Control system, sensors, control unit and terminal device

Abstract

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

Description

Technical Field

[0001] [Related Application] This application claims priority to Chinese Patent Application No. 202211229683.9, filed with the China National Intellectual Property Administration on October 9, 2022, with the title "CONTROL SYSTEM, SENSING SYSTEM, SENSOR, CONTROLLER, AND TERMINAL DEVICE", which is incorporated herein by reference in its entirety.

[0002] [Technical Field] This application relates to the field of control technology, and in particular, to control systems, sensors, control units, and terminal devices.

Background Art

[0003] In the field of automobiles, the accelerator pedal is an important safety component directly related to the safety of drivers and passengers. Therefore, the high-reliability control of the accelerator pedal has become increasingly important.

[0004] Currently, a system for controlling the accelerator pedal (also called an acceleration control system) is shown in FIG. 1. When the driver steps on the accelerator pedal, the accelerator pedal position sensor detects the opening information of the accelerator pedal (the opening information may further indicate the angle information or position information of the stepped pedal), converts the opening information of the accelerator pedal into an electrical signal, and transmits the electrical signal to the control unit using a cable or the like. The control unit processes the received electrical signal and the signals transmitted from other related systems to obtain a control signal, transmits this control signal to the actuator, and controls the actuator to perform corresponding processing. However, during the signal processing process, if an error occurs in the control unit of the acceleration control system or a failure (or malfunction) occurs in the control unit, the acceleration control system cannot output an accurate control signal, or the control unit cannot control the drive motor, resulting in a relatively high safety risk to the running of the vehicle.

[0005] In conclusion, improving the reliability of control systems is an urgent technical challenge that needs to be addressed today. [Overview of the project] [Problems that the invention aims to solve]

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

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

[0008] Based on the above solution, if a failure occurs in the first control unit, the second control unit can take over the operation of the first control unit and continue its operation, thereby avoiding single-point failures and improving the reliability of the control system. Furthermore, since the second control unit includes both a first channel and a second channel, it is possible to avoid single-point failures and improve the accuracy of the opening degree information obtained from the sensor (e.g., second opening degree information).

[0009] In possible implementations, the second control unit is further configured to transmit a second control signal to the actuator, the second control signal being obtained based on second opening information.

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

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

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

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

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

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

[0016] Voltage followers have characteristics such as high input impedance (e.g., several megaohms) and low output impedance (e.g., several ohms). Therefore, voltage followers can buffer and isolate sensors. This helps to improve the load-carrying capacity of the sensor and further helps to improve the accuracy of the second opening information acquired by the second control unit from the sensor.

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

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

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

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

[0021] In possible implementations, the control system further includes a first combiner module and a second combiner module, the first control unit includes a first power supply, and the second control unit includes a second power supply. The first combiner module is configured to control the first or second power supply to supply power to the first sensing module. The second combiner module is configured to control the first or second power supply to supply power to the second sensing module.

[0022] The redundant power supply for the first detection module can be implemented using the first combiner module, and the redundant power supply for the second detection module can be implemented using the second combiner module. When a failure occurs in the first control unit or the second control unit is abnormal, the control system can further supply power to the sensor, and the reliability of the control system can be further improved.

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

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

[0025] In a possible implementation, the first chip has a coupling and reverse rotation prevention function and can provide two power supplies for the first detection module. In a possible implementation, the second chip has a coupling and reverse rotation prevention function and can provide two power supplies for the second detection module.

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

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

[0028] In possible implementations, the control unit is further configured to transmit a second control signal to the actuator, which is obtained based on second opening information.

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

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

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

[0032] For the technical effects that can be achieved in either of the two embodiments described above, please refer to the explanation of the advantageous effects in the first embodiment. Further details will not be explained again here.

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

[0034] Based on the aforementioned solution, the third control unit, the fourth control unit, and the sensor are connected to each other and then grounded, thereby eliminating grounding offsets while maintaining compatibility with existing control unit structures and improving the control accuracy and reliability of the control system. Furthermore, since the third control unit, the fourth control unit, and the sensor are connected to each other and then grounded, the flexibility of the overall vehicle component layout can be improved.

