodiment of the present disclosure.

[0095] [Figure 6] FIG. 2 is a diagram of a differential operation circuit according to an embodiment of the present disclosure.

[0096] [Figure 7] FIG. 2 is a diagram of a differential operation circuit according to an embodiment of the present disclosure.

[0097] [Figure 8] FIG. 2 is a diagram of a differential operation circuit according to an embodiment of the present disclosure.

[0098] [Figure 9] FIG. 2 is a diagram of a differential operation circuit according to an embodiment of the present disclosure.

[0099] [Figure 10] FIG. 1 is a diagram of a driving control system according to an embodiment of the present disclosure.

[0100] [Figure 11] FIG. 1 is a configuration diagram of a voltage follower according to an embodiment of the present disclosure.

[0101] [Figure 12]FIG. 1 is a configuration diagram of a voltage follower according to an embodiment of the present disclosure.

[0102] [Figure 13] FIG. 1 is a diagram of a driving control system according to an embodiment of the present disclosure.

[0103] [Figure 14] FIG. 2 is a diagram of a power supply selection circuit according to an embodiment of the present disclosure.

[0104] [Figure 15] FIG. 2 is a diagram of a power supply selection circuit according to an embodiment of the present disclosure.

[0105] [Figure 16] FIG. 1 is a diagram of a driving control system according to an embodiment of the present disclosure.

[0106] [Figure 17] FIG. 2 is a diagram of an isolation circuit according to an embodiment of the present disclosure.

[0107] [Figure 18] FIG. 1 is a diagram of a driving control system according to an embodiment of the present disclosure.

[0108] [Figure 19] 1 is a diagram of an electric vehicle driving control system according to an embodiment of the present disclosure.

[0109] [Figure 20] 1 is a diagram of a fuel vehicle operation control system according to an embodiment of the present disclosure.

[0110] [Figure 21] 1 is a flowchart of an operation control method according to an embodiment of the present disclosure.

[0111] [Figure 22] 1 is a flowchart of an operation control method according to an embodiment of the present disclosure.

[0112] [Figure 23] FIG. 1 is a diagram of an operational control device according to an embodiment of the present disclosure.

[0113] [Figure 24] FIG. 2 is a diagram of an electronic control unit according to an embodiment of the present disclosure.

[0114] Reference Number: 1: accelerator pedal position detection unit, 10: circuit board, 11: position sensor 12: First signal transmission circuit, 121: First position signal circuit, 122: First ground signal circuit 13: second signal transmission circuit, 131: second position signal circuit, 1311: position signal input circuit, 13111: voltage follower, 131111: second operational amplifier, 131111a: second positive input terminal, 131111b: second negative input terminal, 131111c: second calculation output terminal, 1312: position signal output circuit 132: 2nd ground signal circuit, 1321: 1st ground circuit, 1322: 2nd ground circuit 133: differential operation circuit, 1331: first operational amplifier, 1331a: first positive input terminal, 1331b: first negative input terminal, 1331c: first operation output terminal, 1332: first resistor, 1333: second resistor, 1334: third resistor, 1335: fourth resistor, 1336: booster section, 1337: fifth resistor 14: Op-amp power supply circuit 15: Power transmission circuit 16: First input circuit 17: second input circuit, 170: isolation circuit, 171: primary circuit, 172: transformer, 173: secondary circuit 18: power supply selection circuit, 181: NMOS transistor, 182: first PMOS transistor, 183: second PMOS transistor, 184: sixth resistor, 185: seventh resistor, 19: Output circuit 2: first electronic control unit, 21: first signal collecting terminal, 22: first ground terminal, 23: first power supply terminal 3: second electronic control unit, 31: second signal collecting terminal, 32: second ground terminal, 33: second power supply terminal 4: Vehicle frame DETAILED DESCRIPTION OF THE INVENTION

[0115] The accelerator pedal is a component of the driving control system. In the process of driving a vehicle, the driver controls the power output of the vehicle by controlling the angle of depression of the accelerator pedal, thereby controlling the vehicle speed.

[0116] To implement the above-mentioned functions, in the prior art, a position sensor is disposed on the accelerator pedal and connected to an electronic control unit (ECU). The position sensor is configured to detect the position of the accelerator pedal (e.g., the angle at which the accelerator pedal is depressed) and output an accelerator pedal position signal to the electronic control unit. The electronic control unit is configured to control the power output of the vehicle based on the accelerator pedal position signal.

[0117] As shown in Figure 1, in the case of an electric vehicle, the electronic control unit is a vehicle control unit (VCU). The VCU sends a torque control signal to a motor controller based on the accelerator pedal position signal detected by the position sensor, and the motor controller controls the torque of the motor based on the torque control signal to complete the control of the vehicle speed.

[0118] As shown in Figure 2, in the case of a fuel-powered vehicle, the electronic control unit is an engine control unit (engine management system, EMS). The engine control unit controls the opening of the throttle valve based on the accelerator pedal position signal detected by the position sensor, thereby completing the control of the vehicle speed.

[0119] However, regardless of whether the vehicle is an electric vehicle or a fuel cell vehicle, if the electronic control unit (vehicle control unit or engine control unit) fails, the vehicle will not be able to run normally, resulting in a decrease in vehicle reliability.

[0120] In view of the above technical problems, an embodiment of the present disclosure provides a driving control system, in which a position sensor is connected to two electronic control units, so that when one electronic control unit fails, the other electronic control unit can control the power output of the vehicle based on the position signal detected by the position sensor, thereby improving the reliability of the vehicle.

[0121] An example of a driving control system according to an embodiment of the present disclosure will be described below.

[0122] 3 and 4, the driving control system includes an accelerator pedal position detection unit 1, a first electronic control unit 2, and a second electronic control unit 3. The accelerator pedal position detection unit 1 includes a position sensor 11, a first signal transmission circuit 12, and a second signal transmission circuit 13. The position sensor 11 is connected to the first electronic control unit 2 via the first signal transmission circuit 12, and is connected to the second electronic control unit 3 via the second signal transmission circuit 13.

[0123] The position sensor 11 is configured to detect an accelerator pedal position signal, for example, an angle at which the accelerator pedal is depressed. The type of the position sensor 11 is not limited in the embodiments of the present disclosure. In some examples, the position sensor 11 is a resistive sensor. In some other examples, the position sensor 11 is a non-contact sensor, for example, a Hall effect sensor.

[0124] The first signal transmission circuit 12 is configured to transmit the position signal detected by the position sensor 11 to the first electronic control unit 2. The second signal transmission circuit 13 is configured to transmit the position signal detected by the position sensor 11 to the second electronic control unit 3.

[0125] The first electronic control unit 2 and the second electronic control unit 3 are each configured to control the power output of the vehicle based on an accelerator pedal position signal. In addition, when one of the first electronic control unit 2 and the second electronic control unit 3 fails, the other electronic control unit can still operate normally.

[0126] In the technical solution provided in the embodiment of the present disclosure, based on the above-mentioned configuration, the accelerator pedal position signal detected by the position sensor 11 can be transmitted to the first electronic control unit 2 and the second electronic control unit 3 via the first signal transmission circuit 12 and the second signal transmission circuit 13, respectively. In this way, when one of the first electronic control unit 2 and the second electronic control unit 3 fails, the other electronic control unit can control the vehicle based on the accelerator pedal position signal, thereby improving the reliability of the driving control system and the reliability of the vehicle.

[0127] The following describes an example of implementation of the first signal transmission circuit 12 and the second signal transmission circuit 13 provided in this embodiment of the present disclosure.

[0128] First signal transmission circuit 12:

[0129] 3 and 4, the first signal transmission circuit 12 includes a first position signal circuit 121 and a first ground signal circuit 122. One end of the first position signal circuit 121 is connected to the position sensor 11, and the other end is connected to the first signal collecting end 21 of the first electronic control unit 2. One end of the first ground signal circuit 122 is connected to the position sensor 11, and the other end is connected to the first ground end 22 of the first electronic control unit 2.

[0130] The first grounding end 22 of the first electronic control unit 2 is grounded. The implementation in which the first grounding end 22 is grounded is not limited to the embodiments of the present disclosure. In some examples, as shown in FIG. 3 , the first grounding end 22 is connected to the vehicle frame 4. For example, the first grounding end 22 may be connected to the vehicle frame 4 by erecting a body iron. In this case, the first grounding end 22 is grounded using the vehicle frame 4.

[0131] The first signal collecting terminal 21 of the first electronic control unit 2 is configured to collect the position signal output via the first position signal circuit 121. The position signal is a voltage of the signal, and the reference ground of the voltage is the first ground terminal 22.

[0132] When the first electronic control unit 2 controls the power output of the vehicle, the state of the first position sensor 11 changes when the driver depresses the accelerator pedal. In this case, the voltage output via the first position signal circuit 121 changes, and the first electronic control unit 2 collects the voltage and controls the power output of the vehicle based on the change in voltage.