[0035] In possible implementations, the control system further includes a first combiner module and a second combiner module, a third control unit includes a third power supply, a fourth control unit includes a fourth power supply, and the sensors include a first sensing module and a second sensing module. The first combiner module is configured to control the third or fourth power supply to power the first sensing module. The second combiner module is configured to control the third or fourth power supply to power the second sensing module.

[0036] In possible implementations, the first combiner module includes a first switch and a second switch, the first end of the first switch connected to a third power supply, the second end of the first switch connected to the power supply terminal of the first sensing module, the first end of the second switch connected to a fourth power supply, the second end of the second switch connected to the power supply terminal of the first sensing module, and / or The second combiner module includes a third switch and a fourth switch, the first end of the third switch being connected to the third power supply, the second end of the third switch being connected to the power supply terminal of the second sensing module, the first end of the fourth switch being connected to the fourth power supply, and the second end of the fourth switch being connected to the power supply terminal of the second sensing module.

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

[0038] In a possible implementation, the first chip may have coupling and reverse rotation prevention functions and provide two power supplies for the first sensing module. In a possible implementation, the second chip may have coupling and reverse rotation prevention functions and provide two power supplies for the second sensing module.

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

[0040] For the technical effects that can be achieved in any one of the three embodiments described above, please refer to the explanation of the advantageous effects in the first embodiment. Further details will not be explained again here.

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

[0042] Based on the aforementioned solution, the processing module is integrated into the sensor, and the processing module can process the first signal detected by the first sensing module and the second signal detected by the second sensing module, thereby improving the interference prevention performance of the signals output by the sensor. Furthermore, the processing module helps to simplify the connection between the sensor and different control units and reduces the amount of cable between the sensor and the control unit.

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

[0044] In possible implementations, the third and fourth ends of the processing module are further connected to the fourth control unit.

[0045] The processing module is connected separately to the third and fourth control units to improve the reliability of the signals transmitted to the control system.

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

[0047] Redundant power supply to the first detection module can be provided using the first combiner module, and redundant power supply to the second detection module can be provided using the second combiner module. If a failure occurs in the first control unit, or if the second control unit is abnormal, the control system can further supply power to the sensors, thereby further improving the reliability of the control system.

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

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

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

[0051] In a possible implementation, the first chip may have coupling and reverse rotation prevention functions and provide two power supplies for the first sensing module. In a possible implementation, the second chip may have coupling and reverse rotation prevention functions and provide two power supplies for the second sensing module.

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

[0053] Redundant power supply to the first detection module can be provided using the first combiner module, and redundant power supply to the second detection module can be provided using the second combiner module. If a failure occurs in the first control unit, or if the second control unit is abnormal, the control system can further supply power to the sensors, thereby further ensuring the reliability of the power supply to the sensors.

[0054] In possible implementations, the first combiner module includes a first switch and a second switch, the first end of the first switch connected to a first power supply, the second end of the first switch connected to the power supply terminal of the first sensing module, the first end of the second switch connected to a second power supply, the second end of the second switch connected to the power supply terminal of the first sensing module, and / or The second combiner module includes a third switch and a fourth switch, the first end of the third switch being connected to the first power supply, the second end of the third switch being connected to the power supply terminal of the second sensing module, the first end of the fourth switch being connected to the second power supply, and the second end of the fourth switch being connected to the power supply terminal of the second sensing module.

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

[0056] In a possible implementation, the first chip may have coupling and reverse rotation prevention functions and provide two power supplies for the first sensing module. In a possible implementation, the second chip may have coupling and reverse rotation prevention functions and provide two power supplies for the second sensing module.

[0057] According to a sixth aspect, the present invention provides a control system. The control system includes a third control unit. The third control unit is connected to the third and fourth ends of a sensor processing module. The third control unit is configured to receive a first digital signal from the third end of the processing module, receive a second digital signal from the fourth end of the processing module, and transmit a second control signal to the actuator, the second control signal being determined based on the first and second digital signals, or The third control unit is configured to receive a first I / O bus signal from the third end of the processing module, receive a second I / O bus signal from the fourth end of the processing module, and transmit a third control signal to the actuator. The third control signal is determined based on the first I / O bus signal and the second I / O bus signal.

[0058] In possible implementations, the control system further includes a fourth control unit. The fourth control unit is connected to the third and fourth ends of the processing module. If the third control unit fails, the fourth control unit is configured to receive a first digital signal from the third end of the processing module, receive a second digital signal from the fourth end of the processing module, and transmit a third control signal to the actuator, the third control signal being determined based on the first and second digital signals, or The third control unit is configured to receive a first I / O bus signal from the third end of the processing module, receive a second I / O bus signal from the fourth end of the processing module, and transmit a fourth control signal to the actuator. The third control signal is determined based on the first I / O bus signal and the second I / O bus signal.

[0059] For the technical effects that can be achieved in any one of the six embodiments described above, please refer to the explanation of the advantageous effects in the fifth embodiment. Further details will not be explained again here.

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

[0061] Based on the aforementioned solution, redundant power supply to the first sensing module can be provided using the first combiner module, and redundant power supply to the second sensing module can be provided using the second combiner module. If a failure occurs in the first control unit, or if the second control unit is abnormal, the control system can further supply power to the sensors, thereby further improving the reliability of the control system.

[0062] In possible implementations, the first combiner module includes a first switch and a second switch, the first end of the first switch connected to a first power supply, the second end of the first switch connected to the power supply terminal of the first sensing module, the first end of the second switch connected to a second power supply, the second end of the second switch connected to the power supply terminal of the first sensing module, and / or The second combiner module includes a third switch and a fourth switch, the first end of the third switch being connected to the first power supply, the second end of the third switch being connected to the power supply terminal of the second sensing module, the first end of the fourth switch being connected to the second power supply, and the second end of the fourth switch being connected to the power supply terminal of the second sensing module.

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

[0064] In a possible implementation, the first chip may have coupling and reverse rotation prevention functions and provide two power supplies for the first sensing module. In a possible implementation, the second chip may have coupling and reverse rotation prevention functions and provide two power supplies for the second sensing module.

[0065] According to the eighth aspect, the present invention provides a detection system. The detection system includes a first sensor and a second sensor. The first sensor includes a first detection module and a second detection module. The second sensor includes a third detection module and a fourth detection module. Both the first and second detection modules are connected to a third control unit. Both the third and fourth detection modules are connected to a fourth control unit. The first detection module is configured to detect a pedal, acquire a first signal, and transmit the first signal to the third control unit. The second detection module is configured to detect a pedal, acquire a second signal, and transmit the second signal to the third control unit. The third detection module is configured to detect a pedal, acquire a third signal, and transmit the third signal to the fourth control unit. The fourth detection module is configured to detect a pedal, acquire a fourth signal, and transmit the fourth signal to the fourth control unit.

[0066] Based on the above solution, two sets of independent sensors may be integrated into the detection system and independently connected to different control units. Specifically, the first sensor is connected to the first control unit, and the second sensor is connected to the second control unit. A redundant mechanism is formed by the dual connection of the first control unit (conventional vehicle control component) and the second control unit (control unit used for advanced autonomous driving). Therefore, even if the first control unit malfunctions, the second control unit can still perform control functions (e.g., acceleration control). The control system can integrate manual driving functions in conjunction with functional modules such as brakes. Sampling is unaffected by ground offset, and the overall component layout of the vehicle becomes more flexible.

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

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

[0069] For the technical effects that can be achieved in any one of the nine embodiments described above, please refer to the explanation of the advantageous effects in Embodiment 8. Further details will not be explained again here.

[0070] According to the tenth aspect, the present application provides a terminal device. The terminal device includes a vehicle frame and a control system which is implemented in the first aspect or either of the first aspect, or in the third aspect or either of the third aspect, or in the sixth aspect or either of the sixth aspect, or in the seventh aspect or either of the seventh aspect. The control system is fixed to the vehicle frame.

[0071] In possible implementations, the terminal device further includes sensors, which include a first detection module and a second detection module. [Brief explanation of the drawing]

[0072] [Figure 1] This is a diagram illustrating the structure of a conventional system for controlling the accelerator pedal.