[0133] Second signal transmission circuit 13:

[0134] 3 , the second signal transmission circuit 13 includes a second position signal circuit 131 and a second ground signal circuit 132. One end of the second position signal circuit 131 is connected to the position sensor 11, and the other end is connected to the second signal collecting end 31 of the second electronic control unit 3. One end of the second ground signal circuit 132 is connected to the position sensor 11, and the other end is grounded to the second ground end 32 of the second electronic control unit 3.

[0135] In some examples, the second position signal circuit 131 is connected to the first position signal circuit 121 and the second ground signal circuit 132 is connected to the first ground signal circuit 122, as shown in FIG.

[0136] The second ground terminal 32 of the second electronic control unit 3 is grounded. The implementation in which the second ground terminal 32 is grounded is not limited to the embodiments of the present disclosure. In some examples, as shown in FIG. 3 , the second ground terminal 32 is connected to the vehicle frame 4. For example, the second ground terminal 32 may be connected to the vehicle frame 4 by erecting a body iron. In this case, the second ground terminal 32 is grounded using the vehicle frame 4.

[0137] The second signal collecting terminal 31 of the second electronic control unit 3 is configured to collect the position signal output via the second position signal circuit 131. The position signal is the voltage of the signal output via the second position signal circuit 131, and the reference ground of the voltage is the second ground terminal 32.

[0138] When the second electronic control unit 3 controls the power output of the vehicle, the state of the first position sensor 11 changes when the driver depresses the accelerator pedal. In this case, the voltage output via the second position signal circuit 131 changes, and the second electronic control unit 3 collects the voltage and controls the power output of the vehicle based on the change in voltage.

[0139] It should be noted that the first grounding terminal 22 of the first electronic control unit 2 and the second grounding terminal 32 of the second electronic control unit 3 are usually grounded by using different grounding points on the vehicle frame 4, so the first grounding terminal 22 and the second grounding terminal 32 may not be at the same potential and may have a voltage difference. Based on the relevant provisions of the vehicle standard ISO 16750 on the ground potential difference between internal parts of a vehicle, the maximum allowable voltage difference is 1V.

[0140] The first position signal circuit 121 is connected to the second position signal circuit 131. In this case, the potential of the first position signal circuit 121 is the same as the potential of the second position signal circuit 131, and the first signal collecting end 21 of the first electronic control unit 2 and the second signal collecting end 31 of the second electronic control unit 3 are at the same potential. However, if the reference grounds of the first signal collecting end 21 and the second signal collecting end 31 are different (i.e., there is a ground potential difference between the first ground end 22 and the second ground end 32), the voltages collected by the first electronic control unit 2 and the second electronic control unit 3 will also be different.

[0141] For example, let Vd be the voltage of the first ground terminal 22 relative to the second ground terminal 32. When the voltage collected by the first electronic control unit 2 is V1 (i.e., the voltage of the first signal collecting terminal 21 relative to the first ground terminal 22 is V1), the voltage collected by the second electronic control unit 3 is V2 = V1 + Vd (i.e., the voltage of the second signal collecting terminal 31 relative to the second ground terminal 32 is V2 = V1 + Vd). In practical applications, Vd changes over time. Therefore, for the same V1, the specific value of V2 is uncertain.

[0142] In the technical solution shown in Figure 3, the first ground terminal 22 and the second ground terminal 32 are directly short-circuited. Due to Vd, the collected position signal has irregular deviations (the potential of the ground terminal is unknown), and V2 may be less than 0V. For example, if V1 = 0.5V and Vd = -1V, then V2 = -0.5V. If the second electronic control unit 3 cannot collect negative voltages, it cannot operate normally.

[0143] In order to solve at least some of the above-mentioned technical problems, in some examples, Vd may be set equal to 0V, that is, the first ground terminal 22 and the second ground terminal 32 are set to be at the same potential. In this case, the technical solution shown in FIG. 3 may be usually used.

[0144] In some other examples, as shown in FIG. 4, a differential operation circuit 133 may alternatively be arranged to adjust the voltage of the position signal output to the second electronic control unit 3 to eliminate the influence of Vd.

[0145] 4, the second signal transmission circuit 13 includes a second position signal circuit 131, a second ground signal circuit 132, and a differential calculation circuit 133. The second position signal circuit 131 includes a position signal input circuit 1311 and a position signal output circuit 1312. The second ground signal circuit 132 includes a first ground circuit 1321 and a second ground circuit 1322. One end of the position signal input circuit 1311 is connected to the position sensor 11, and the other end is connected to the differential calculation circuit 133. One end of the first ground circuit 1321 is connected to the position sensor 11, and the other end is connected to the differential calculation circuit 133. One end of the position signal output circuit 1312 is connected to the differential calculation circuit 133, and the other end is connected to the second signal collecting terminal 31 of the second electronic control unit 3. One end of the second ground circuit 1322 is connected to the differential calculation circuit 133, and the other end is connected to the second ground terminal 32 of the second electronic control unit 3. The differential operation circuit 133 is configured to adjust the voltage V1 of the position signal input via the position signal input circuit 1311 relative to the first ground circuit 1321, so that the voltage V2 of the position signal output via the position signal output circuit 1312 relative to the second ground circuit 1322 has a linear relationship with V1.

[0146] 4, the position signal input circuit 1311 may be connected to the first position signal circuit 121, and the first ground circuit 1321 may be connected to the first ground signal circuit 122. In this case, the position signal input circuit 1311 and the first position signal circuit 121 are at the same potential, and the first ground circuit 1321 and the first ground signal circuit 122 are at the same potential. Therefore, the voltage of the position signal input via the position signal input circuit 1311 relative to the first ground circuit 1321 is equal to the voltage of the first position signal circuit 121 relative to the first ground signal circuit 122. Let V1 be the voltage collected by the first signal collecting end 21 of the first electronic control unit 2.

[0147] In the technical solution provided in this embodiment of the present disclosure, V2 collected by the second signal collecting end 31 of the second electronic control unit 3 is set to be in a linear relationship with V1 collected by the first signal collecting end 21 of the first electronic control unit 2 to eliminate the influence of Vd, so that V2 and V1 have a one-to-one correspondence with the accelerator pedal position. In this way, the accelerator pedal position determined by the second electronic control unit 3 based on V2 is more accurate.

[0148] In some examples, V2=k×V1+V0, where V0 is the target non-negative voltage and k is a constant greater than zero.

[0149] Since k is a constant greater than 0, V0 is a non-negative voltage value, V1 is greater than or equal to 0, and V2 is also greater than or equal to 0. Since V2 is a non-negative voltage value, the second electronic control unit 3 does not collect negative voltages.

[0150] In addition, since there is no influence of another unknown parameter (e.g., Vd) in the relationship, V2 and V1 have a one-to-one correspondence with the accelerator pedal position. Thus, the accelerator pedal position determined by the second electronic control unit 3 based on V2 becomes more accurate.

[0151] In addition, if the maximum voltage that can be collected by the second electronic control unit 3 is V2max, then k×V1max+V0 should be less than or equal to V2max, where V1max is the maximum voltage of the position signal output via the first position signal circuit 121 relative to the first ground terminal 22.

[0152] In general, the maximum voltages that can be collected by the first electronic control unit 2 and the second electronic control unit 3 are the same, i.e., V1max=V2max. Therefore, k×V1max+V0≦V1max.

[0153] An example of implementation of the differential operation circuit 133 will be described below.

[0154] 5, the differential operation circuit 133 includes a first operational amplifier 1331, a first resistor 1332, a second resistor 1333, a third resistor 1334, and a fourth resistor 1335. The first operational amplifier 1331 has a first positive input terminal 1331a, a first negative input terminal 1331b, and a first operation output terminal 1331c. The position signal input circuit 1311 is connected to the first positive input terminal 1331a via the first resistor 1332. The first ground circuit 1321 is connected to the first negative input terminal 1331b via the fourth resistor 1335. The position signal output circuit 1312 is connected to the first operation output terminal 1331c, which is connected to the first negative input terminal 1331b via the third resistor 1334. The second ground circuit 1322 is connected to the first positive input terminal 1331 a via a second resistor 1333 .

[0155] The resistance value of the first resistor 1332 is R1, the resistance value of the second resistor 1333 is R2, the resistance value of the third resistor 1334 is R3, and the resistance value of the fourth resistor 1335 is R4. If the voltage of the second ground terminal 32 is 0 V and the voltage of the first ground terminal 22 is Vd (i.e., the voltage difference between the first ground terminal 22 and the second ground terminal 32 is Vd), the voltage input via the first ground circuit 1321 is Vd, and the voltage input via the position signal input circuit 1311 is V1+Vd.

[0156] The operational amplifier (first operational amplifier 1331) has the following characteristics: The potentials of the first positive input terminal 1331a and the first negative input terminal 1331b of the first operational amplifier 1331 are the same (assuming that both voltages with respect to the second ground terminal 32 are Vin). In addition, the current between the first positive input terminal 1331a and the first negative input terminal 1331b is zero.

[0157] Based on the above characteristics, the current state of the differential operation circuit 133 is shown in Figure 6. The "x" in Figure 6 indicates that no current flows in the circuit. In this case, the following relationships exist: I1 = I2, and I3 = I4.