[0073] [Figure 2] This is a diagram illustrating an example of a specific application scenario for a control system.

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

[0075] [Figure 4] This is a diagram showing the structure of a control system according to an embodiment of the present invention.

[0076] [Figure 5A] This is a diagram showing the structure of the second control unit of the present invention.

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

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

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

[0080] [Figure 6] This is a diagram showing the structure of the first control unit of the present invention.

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

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

[0083] [Figure 8] This is a diagram showing the structure of a sensor with a redundant design according to the present invention.

[0084] [Figure 9A] This is a diagram showing the structure of the control system of the present invention.

[0085] [Figure 9B] This is a diagram showing the structure of the control system of the present invention.

[0086] [Figure 10] This is a diagram of the structure of the follower of the present invention.

[0087] [Figure 11] This is a diagram showing the structure of yet another control system of the present invention.

[0088] [Figure 12] This is a diagram showing the structure of yet another control system of the present invention.

[0089] [Figure 13] This is a diagram showing the structure of yet another sensor of the present invention.

[0090] [Figure 14A] This is a diagram showing the structure of yet another control system of the present invention.

[0091] [Figure 14B] This is a diagram showing the structure of yet another control system of the present invention.

[0092] [Figure 15] This is a diagram showing the structure of yet another control system of the present invention.

[0093] [Figure 16A] This is a diagram showing the structure of yet another control system of the present invention.

[0094] [Figure 16B] This is a diagram showing the structure of yet another control system of the present invention.

[0095] [Figure 17] This is a diagram showing the structure of the control system of the present invention.

[0096] [Figure 18] This is a diagram showing the structure of the detection system of the present invention.

[0097] [Figure 19] This is a diagram showing the structure of yet another control system of the present invention.

[0098] [Figure 20A] This is a diagram showing the structure of yet another control system of the present invention.

[0099] [Figure 20B] This is a diagram showing the structure of yet another control system of the present invention.

[0100] [Figure 21] This is a diagram showing the structure of the sensor of the present invention.

[0101] [Figure 22] This is a functional block diagram of an example vehicle of the present invention. [Modes for carrying out the invention]

[0102] The embodiments of this application will be described in detail below with reference to the attached drawings.

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

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

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

[0106] For a detailed circuit diagram of Figure 2, please refer to Figure 3. A potential difference ΔV exists between the potential of the ground terminal (ground, GND) 1 of the first control unit and the potential of the ground terminal GND2 of the second control unit. This potential difference can be called the ground offset, and its maximum value is ±1V. When the pedal sensor is directly connected to the first and second control units, it is equivalent to directly short-circuiting the ground terminal GND1 of the first control unit and the ground terminal GND2 of the second control unit. As a result, a dynamic voltage difference ΔV exists between the ground terminal GND1 of the first control unit and the ground terminal GND2 of the second control unit, and a voltage drop mainly occurs in low-impedance grounding cables. 12 , V 34 , V 56 A voltage difference occurs between them. As a result, the first control unit and the second control unit cannot accurately acquire the signal detected by the pedal sensor.

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

[0108] Based on the above, the control system relating to this application will be described in detail below with reference to the drawings.

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

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

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

[0112] Based on the control system described above, if a failure occurs in the first control unit, the second control unit can take over the operation of the first control unit and continue its operation, thereby avoiding single-point failures and improving the reliability of the control system. Furthermore, since the second control unit includes both the first and second channels, single-point failures can be avoided, and the problem of the second opening information acquired by the first and second control units from the sensor becoming inaccurate due to ground offset can be further resolved.

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

[0114] 1. Second Control Unit

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

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

[0117] In possible implementations, the second power supply may include, for example, a low-dropout regulator (LDO). Using an LDO allows for the provision of a stable DC voltage. Additionally, LDOs can operate under relatively small differences between the output voltage and the input voltage, which helps improve the accuracy of input signal detection.