[0158]

number

number

[0159] Furthermore, the following is inferred:

number

[0160]

number

number

[0161] Furthermore, the following is inferred:

number

[0162] Substituting equation (1) into equation (2), we obtain the relationship between V2 and V1:

number

[0163] To eliminate the effect of Vd on the relationship between V2 and V1, the following is set:

number

number

[0164] Furthermore, it can be inferred that the relationship between V2 and V1 may be transformed as follows:

number

number

[0165] The specific values ​​of R1, R2, R3, and R4 are not limited in the embodiments of the present disclosure. In some examples, when R1=10 kΩ, R2=10 kΩ, R3=10 kΩ, and R4=10 Ω, V2=V1.

[0166] 5 and 6, it should be noted that a negative voltage may be input to the first positive input terminal 1331a of the first operational amplifier 1331. For example, when V1=0.5V and Vd=−1V, Vin<0.

[0167] In order to prevent the input negative voltage from affecting the normal operation of the first operational amplifier 1331, an operational amplifier that can tolerate the input of a negative voltage must be selected as the first operational amplifier 1331.

[0168] Of course, in some other examples, when Vin becomes large, it is possible to avoid a case where a negative voltage is input to the first positive input terminal 1331a of the first operational amplifier 1331. This widens the selection range of the first operational amplifier 1331.

[0169] 7, the differential operation circuit 133 further includes a booster 1336 and a fifth resistor 1337. The booster 1336 is connected to the first positive input terminal 1331a via the fifth resistor 1337.

[0170] The resistance value of the fifth resistor 1337 is R5, and the voltage of the booster 1336 relative to the second ground terminal 32 is V3.

[0171] Based on the above characteristics of the operational amplifier, the current state of the differential operation circuit 133 is shown in Figure 8. The "x" in Figure 8 indicates that no current flows through the circuit. In this case, the following relationships exist: I1 + I5 = I2, and I3 = I4.

[0172]

number

number

number

[0173] By substituting equation (3) into equation (2), the relationship between V2 and V1 is obtained.

number

[0174] To eliminate the effect of Vd on the relationship between V2 and V1, the following is set:

number

number

[0175] Furthermore, it can be deduced that the relationship between V2 and V1 can be transformed as follows:

number

number

number

[0176] The specific values ​​of R1, R2, R3, R4, and R5 are not limited in the embodiments of the present disclosure. In some examples, when R1=10 kΩ, R2=10 kΩ, R3=8 kΩ, R4=10 kΩ, and R5=40 kΩ, V2=0.8V1+0.2V3.

[0177] The specific value of V3 is not limited in the embodiments of the present disclosure, as long as V3 enables Vin to be a non-negative voltage. In some examples, when V3=5V, V2=0.8V1+1V.

[0178] The source of the booster 1336 is not limited in the embodiments of the present disclosure. In some examples, as shown in FIG. 9 , the booster 1336 is a power source output by the second power terminal 33 of the second electronic control unit 3.

[0179] 9, the first operational amplifier 1331 has a negative power supply terminal (Vcc-) connected to the second ground terminal 32 and a positive power supply terminal (Vcc+) connected to the second power supply terminal 33 via the operational amplifier power supply circuit 14.

[0180] 10, the position signal input circuit 1311 includes a voltage follower 13111. An input terminal of the voltage follower 13111 is connected to the position sensor 11, and an output terminal of the voltage follower 13111 is connected to the differential operation circuit 133.

[0181] The voltage follower 13111 may be connected to the first position signal circuit 121, and the voltage of the position signal input by the input end of the voltage follower 13111 is equal to the voltage of the position signal output.

[0182] The voltage follower 13111 separates the position sensor 11 from the differential operation circuit 133 and can prevent the first position signal circuit 121 and the position sensor 11 from affecting the differential operation circuit 133.

[0183] An example of the implementation of the voltage follower 13111 will be described below.

[0184] 11, the voltage follower 13111 includes a second operational amplifier 131111. The second operational amplifier 131111 includes a second positive input terminal 131111a, a second negative input terminal 131111b, and a second operation output terminal 131111c. The position sensor 11 is connected to the second positive input terminal 131111a, the second operation output terminal 131111c is connected to the second negative input terminal 131111b, and the second operation output terminal 131111c is connected to the differential operation circuit 133.

[0185] Referring to the characteristics of the operational amplifier described above, it can be seen that the second positive input terminal 131111a and the second negative input terminal 131111b have the same potential, both Vin. In addition, the second operation output terminal 131111c and the second negative input terminal 131111b have the same potential, that is, Vout=Vin.

[0186] The voltage of the signal input through the second positive input terminal 131111a relative to the first ground terminal 22 is V1, and the voltage of the signal input through the second positive input terminal 131111a relative to the second ground terminal 32 is V1+Vd. In this case, Vout=Vin=V1+Vd. In other words, the voltage input to the differential operation circuit 133 by the second operation output terminal 131111c is V1+Vd. It can be seen that the voltage follower 13111 does not affect the magnitude of the voltage output to the differential operation circuit 133 via the position signal input circuit 1311.

[0187] In addition, the second operational amplifier 131111 can only be used when power is supplied. As shown in Figure 12, the negative power supply terminal (Vcc-) of the second operational amplifier 131111 is connected to the first ground terminal 22, and the positive power supply terminal (Vcc+) is connected to the first power supply terminal 23 of the first electronic control unit 2.

[0188] A method for supplying power to the position sensor 11 will now be described.

[0189] 3, 4, and 10, the accelerator pedal position detection unit 1 further includes a power supply transmission circuit 15. One end of the power supply transmission circuit 15 is connected to the first power supply terminal 23 of the first electronic control unit 2, and the other end is connected to the position sensor 11. In this case, the first power supply terminal 23 of the first electronic control unit 2 can supply power to the position sensor 11 via the power supply transmission circuit 15.

[0190] 13 and 16 , the accelerator pedal position detection unit 1 further includes a first input circuit 16, a second input circuit 17, a power source selection circuit 18, and an output circuit 19. One end of the first input circuit 16 is connected to the first power source terminal 23 of the first electronic control unit 2, and the other end is connected to the power source selection circuit 18. One end of the second input circuit 17 is connected to the second power source terminal 33 of the second electronic control unit 3, and the other end is connected to the power source selection circuit 18. One end of the output circuit 19 is connected to the power source selection circuit 18, and the other end is connected to the position sensor 11. The power source selection circuit 18 is configured to output, from the output circuit 19, the electrical energy input via the first input circuit 16 or the electrical energy input via the second input circuit 17.

[0191] The power supply selection circuit 18 is arranged so that the position sensor 11 can be simultaneously connected to the power supplies of the first electronic control unit 2 and the second electronic control unit 3. This allows power to be supplied to the position sensor 11 from the other power supply when one of the power supplies fails, thereby ensuring the reliability of the driving control system.

[0192] The selection logic of the power supply selection circuit 18 is not limited in the embodiments of the present disclosure. In some examples, the power supply selection circuit 18 is configured to output the electrical energy input via the second input circuit 17 from the output circuit 19 when electrical energy is not input via the first input circuit 16 and electrical energy is normally input via the second input circuit 17. When electrical energy is normally input via the first input circuit 16, the electrical energy input via the first input circuit 16 is output from the output circuit 19.

[0193] An example implementation of the power supply selection circuit 18 will now be described.

[0194] As shown in FIGS. 14 and 15, the power supply selection circuit 18 includes an NMOS transistor 181, a first PMOS transistor 182, a second PMOS transistor 183, a sixth resistor 184, and a seventh resistor 185.

[0195] 14, when electrical energy is normally input via the first input circuit 16, the gate of the NMOS transistor 181 becomes high potential and the NMOS transistor 181 is switched on, so that the gate of the first PMOS transistor 182 is grounded and the first PMOS transistor 182 is also switched on. In this case, a closed circuit is formed between the first input circuit 16 and the output circuit 19, and the electrical energy input via the first input circuit 16 is output from the output circuit 19.

[0196] However, since the gate of the second PMOS transistor 183 is connected to the first input circuit 16, the gate of the second PMOS transistor 183 is at a high potential. In this case, the second PMOS transistor 183 is switched off. In this case, there is an open circuit between the second input circuit 17 and the output circuit 19. In this case, no electrical energy is output through the output circuit 19, regardless of whether electrical energy is input through the second input circuit 17 or not.

[0197] 15, when electrical energy is abnormally input via the first input circuit 16, the gate of the second PMOS transistor 183 is grounded via the sixth resistor 184, and the gate of the second PMOS transistor 183 is at a low potential. In this case, the second PMOS transistor 183 is switched on. In this case, a closed circuit is formed between the second input circuit 17 and the output circuit 19, and the electrical energy input via the second input circuit 17 can be output from the output circuit 19.

[0198] However, because electrical energy is abnormally input via the first input circuit 16, the gate of the NMOS transistor 181 is at a low potential. In this case, the NMOS transistor 181 is switched off. The gate of the first PMOS transistor 182 is not grounded but is connected to the output circuit 19 (also called the second input circuit 17) via the seventh resistor 185, so the gate of the first PMOS transistor 182 is at a high potential. In this case, the first PMOS transistor 182 is switched off. In this case, there is an open circuit between the first input circuit 16 and the output circuit 19.

[0199] Generally, the voltage of the first power supply terminal 23 of the first electronic control unit 2 relative to the first ground terminal 22 is the same as the voltage of the second power supply terminal 33 of the second electronic control unit 3 relative to the second ground terminal 32. Therefore, when there is no voltage difference between the first ground terminal 22 and the second ground terminal 32, the electrical energy output by the second power supply terminal 33 can be directly output to the position sensor 11.

[0200] However, if there is a voltage difference between the first ground terminal 22 and the second ground terminal 32 and the electrical energy output by the second power supply terminal 33 is directly output to the position sensor 11, the power supply voltage may be excessively high or low, which will affect the signal collection of the first electronic control unit 2 and the second electronic control unit 3.

[0201] 16 , the second input circuit 17 includes an isolation circuit 170. The input terminal of the isolation circuit 170 is connected to the second power supply terminal 33, and the output terminal is connected to the power supply selection circuit 18. The voltage of the input terminal of the isolation circuit 170 relative to the second ground terminal 32 of the second electronic control unit 3 is equal to the voltage of the output terminal of the isolation circuit 170 relative to the first ground terminal 22 of the first electronic control unit 2.

[0202] The following provides possible implementations of isolation circuit 170.

[0203] 17, the isolation circuit 170 includes a primary circuit 171, a transformer 172, and a secondary circuit 173. The primary circuit 171 is coupled to the secondary circuit 173 via the transformer 172. The primary circuit 171 is connected to the second power supply terminal 33 of the second electronic control unit 3 and is grounded using the second ground terminal 32. The secondary circuit 173 is connected to the power supply selection circuit 18 and is grounded using the first ground terminal 22.

[0204] The op-amp power supply circuit 14 may be connected to the primary side circuit 171. In some examples, the voltage transformation ratio of the transformer 172 is 1:1.

[0205] The number of position sensors 11, first signal transmission circuits 12, and second signal transmission circuits 13 is not limited in the embodiments of the present disclosure. In some examples, as shown in Fig. 18, there are two position sensors 11, two first signal transmission circuits 12, and two second signal transmission circuits 13. The two position sensors 11 are connected to the first electronic control unit 2 via two first signal transmission circuits 12, respectively, and connected to the second electronic control unit 3 via two second signal transmission circuits 13, respectively.

[0206] 18, the first electronic control unit 2 has two first signal collecting terminals 21 and two first ground terminals 22, and the two first ground terminals 22 are grounded via the same position in the vehicle frame. The second electronic control unit 3 has two second signal collecting terminals 31 and two second ground terminals 32, and the two second ground terminals 32 are grounded via the same position in the vehicle frame.

[0207] The two first signal collecting ends 21 of the first electronic control unit 2 are respectively connected to the two first position signal circuits 121, and the two first grounding ends 22 are respectively connected to the two first ground signal circuits 122. The two second signal collecting ends 31 of the second electronic control unit 3 are respectively connected to the two position signal output circuits 1312, and the two second grounding ends 32 are respectively connected to the two second ground circuits 1322.

[0208] Based on the above arrangement, the first electronic control unit 2 or the second electronic control unit 3 can control the power output of the vehicle based on the position signals detected by the two position sensors 11. This can improve the control accuracy of the power output of the vehicle. In addition, when one of the two position sensors 11 fails, the other position sensor 11 can continue to send a position signal to the corresponding electronic control unit. This can improve the reliability of the driving control system.

[0209] In addition, when there are two position sensors 11, there are also two power supply transmission circuits 15 correspondingly, as shown in Fig. 18. The two power supply transmission circuits 15 are configured to supply power to the two position sensors 11, respectively. For example, the first electronic control unit 2 has two first power supply terminals 23. The two first power supply terminals 23 are connected to the two power supply transmission circuits 15, respectively.

[0210] In some examples, there are also two operational amplifier power supply circuits 14. The two operational amplifier power supply circuits 14 are configured to supply power to the two first operational amplifiers 1331, respectively, and the two operational amplifier power supply circuits 14 are connected to the two second power supply terminals 33 of the second electronic control unit 3, respectively.

[0211] It should be noted that when power is supplied to the position sensor 11 via the first input circuit 16, the second input circuit 17, the power source selection circuit 18, and the output circuit 19, in some examples, there may be two output circuits 19. One end of each of the two output circuits 19 is connected to the same power source selection circuit 18, and the other end is connected to each of the two position sensors 11. In this case, the first electronic control unit 2 may have one first power source terminal 23, and the second electronic control unit 3 may have one second power source terminal 33.

[0212] In some other examples, there may alternatively be two first input circuits 16, two second input circuits 17, two power supply selection circuits 18, and two output circuits 19, and the two first input circuits 16, the two second input circuits 17, the two power supply selection circuits 18, and the two output circuits 19 are configured to be connected to the two position sensors 11, respectively. This can improve the reliability of supplying power to the position sensors 11. In this case, the first electronic control unit 2 has two first power supply terminals 23, and the second electronic control unit 3 has two second power supply terminals 33. In this case, the two first power supply terminals 23 are connected to the two first input circuits 16, respectively, and the two second power supply terminals 33 are connected to the two second input circuits 17, respectively.

[0213] In some examples, as shown in FIG. 18, the position sensor 11, the first signal transmission circuit 12, and the second signal transmission circuit 13 are integrated on the same circuit board 10.

[0214] In terms of product form, the accelerator pedal position detection unit 1, the first electronic control unit 2, and the second electronic control unit 3 are three separate components. Therefore, the connection between the first signal transmission circuit 12 and the first electronic control unit 2, and the connection between the second signal transmission circuit 13 and the second electronic control unit 3 both need to be implemented via harnesses.

[0215] In some examples, the first signal transmission circuit 12 is connected to the first electronic control unit 2 via a first harness, and the second signal transmission circuit 13 is connected to the second electronic control unit 3 via a second harness.

[0216] In this case, when one of the first and second harnesses fails, the other harness can continue to send a position signal to the corresponding electronic control unit, thereby improving the reliability of the driving control system.

[0217] In addition, when there are two position sensors 11, two first signal transmission circuits 12, and two second signal transmission circuits 13, there are also two first harnesses and two second harnesses correspondingly.

[0218] Below, examples of the transmission lines included in the first harness and the second harness will be described.

[0219] As shown in Figures 4, 10, 13, and 16, there is one first harness and one second harness. The first harness includes a power supply line Vcc1, a position signal line Sig1, and a ground signal line GND1. The second harness includes a power supply line Vcc2, a position signal line Sig2, and a ground signal line GND2.

[0220] 4 and 10, both ends of the power supply line Vcc1 are connected to the first power supply terminal 23 and the power supply transmission circuit 15, and both ends of the power supply line Vcc2 are connected to the second power supply terminal 33 and the operational amplifier power supply circuit 14. The power supply line Vcc2 is configured to supply power to the first operational amplifier 1331.

[0221] 13 and 16, both ends of the power supply line Vcc1 are connected to the first power supply terminal 23 and the first input circuit 16, and both ends of the power supply line Vcc2 are connected to the second power supply terminal 33 and the second input circuit 17, which is further connected to the operational amplifier power supply circuit 14. The power supply line Vcc2 is configured to supply power to the position sensor 11 and the first operational amplifier 1331.

[0222] 18, there are two first harnesses and two second harnesses. One first harness includes a power supply line Vcc1, a position signal line Sig1, and a ground signal line GND1, while the other first harness includes a power supply line Vcc3, a position signal line Sig3, and a ground signal line GND3. One second harness includes a power supply line Vcc2, a position signal line Sig2, and a ground signal line GND2, while the other second harness includes a power supply line Vcc4, a position signal line Sig4, and a ground signal line GND4.

[0223] An example of the first electronic control unit 2 and the second electronic control unit 3 will be described below.

[0224] The first electronic control unit 2 and the second electronic control unit 3 may be a primary control unit and a secondary control unit, respectively, such as the first electronic control unit 2 being a primary electronic control unit and the second electronic control unit 3 being a secondary electronic control unit, or may be referred to as redundant electronic control units.

[0225] When the first electronic control unit 2 is normal, regardless of whether the second electronic control unit 3 has failed, the first electronic control unit 2 can control the power output of the vehicle based on the position signal detected by the position sensor 11. When the first electronic control unit 2 has failed, the second electronic control unit 3 controls the power output of the vehicle based on the position signal detected by the position sensor 11.

[0226] It should be noted that when the components are normal, both the first electronic control unit 2 and the second electronic control unit 3 can collect the position signal of the position sensor 11, and when only the first electronic control unit 2 is normal, the second electronic control unit 3 does not perform processing based on the position signal of the position sensor 11.

[0227] In some examples, the first electronic control unit 2 is connected to the second electronic control unit 3. For example, the first electronic control unit 2 may be connected to a controller area network (CAN). The second electronic control unit 3 may be connected to the second electronic control unit 3 via a CAN (Computer Area Network) or an Ethernet (ETH) bus.