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

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

[0120] Note that the first, second, third, and fourth resistor networks may be the same resistor network. The same resistor network will have the same structure and the same resistance values. Specifically, the structure of the first, second, and third resistor networks are identical. Also, the resistance R1 included in the first, second, third, and fourth resistor networks is the same. The resistance R2 included in the first, second, third, and fourth resistor networks is the same. The resistance R3 included in the first, second, third, and fourth resistor networks is the same. Furthermore, the resistor R3 included in the first, second, third, and fourth resistor networks is the same. Specifically, the resistor R2 in Figure 5C may be replaced with a current source.

[0121] 2. First Control Unit

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

[0123] In this application, the control system may further include a combiner module. See the following description for details.

[0124] 3. Combiner Module

[0125] In possible implementations, the control system further includes a first combiner module and a second combiner module. The first combiner module is configured to control a first power supply or a second power supply to power the first sensing module. The second combiner module is configured to control a first power supply or a second power supply to power the second sensing module. Furthermore, the power supplies that power the first and second sensing modules belong to the same control unit. For example, the first control unit includes two first power supplies, first power supply A and first power supply B. First power supply A powers the first sensing module, and first power supply B powers the second sensing module, and first power supply A and first power supply B are two independent power supplies of the first control unit. In another example, the second control unit includes two second power supplies, namely second power supply A and second power supply B. Second power supply A powers the first sensing module, and second power supply B powers the second sensing module, and second power supply A and second power supply B are two independent power supplies. Redundant power supply to the first sensing module can be provided using the first combiner module, and redundant power supply to the second sensing module can be provided using the second combiner module, further improving the reliability of the control system.

[0126] Specifically, the first power supply of the first control unit supplies power to the first and second detection modules by default. If the first MCU in the first control unit detects a failure in the first power supply, the first MCU sends instruction information to the second MCU in the second control unit, and the second MCU in the second control unit receives the instruction information and controls the second power supply to supply power to the first and second detection modules. Alternatively, the first power supply of the first control unit supplies power to the first and second detection modules by default. The second control unit further includes a power supply detection module (as shown in Figure 9B). The power supply detection module is configured to detect whether or not a failure has occurred in the first power supply. If a failure in the first power supply is detected, the power supply detection module sends instruction information to the second MCU, and the second MCU switches to using the second power supply to supply power to the first and second detection modules based on the instruction information.

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

[0128] For example, the first combiner module includes a first switch and a second switch, the first switch including, for example, a first diode, a first metal-oxide-semiconductor field-effect transistor (MOSFET) (sometimes abbreviated as a MOS transistor), or a first chip. The first chip may also be called the first combiner chip. The first chip has a coupling function and a reverse rotation prevention function. The coupling function of the first chip means that the first chip may provide two power supplies for the first sensing module. The reverse rotation prevention function of the first chip means that it prevents current from flowing from the sensor to the first control unit. The second switch includes a second diode, a second MOS transistor, or a second chip. The first chip may also be called the second combiner chip. The second chip has a coupling function and a reverse rotation prevention function. The coupling function of the second chip means that the second chip may provide two power supplies for the second sensing module. The reverse rotation prevention function of the second chip means that it prevents current from flowing from the sensor to the second control unit. The second combiner module includes a third switch and a fourth switch. For details on the third switch, please refer to the description of the first switch. For details on the fourth switch, please refer to the description of the second switch. Further details will not be explained again here. Note that the structures of the first and second combiner modules may be the same or different.

[0129] Figure 7A illustrates the structure of a first combiner module using an example in which the first combiner module includes a first diode and a second diode. When the first diode is controlled to conduct, the first power supply of the first control unit can supply power to the first sensing module. When the second diode is controlled to conduct, the second power supply of the second control unit can supply power to the first sensing module. The first and second diodes may be the same or different; this is not limited to the present invention.

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

[0131] Note that the structure of the first combiner module shown in Figures 7A and 7B is merely an example. The specific structure of the first combiner module in this application may be, alternatively, another module capable of supplying power to the first and second sensing modules. This is not limited to this application.