[0228] In the following, by using an example where the first electronic control unit 2 is the primary electronic control unit and the second electronic control unit 3 is the secondary electronic control unit, the switching process in which the secondary electronic control unit takes over the power output control of the vehicle after the primary electronic control unit fails will be described.

[0229] After the first electronic control unit 2 fails, the driver realizes that the vehicle speed does not change in response to depressing the accelerator pedal. In addition, the dashboard, central control screen, etc. of the vehicle will display prompt information indicating that the first electronic control unit 2 has failed. Therefore, for safety reasons, the driver will slow down and shut off the vehicle engine.

[0230] In addition, the second electronic control unit 3 determines that the first electronic control unit 2 has failed. For example, after the first electronic control unit 2 has failed, a failure indication message may be sent to the second electronic control unit 3. In another example, if the first electronic control unit 2 cannot send the failure indication message, the second electronic control unit 3 may determine that it cannot receive packets sent by the first electronic control unit 2, and may also determine that the first electronic control unit 2 has failed.

[0231] When the vehicle is restarted after the engine is shut down, the second electronic control unit 3 may take over the control process performed on the vehicle's power output based on the position signal, since the second electronic control unit 3 has determined that the first electronic control unit 2 has failed. When the driver presses the accelerator pedal again, the vehicle speed may change accordingly.

[0232] The specific components represented by the first electronic control unit 2 and the second electronic control unit 3 in the vehicle are not limited in the embodiments of the present disclosure. In some examples, as shown in FIG. 19, the vehicle is an electric vehicle. In this case, one of the first electronic control unit 2 and the second electronic control unit 3 is a vehicle control unit, and the other is an autonomous driving control unit. For example, the first electronic control unit 2 is a vehicle control unit, and the second electronic control unit 3 is an autonomous driving control unit.

[0233] In some other examples, the vehicle is a fuel vehicle, as shown in Figure 20. In this case, one of the first electronic control unit 2 and the second electronic control unit 3 is an engine control unit, and the other is an autonomous driving control unit. For example, the first electronic control unit 2 is an engine control unit, and the second electronic control unit 3 is an autonomous driving control unit.

[0234] A vehicle control unit or engine control unit is a controller configured to control a vehicle based on an accelerator pedal position signal in a manual driving mode. An autonomous driving control unit is a controller configured to automatically control a vehicle in an automated driving mode. An autonomous driving control unit may also be referred to as an assisted driving controller or an autonomous driving solution (ADS) controller.

[0235] Since the vehicle control unit (or engine control unit) and the autonomous driving control unit of the vehicle are selected as the first electronic control unit 2 and the second electronic control unit 3, there is no need to add a new electronic control unit to the vehicle, which reduces the implementation cost and makes the implementation of the technical solution easier.

[0236] Below, examples of the control logic of the vehicle control unit (or engine control unit) and the control logic of the autonomous driving control unit will be described.

[0237] In the manual driving mode, when the vehicle control unit or the engine control unit is in a normal state, the vehicle control unit or the engine control unit receives the accelerator pedal position signal sent by the accelerator pedal position detection unit 1 and controls the power output of the vehicle based on the accelerator pedal position signal.

[0238] When the vehicle control unit or the engine control unit fails, the autonomous driving control unit receives the accelerator pedal position signal sent by the accelerator pedal position detection unit 1 and controls the vehicle's power output based on the accelerator pedal position signal.

[0239] Additionally, when the vehicle is in autonomous driving mode, the autonomous driving control unit automatically controls the vehicle.

[0240] An embodiment of the present disclosure further provides an accelerator pedal position detection unit 1. As shown in Figures 3 and 4, the accelerator pedal position detection unit 1 includes a position sensor 11, a first signal transmission circuit 12, and a second signal transmission circuit 13. The position sensor 11 is connected to the first signal transmission circuit 12 and the second signal transmission circuit 13. The first signal transmission circuit 12 is configured to be connected to a first electronic control unit 2. The second signal transmission circuit 13 is configured to be connected to a second electronic control unit 3.

[0241] 3 and 4, the first signal transmission circuit 12 includes a first position signal circuit 121 and a first ground signal circuit 122. One end of the first position signal circuit 121 is connected to the position sensor 11, and the other end is configured to connect to the first signal collecting end 21 of the first electronic control unit 2. One end of the first ground signal circuit 122 is connected to the position sensor 11, and the other end is connected to the first ground end 22 of the first electronic control unit 2.

[0242] 4 , the second signal transmission circuit 13 includes a second position signal circuit 131, a second ground signal circuit 132, and a differential operation circuit 133. The second position signal circuit includes a position signal input circuit 1311 and a position signal output circuit 1312. The second ground signal circuit 132 includes a first ground circuit 1321 and a second ground circuit 1322. One end of the position signal input circuit 1311 is connected to the position sensor 11, and the other end is connected to the differential operation circuit 133. One end of the first ground circuit 1321 is connected to the position sensor 11, and the other end is connected to the differential operation circuit 133. One end of the position signal output circuit 1312 is connected to the differential operation circuit 133, and the other end is connected to the second signal collecting terminal 31 of the second electronic control unit 3. One end of the second ground circuit 1322 is connected to the differential operation circuit 133, and the other end is connected to the second ground terminal 32 of the second electronic control unit 3. The differential operation circuit 133 is configured to adjust the voltage V1 of the position signal input via the position signal input circuit 1311 relative to the first ground circuit 1321 so that the voltage V2 of the position signal output via the position signal output circuit 1312 relative to the second ground circuit 1322 is in a linear relationship with V1.

[0243] In some examples, V2=k×V1+V0, where V0 is the target non-negative voltage and k is a constant greater than zero.

[0244] In some examples, k×V1max+V0≦V1max, where V1max is the maximum value of V1.

[0245] 5 to 9, the differential operation circuit 133 includes a first operational amplifier 1331, a first resistor 1332, a second resistor 1333, a third resistor 1334, and a fourth resistor 1335. The first operational amplifier 1331 has a first positive input terminal 1331a, a first negative input terminal 1331b, and a first operation output terminal 1331c. The position signal input circuit 1311 is connected to the first positive input terminal 1331a via the first resistor 1332. The first ground circuit 1321 is connected to the first negative input terminal 1331b via the fourth resistor 1335. The position signal output circuit 1312 is connected to the first operation output terminal 1331c, and the first operation output terminal 1331c is connected to the first negative input terminal 1331b via the third resistor 1334. The second ground circuit 1322 is connected to the first positive input terminal 1331 a via a second resistor 1333 .

[0246] 7 to 9, the differential operation circuit 133 further includes a booster unit 1336 and a fifth resistor 1337. The booster unit 1336 is connected to the first positive input terminal 1331a via the fifth resistor 1337. The booster unit 1336 is configured to enable the voltage input by the first positive input terminal 1331a to be equal to or greater than 0.

[0247] In some examples, as shown in FIG. 9, the booster 1316 is a power supply output by the second electronic control unit 3.

[0248] 10, the position signal input circuit 1311 includes a voltage follower 13111. An input terminal of the voltage follower 13111 is connected to the position sensor 11, and an output terminal of the voltage follower 13111 is connected to the differential operation circuit 133.

[0249] 10, the accelerator pedal position detection unit 1 further includes a power supply transmission circuit 15. One end of the power supply transmission circuit 15 is configured to be connected to the first power supply terminal 23 of the first electronic control unit 2, and the other end is connected to the position sensor 11.

[0250] 13 , the accelerator pedal position detection unit 1 further includes a first input circuit 16, a second input circuit 17, a power source selection circuit 18, and an output circuit 19. One end of the first input circuit 16 is configured to be connected to the first power source terminal 23 of the first electronic control unit 2, and the other end is connected to the power source selection circuit 18. One end of the second input circuit 17 is configured to be connected to the second power source terminal 33 of the second electronic control unit 3, and the other end is connected to the power source selection circuit 18. One end of the output circuit 19 is connected to the power source selection circuit 18, and the other end is connected to the position sensor 11. The power source selection circuit 18 is configured to output, from the output circuit 19, the electrical energy input via the first input circuit 16 or the electrical energy input via the second input circuit 17.

[0251] In some examples, the power source selection circuit 18 is configured to output the electrical energy input via the first input circuit 16 from the output circuit 19 when the electrical energy is normally input via the first input circuit 16.

[0252] In some examples, the power source selection circuit 18 is configured to output the electrical energy input via the second input circuit 17 from the output circuit 19 when electrical energy is not input via the first input circuit 16 and electrical energy is normally input via the second input circuit 17.

[0253] In some examples, the voltage of the input terminal of the second input circuit 17 relative to the second ground terminal 32 of the second electronic control unit 3 is equal to the voltage of the output terminal of the second input circuit 17 relative to the first ground terminal 22 of the first electronic control unit 2.

[0254] 16 , the second input circuit 17 includes an isolation circuit 170. The input terminal of the isolation circuit 170 is connected to the second power supply terminal 33, and the output terminal is connected to the power supply selection circuit 18. The voltage of the input terminal of the isolation circuit 170 relative to the second ground terminal 32 of the second electronic control unit 3 is equal to the voltage of the output terminal of the isolation circuit 170 relative to the first ground terminal 22 of the first electronic control unit 2.

[0255] 17, the isolation circuit 170 includes a primary circuit 171, a transformer 172, and a secondary circuit 173. The primary circuit 171 is coupled to the secondary circuit 173 via the transformer 172. The primary circuit 171 is connected to the second power supply terminal 33 of the second electronic control unit 3 and is grounded using the second ground terminal 32. The secondary circuit 173 is connected to the power supply selection circuit 18 and is grounded using the first ground terminal 22.

[0256] 18, there are two position sensors 11, two first signal transmission circuits 12, and two second signal transmission circuits 13. The two position sensors 11 are respectively connected to two first signal transmission circuits 12 and respectively connected to two second signal transmission circuits 13. The two first signal transmission circuits 12 are both configured to connect to the first electronic control unit 2, and the two second signal transmission circuits 13 are both configured to connect to the second electronic control unit 3.

[0257] In some examples, as shown in FIG. 18, the position sensor 11, the first signal transmission circuit 12, and the second signal transmission circuit 13 are integrated on the same circuit board 10.

[0258] In some examples, the first signal transmission circuit 12 is configured to connect to the first electronic control unit 2 via a first harness, and the second signal transmission circuit 13 is configured to connect to the second electronic control unit 3 via a second harness.

[0259] In some examples, one of the first electronic control unit 2 and the second electronic control unit 3 is a vehicle control unit and the other is an autonomous driving control unit, as shown in Figure 19, or one of the first electronic control unit 2 and the second electronic control unit 3 is an engine control unit and the other is an autonomous driving control unit, as shown in Figure 20. The autonomous driving control unit is configured to control the power output of the vehicle based on an accelerator pedal position signal detected by the position sensor 11 when the vehicle control unit or the engine control unit fails.

[0260] It should be noted that the accelerator pedal position detection unit 1 provided in the above embodiment and the driving control system provided in the above embodiment relate to the same concept. For the specific implementation process of the accelerator pedal position detection unit 1, please refer to the embodiment of the driving control system. The details will not be described again here.

[0261] An embodiment of the present disclosure further provides an accelerator pedal, which includes an accelerator pedal mechanism and an accelerator pedal position detection unit 1.

[0262] The accelerator pedal mechanism is configured to be depressed by a driver. The accelerator pedal position detection unit 1 is configured to detect a position signal of the accelerator pedal mechanism and transmit the position signal to the first electronic control unit 2 and the second electronic control unit 3.

[0263] An embodiment of the present disclosure further provides a vehicle, the vehicle including the driving control system described above.

[0264] The specific type of vehicle is not limited in the embodiments of the present disclosure. The vehicle may be a fuel-powered vehicle or an electric vehicle.

[0265] In some examples, the vehicle is an electric vehicle, as shown in Figure 19. In this case, the first electronic control unit 2 may be an engine control unit in the vehicle, and the second electronic control unit 3 may be an autonomous driving control unit in the vehicle.

[0266] In some examples, the vehicle is a fuel vehicle, as shown in Figure 20. In this case, the first electronic control unit 2 may be a vehicle control unit in the vehicle, and the second electronic control unit 3 may be an autonomous driving control unit in the vehicle.

[0267] The embodiment of the present disclosure further provides a driving control method, which is applied to the driving control system described above. As shown in Figure 21, the method includes the following steps:

[0268] In step 2101, the second electronic control unit 3 detects that the first electronic control unit 2 has failed.

[0269] When the first electronic control unit 2 is normal, the first electronic control unit 2 may control the power output of the vehicle based on the position signal received via the first signal transmission circuit 12.

[0270] In step 2102 , the second electronic control unit 3 controls the power output of the vehicle based on the position signal received via the second signal transmission circuit 13 .

[0271] In the technical solution provided in the embodiment of the present disclosure, based on the above configuration, when the first electronic control unit 2 fails, the second electronic control unit 3 can also control the power output of the vehicle based on the accelerator pedal position signal, thereby improving the reliability of the vehicle.

[0272] In some examples, after the second electronic control unit 3 detects that the first electronic control unit 2 has failed, when the second electronic control unit 3 detects that the vehicle has been turned off and then restarted, the second electronic control unit 3 controls the power output of the vehicle based on the position signal received via the second signal transmission circuit 13.

[0273] Turning off the vehicle includes shutting off the engine of a fuel vehicle and turning off the motor of an electric vehicle, and restarting the vehicle includes reigniting the fuel vehicle and restarting the motor of an electric vehicle.

[0274] In the technical solution provided in the embodiment of the present disclosure, when the first electronic control unit 2 fails and the vehicle is restarted after being turned off, the second electronic control unit 3 takes over the power output control of the vehicle, thereby improving the driving safety of the vehicle and preventing the second electronic control unit 3 from suddenly taking over the power output control of the vehicle when the driver accidentally presses the accelerator pedal suddenly, causing the vehicle to accelerate instantaneously.

[0275] It should be noted that after the first electronic control unit 2 becomes normal, the first electronic control unit 2 may again take over control of the vehicle's power output. Correspondingly, when the first electronic control unit 2 detects that the vehicle has been restarted after being turned off, the first electronic control unit 2 controls the vehicle's output based on the position signal received via the first signal transmission circuit 12.

[0276] The embodiment of the present disclosure further provides an operation control method, which is applied to the second electronic control unit 3 of the operation control system. As shown in Figure 22, the operation control method includes the following steps:

[0277] In step 2201, it is detected that the first electronic control unit 2 has failed.

[0278] When the first electronic control unit 2 is normal, the first electronic control unit 2 may control the power output of the vehicle based on the position signal received via the first signal transmission circuit 12.

[0279] In step 2202 , the power output of the vehicle is controlled based on the position signal received via the second signal transmission circuit 13 .

[0280] In the technical solution provided in the embodiment of the present disclosure, based on the above configuration, when the first electronic control unit 2 fails, the second electronic control unit 3 can also control the power output of the vehicle based on the accelerator pedal position signal, thereby improving the reliability of the vehicle.

[0281] In some examples, when the first electronic control unit 2 detects that it has failed and then detects that the vehicle has been turned off and then restarted, the power output of the vehicle is controlled based on the position signal received via the second signal transmission circuit 13.

[0282] In the technical solution provided in the present disclosure, when the vehicle is turned off and then restarted after the first electronic control unit 2 fails, the second electronic control unit 3 takes over the power output control of the vehicle, thereby improving the driving safety of the vehicle and preventing the second electronic control unit 3 from suddenly taking over the power output control of the vehicle when the driver accidentally presses the accelerator pedal suddenly, causing the vehicle to accelerate instantaneously.

[0283] The embodiment of the present disclosure further provides an operation control device. The operation control unit is configured in the second electronic control unit 3 of the operation control system. As shown in Figure 23, the operation control unit according to the embodiment of the present disclosure includes: a detection module 2301 configured to detect that the first electronic control unit 2 has failed; a control module 2302 configured to control a power output of the vehicle based on the position signal received via the second signal transmission circuit 13; Includes.

[0284] In some examples, the detection module 2301 is further configured to restart the vehicle after detecting that the vehicle has been turned off before the control module 2302 controls the power output of the vehicle based on the position signal received via the second signal transmission circuit 13.

[0285] An embodiment of the present disclosure further provides an electronic control unit, the electronic control unit including a controller coupled to a memory, the memory storing at least one instruction, the at least one instruction being loaded and executed by the controller to implement the aforementioned driving control method.

[0286] The electronic control unit may be the first electronic control unit 2 or the second electronic control unit 3.

[0287] 24 is a diagram of the structure of an electronic control unit 2400 according to an embodiment of the present disclosure. The electronic control unit 2400 shown in FIG. 24 may be the first electronic control unit 2 or the second electronic control unit 3.

[0288] As shown in FIG. 24, the electronic control unit 2400 includes at least one processor 2401 (also called a controller), a memory 2402, and at least one communication interface 2403.

[0289] The processor 2401 may be, for example, a general-purpose central processing unit (CPU), a digital signal processor (DSP), a network processor (NP), a graphics processing unit (GPU), a neural-network processing unit (NPU), a data processing unit (DPU), a microcontroller unit, or one or more integrated circuits configured to implement the solutions of the embodiments of the present disclosure. For example, the processor 2401 may include an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or another programmable logic device, a transistor logic device, a hardware component, or any combination thereof. The PLD may be, for example, a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. The processor 2401 may implement or execute various logic blocks, modules, and circuits described in connection with the contents disclosed in the embodiments of the present invention, or may be a combination of processors that implement computing functions, such as a combination including one or more microcontroller units, or a combination of a DSP and a microcontroller unit.

[0290] In some examples, the electronic control unit 2400 further includes a bus. The bus is configured to transmit information between components of the electronic control unit 2400. The bus may be a peripheral component interconnect (PCI) bus, a PCIe bus, an extended industry standard architecture (EISA) bus, etc. The bus may be classified into an address bus, a data bus, a control bus, etc. For convenience of representation, only one thick line is used to represent a bus in FIG. 24 , but this does not mean that there is only one bus or only one type of bus.

[0291] Memory 2402 may be, for example, but is not limited to, read-only memory (ROM) or another type of static storage device capable of storing static information and instructions, random access memory (RAM) or another type of dynamic storage device capable of storing information and instructions, electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other compact disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store expected program code in the form of instructions or data structures and that can be accessed by a computer. For example, memory 2402 may exist independently and be connected to processor 2401 via a bus. Alternatively, memory 2402 may be integrated with processor 2401.

[0292] The communication interface 2403 is any device, such as a transceiver, configured to communicate with another device or a communication network. The communication network may be an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. The communication interface 2403 may include a wired communication interface and may further include a wireless communication interface. Specifically, the communication interface 2403 may be an Ethernet interface, a fast Ethernet (FE) interface, a gigabit Ethernet (GE) interface, an asynchronous transfer mode (ATM) interface, a WLAN interface, a cellular network communication interface, or a combination thereof. The Ethernet interface may be an optical interface, an electrical interface, or a combination thereof. In this embodiment of the present disclosure, the communication interface 2403 may be configured for the electronic control unit 2400 to communicate with another device.

[0293] In some examples, the processor 2401 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG. 24. Each of the processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. As used herein, a processor may refer to one or more devices, circuits, and / or processing cores configured to process data (e.g., computer program instructions).

[0294] In some examples, electronic control unit 2400 may include multiple processors, such as processor 2401 and processor 2404 shown in FIG. 24. Each of the processors may be a single-core controller or a multi-core controller. As used herein, a processor may be one or more devices, circuits, and / or processing cores configured to process data (e.g., computer program instructions).

[0295] In some examples, the electronic control unit 2400 may further include an output device and an input device. The output device communicates with the processor 2401 and can display information in multiple ways. For example, the output device may be a liquid crystal display (LCD), a light-emitting diode (LED) display device, a cathode ray tube (CRT) display device, a projector, etc. The input device communicates with the processor 2401 and can receive input from a user in multiple ways. For example, the input device may be a mouse, a keyboard, a touchscreen device, a sensing device, etc.

[0296] In some examples, the memory 2402 is configured to store program code 2410 for executing the solutions in the embodiments of the present disclosure, and the processor 2401 can execute the program code 2410 stored in the memory 2402. The program code 2410 may include one or more software modules. Optionally, the processor 2401 may also store program code or instructions for executing the solutions in the embodiments of the present disclosure.

[0297] The steps performed in the operation control method shown in FIG. 22 are completed by instructions in the form of integrated logic circuits or software in the processor 2401. The steps of the method disclosed in connection with the embodiments of the present disclosure may be performed and completed directly by a hardware controller, or may be performed and completed by using a combination of hardware and software modules in the controller. The software modules may be located in a storage medium that is mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, or a register. The storage medium is located in the memory. The controller reads the information in the memory and completes the steps of the aforementioned method in combination with the hardware of the controller. To avoid repetition, the details will not be described again here.

[0298] An embodiment of the present disclosure further provides another electronic control unit. The electronic control unit may be a first electronic control unit 2 or a second electronic control unit 3. The electronic control unit includes a transceiver, a memory, and a controller. The transceiver, the memory, and the controller communicate with each other via an internal connection path. The memory is configured to store instructions. The controller is configured to execute the instructions stored in the memory, control the transceiver to receive signals, and control the transceiver to transmit signals. Additionally, when the controller executes the instructions stored in the memory, the controller is capable of performing an operation control method.

[0299] It is understood that the controller may be a central controller, or may be another general purpose controller, a digital signal controller, an ASIC, FPGA or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc. The general purpose controller may be a microcontroller unit, any conventional controller, etc. It is noted that the controller may also be a controller supporting an advanced reduced instruction set computing machine (advanced RISC machine, ARM) architecture.

[0300] Additionally, in some examples, the memory may include read-only memory and random access memory to provide instructions and data to the controller. The memory may further include non-volatile random access memory. For example, the memory may further store device type information.

[0301] The memory may be volatile or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may be random access memory (RAM), used as external cache. By way of example and not limitation, many forms of RAM are available. For example, random access memory includes static random access memory (static RAM, SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchlink dynamic random access memory (synchlink DRAM, SLDRAM), and direct Rambus random access memory (direct Rambus RAM, DR RAM).

[0302] An embodiment of the present disclosure further provides a computer-readable storage medium that stores at least one instruction that is loaded and executed by a controller to enable the electronic control unit to implement a driving control method.

[0303] An embodiment of the present disclosure further provides a computer program product, which, when executed by an electronic control unit, may enable the electronic control unit to perform corresponding steps and / or procedures in the aforementioned method embodiments.

[0304] An embodiment of the present disclosure further provides a chip, the chip including a controller that retrieves and executes instructions stored in the memory from the memory to enable an electronic control unit on which the chip is mounted to perform an operational control method.

[0305] An embodiment of the present disclosure further provides another chip including an input interface, an output interface, a controller, and a memory, the input interface, the output interface, the controller, and the memory being connected via an internal connection path, the controller being configured to execute code in the memory, and when the code is executed, the controller being configured to perform an operational control method.

[0306] All or part of the above-described embodiments may be implemented by using software, hardware, firmware, or any combination thereof. When implementing an embodiment using software, all or part of the above-described embodiment may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded into a computer (electronic control unit) and executed, all or part of the procedures or functions according to the embodiments of the present disclosure are generated. The computer instructions may be stored in a computer-readable storage medium or transmitted from a computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, or digital subscriber line) or wireless (e.g., infrared, radio, or microwave) means. The computer-readable storage medium may be any available medium accessible by a computer, or a data storage device integrating one or more available media, such as a server or data center. The usable medium may be a magnetic medium (eg, a floppy disk, hard disk, or magnetic tape), an optical medium (eg, a DVD), a semiconductor medium (eg, a solid-state drive), or the like.

[0307] In order to clearly explain the compatibility of hardware and software, the above description generally describes the steps and configurations of the embodiments based on functions. Whether a function is performed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered as going beyond the scope of the present disclosure.

[0308] Computer program code for implementing the methods of the embodiments of the present disclosure may be written in one or more programming languages. The computer program code may be provided to a general-purpose computer, a special-purpose computer, or a controller of another programmable distance measurement device, so that when the program code is executed by the computer or another programmable distance measurement device, the functions / operations identified in the flowcharts and block diagrams are implemented. The program code may be executed entirely on the computer, partially on the computer, as a separate software package, partially on the computer and partially on a remote computer, or entirely on a remote computer or server.

[0309] In the context of embodiments of the present disclosure, computer program code or associated data may be carried on any suitable carrier such that a device, apparatus, or controller can perform the various processes and operations described above. For example, the carrier may include a signal, a computer-readable medium, etc. For example, the signal may include an electrical signal, an optical signal, a radio signal, an audio signal, or other forms of propagated signals such as carrier waves and infrared signals.

[0310] For the sake of convenience and concise description, for the detailed working processes of the aforementioned systems, devices and modules, please refer to the corresponding processes in the aforementioned method embodiments, and the details will not be described again here.

[0311] In some embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the described device embodiments are merely exemplary. For example, the division into modules is merely a logical division of function, and other divisions may be used in actual implementation. For example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the shown or described mutual couplings or direct couplings or communication connections may be implemented via some interfaces. Indirect couplings or communication connections between devices or modules may be electrical, mechanical, or other forms of connection.

[0312] Modules described as separate parts may or may not be physically separated, and parts denoted as modules may or may not be physical modules, i.e., located in one location or distributed over multiple network modules. Some or all of the modules may be selected based on the actual needs to achieve the objectives of the solutions in the embodiments of the present disclosure.

[0313] In addition, the functional modules in the embodiments of the present disclosure may be integrated into one processing module, or each module may exist physically independently, or two or more modules may be integrated into one module. The integrated module may be implemented in the form of hardware or in the form of a software functional module.

[0314] In this disclosure, terms such as "first," "second," and the like are used to distinguish between identical or similar items having essentially the same effect and function. It should be understood that there is no logical or chronological order dependency between "first," "second," and "nth." The number and execution order are not limited. Also, in the following description, terms such as "first" and "second" are used to describe various elements, but it should be understood that these elements should not be limited by these terms. These terms are simply used to distinguish one element from another.

[0315] It should be further understood that in the embodiments of the present disclosure, the sequence numbers of the processes do not mean the execution order, and the execution order of the processes should be determined based on the functions and internal logic of the processes, and should not be construed as any limitation on the implementation process of the embodiments of the present disclosure.

[0316] In this disclosure, the term "at least one" means one or more, and in this disclosure, "plurality" means two or more.

[0317] It should be understood that the terminology used in the description of various embodiments herein is intended merely to describe particular embodiments and is not intended to constitute any limitation. As used in the description of various embodiments and the appended claims, "one" ("a" and "an") and the singular form "the" are also intended to include the plural forms unless the context clearly dictates otherwise.

[0318] It will be further understood that as used herein, "include" (or alternatively referred to as "includes," "including," "comprises," and / or "comprising") specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0319] It should also be understood that, depending on the context, the phrases "when it is determined that" or "when a described condition or event is detected" may be interpreted to mean "when it is determined" or "in response to determining" or "when a described condition or event is detected" or "in response to detecting a described condition or event."

[0320] It should be understood that determining B based on A does not mean that B is determined based only on A; B may alternatively be determined based on A and / or other information.

[0321] It should be further understood that references throughout this specification to "one embodiment," "embodiment," "some examples," or "possible implementations" mean that particular features, structures, or characteristics associated with an embodiment or implementation are included in at least one embodiment of the present disclosure. Thus, the appearances of "in one embodiment," "in an embodiment," "in some examples," or "in possible implementations" throughout this specification do not necessarily refer to the same embodiment. In addition, these particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0322] The above description is merely an optional embodiment of the present disclosure and is not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made without departing from the principle of the present disclosure should be included within the protection scope of the present disclosure.

Claims

1. A driving control system comprising an accelerator pedal position detection unit, a first electronic control unit, and a second electronic control unit; the accelerator pedal position detection unit includes a position sensor, a first signal transmission circuit, and a second signal transmission circuit; the position sensor is connected to the first electronic control unit via the first signal transmission circuit; the position sensor is connected to the second electronic control unit via the second signal transmission circuit; Driving control system.

2. the first signal transmission circuit includes a first position signal circuit and a first ground signal circuit; One end of the first position signal circuit is connected to the position sensor, and the other end is connected to a first signal collecting end of the first electronic control unit; one end of the first ground signal circuit is connected to the position sensor, and the other end is connected to a first ground terminal of the first electronic control unit; The driving control system according to claim 1 .

3. the second signal transmission circuit includes a second position signal circuit, a second ground signal circuit, and a differential operation circuit, the second position signal circuit includes a position signal input circuit and a position signal output circuit, and the second ground signal circuit includes a first ground circuit and a second ground circuit; one end of the position signal input circuit is connected to the position sensor, and the other end is connected to the differential operation circuit; one end of the first ground circuit is connected to the position sensor, and the other end is connected to the differential operation circuit; one end of the position signal output circuit is connected to the differential operation circuit, and the other end is connected to the second signal collecting end of the second electronic control unit; one end of the second ground circuit is connected to the differential operation circuit, and the other end is connected to a second ground terminal of the second electronic control unit; The differential operation circuit comprises: a voltage V1 of the position signal inputted through the position signal input circuit relative to the first ground circuit is adjusted so that a voltage V2 of the position signal outputted through the position signal output circuit relative to the second ground circuit has a linear relationship with V1; The operation control system according to claim 1 or 2.

4. V2=k×V1+V0, where V0 is the target non-negative voltage and k is a constant greater than 0. The driving control system according to claim 3 .

5. k × V1max + V0≦V1max, where V1max is the maximum value of V1. The driving control system according to claim 4 .

6. the differential operation circuit includes a first operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor; the first operational amplifier has a first positive input terminal, a first negative input terminal, and a first operational output terminal; the position signal input circuit is connected to the first positive input terminal via the first resistor; the first ground circuit is connected to the first negative input terminal via the fourth resistor; the position signal output circuit is connected to the first calculation output terminal, and the first calculation output terminal is connected to the first negative input terminal via the third resistor; the second ground circuit is connected to the first positive input terminal via the second resistor; The operation control system according to any one of claims 3 to 5.

7. the differential operation circuit further includes a booster unit and a fifth resistor, the boost unit is connected to the first positive input terminal via the fifth resistor, and the boost unit is configured to allow a voltage input by the first positive input terminal to be greater than or equal to 0; The driving control system according to claim 6.

8. The booster is a power source output by the second electronic control unit. The driving control system according to claim 7.

9. the position signal input circuit includes a voltage follower; an input terminal of the voltage follower is connected to the position sensor, and an output terminal of the voltage follower is connected to the differential operation circuit; The operation control system according to any one of claims 3 to 8.

10. the accelerator pedal position detection unit further includes a power supply transmission circuit; One end of the power transmission circuit is connected to the first power supply terminal of the first electronic control unit, and the other end is connected to the position sensor. The operation control system according to any one of claims 1 to 9.

11. the accelerator pedal position detection unit further includes a first input circuit, a second input circuit, a power source selection circuit, and an output circuit; One end of the first input circuit is connected to the first power supply terminal of the first electronic control unit, and the other end is connected to the power supply selection circuit; one end of the second input circuit is connected to the second power supply terminal of the second electronic control unit, and the other end is connected to the power supply selection circuit; one end of the output circuit is connected to the power supply selection circuit, and the other end is connected to the position sensor; the power supply selection circuit is configured to output, from the output circuit, the electrical energy input via the first input circuit or the electrical energy input via the second input circuit; The operation control system according to any one of claims 1 to 9.

12. The power supply selection circuit When electrical energy is not input via the first input circuit and electrical energy is normally input via the second input circuit, the electrical energy input via the second input circuit is output from the output circuit. The driving control system of claim 11 configured as follows:

13. the second input circuit includes an isolation circuit, an input terminal of the isolation circuit is connected to the second power supply terminal, and an output terminal of the isolation circuit is connected to the power supply selection circuit; a voltage at the input end of the isolation circuit relative to the second ground end of the second electronic control unit is equal to a voltage at the output end of the isolation circuit relative to the first ground end of the first electronic control unit; 13. An operation control system according to claim 11 or 12.

14. the isolation circuit includes a primary circuit, a transformer, and a secondary circuit; the primary circuit is coupled to the secondary circuit via the transformer; the primary side circuit is connected to the second power supply terminal of the second electronic control unit and is grounded using the second ground terminal; the secondary side circuit is connected to the power supply selection circuit and is grounded using the first ground terminal; The driving control system of claim 13.

15. There are two position sensors, two first signal transmission circuits, and two second signal transmission circuits; the two position sensors are connected to the first electronic control unit via the two first signal transmission circuits, respectively; the two position sensors are connected to the second electronic control unit via the two second signal transmission circuits, respectively; 15. An operation control system according to any one of claims 1 to 14.

16. the position sensor, the first signal transmission circuit, and the second signal transmission circuit are integrated on the same circuit board; 16. An operation control system according to any one of claims 1 to 15.

17. the first signal transmission circuit is connected to the first electronic control unit via a first harness; the second signal transmission circuit is connected to the second electronic control unit via a second harness; 17. An operation control system according to any one of claims 1 to 16.

18. one of the first electronic control unit and the second electronic control unit is a vehicle control unit and the other is an autonomous driving control unit; or one of the first electronic control unit and the second electronic control unit is an engine control unit, and the other is an autonomous driving control unit; The autonomous driving control unit is configured to control a power output of the vehicle based on an accelerator pedal position signal detected by the position sensor when the vehicle control unit or the engine control unit fails.

18. An operation control system according to any one of claims 1 to 17.

19. an accelerator pedal position detection unit comprising a position sensor, a first signal transmission circuit, and a second signal transmission circuit; an accelerator pedal position detection unit, wherein the position sensor is connected to the first signal transmission circuit and the second signal transmission circuit, the first signal transmission circuit configured to connect to a first electronic control unit, and the second signal transmission circuit configured to connect to a second electronic control unit.

20. 20. An accelerator pedal, the accelerator pedal comprising an accelerator pedal mechanism and an accelerator pedal position detection unit according to claim 19.

21. A vehicle, the vehicle comprising a driving control system according to any one of claims 1 to 18.

22. 19. An operation control method, the operation control method being applied to an operation control system according to any one of claims 1 to 18, the operation control method comprising: detecting, by a second electronic control unit, that the first electronic control unit has failed; controlling, by the second electronic control unit, a power output of the vehicle based on the position signal received via a second signal transmission circuit; An operation control method including:

23. Before the step of controlling the power output of the vehicle by the second electronic control unit based on the position signal received via the second signal transmission circuit, the driving control method further comprises: restarting the vehicle after the second electronic control unit detects that the vehicle has been turned off; The operational control method of claim 22 further comprising:

24. The operation control method includes: controlling, by the first electronic control unit, the power output of the vehicle based on the position signal received via a first signal transmission circuit when the first electronic control unit is normal; The operational control method according to claim 22 or 23, further comprising:

25. 19. An operation control method, the operation control method being applied to a second electronic control unit of an operation control system according to any one of claims 1 to 18, the operation control method comprising: detecting that the first electronic control unit has failed; controlling a power output of the vehicle based on the position signal received via the second signal transmission circuit; An operation control method including:

26. An operation control device, the operation control device being configured in a second electronic control unit of the operation control system according to any one of claims 1 to 18, the operation control device comprising: a detection module configured to detect that the first electronic control unit has failed; a control module configured to control a power output of the vehicle based on the position signal received via the second signal transmission circuit; An operation control device comprising:

27. 26. A computer-readable storage medium having stored thereon at least one instruction that is loaded and executed by a controller to implement the operational control method of claim 25.

28. 26. A computer program product storing at least one instruction that, when executed by an electronic control unit, enables the electronic control unit to implement the driving control method of claim 25.

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