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

[0133] Alternatively, at least two of the first combiner module, the second combiner module, and the second control unit may be integrated into different printed circuit boards. For example, the first and second combiner modules may be integrated into the same printed circuit board called the first printed circuit board, and the second control unit may be integrated into the second printed circuit board. In another example, the first combiner module and the second control unit may be integrated into the same printed circuit board called the third printed circuit board, and the second combiner module may be integrated into the fourth printed circuit board. In yet another example, the second combiner module and the second control unit may be integrated into the same printed circuit board called the fifth printed circuit board, and the first combiner module may be integrated into the sixth printed circuit board.

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

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

[0136] Alternatively, at least two of the first combiner module, the second combiner module, and the first control unit may be integrated into different printed circuit boards. For example, the first and second combiner modules may be integrated into the same printed circuit board called the seventh printed circuit board, and the first control unit may be integrated into the eighth printed circuit board. In another example, the first combiner module and the second control unit may be integrated into the same printed circuit board called the ninth printed circuit board, and the second combiner module may be integrated into the tenth printed circuit board. In yet another example, the second combiner module and the first control unit may be integrated into the same printed circuit board called the eleventh printed circuit board, and the first combiner module may be integrated into the twelfth printed circuit board.

[0137] To facilitate the explanation of how to connect the control system and the sensors, we will first describe the sensors.

[0138] To prevent the sensor from failing to detect pedal signals in a timely manner due to failure, the sensor may employ a redundant design. A redundant design means repeatedly configuring several key components or functions to ensure safety and reliability. If some of the components fail, the configured redundant components can be used as standby components and take over the function of the failed component in a timely manner. This reduces downtime. Possible implementations include variable resistance sensors using variable resistance potentiometers, or Hall effect sensors using Hall effect non-contact potentiometers. Variable resistance pedal position sensors are typically configured to detect opening information for contact pedals. Hall effect sensors are typically configured to detect opening information for non-contact pedals.

[0139] Figure 8 shows the structure of a sensor with a redundant design according to the present invention. The sensor in this example uses a variable resistor potentiometer as an example. The sensor includes a first sensing module and a second sensing module. To ensure the reliability of the signal output from the sensor, the circuits of the first sensing module and the second sensing module are independent. Specifically, the first sensing module includes a variable resistor potentiometer 1 and a power cable, a signal cable, and a ground cable connected to the variable resistor potentiometer 1. The ground is to ensure that the first sensing module has a stable reference potential. The first sensing module may have three terminals: a first signal output terminal 1, a first ground terminal 5, and a first power terminal 2. The second sensing module includes a variable resistor potentiometer 2 and a power cable, a signal cable, and a ground cable connected to the variable resistor potentiometer 2. The second sensing module may have three terminals: a second signal output terminal 4, a second ground terminal 6, and a second power terminal 3. The resistance values ​​of the variable resistor potentiometer 1 and the variable resistor potentiometer 2 are different. The first detection module detects the first pedal opening angle when the pedal position changes and converts this first opening angle into a first electrical signal. The second detection module detects the second pedal opening angle and converts this second opening angle into a second electrical signal.

[0140] Furthermore, instead of the variable resistor potentiometer shown in Figure 8, a non-contact potentiometer may be used (as shown in Figure 11 below) to detect the non-contact pedal.

[0141] Based on the above, the following will describe the cases where the sensor used to detect the pedal is a contact sensor or a non-contact sensor. A contact sensor that detects the pedal is sometimes called a contact sensor. A contact sensor means that the potentiometer included in the sensor is a contact potentiometer, for example, a variable resistance potentiometer. A non-contact sensor that detects the pedal is sometimes called a non-contact sensor. A non-contact sensor means that the potentiometer included in the sensor is a non-contact potentiometer, for example, a Hall effect non-contact potentiometer. The following will describe the case where the first control unit is the first MCU and the second control unit is the second MCU as an example. Note that the first power supply of the first control unit that supplies power to the first detection module and the second detection module may be two independent first power supplies, and the second power supply of the second control unit that supplies power to the first detection module and the second detection module may be two independent second power supplies. For the sake of explanation, the power supply of the first control unit in the following embodiment may be collectively referred to as the first power supply, and the power supply of the second control unit may be collectively referred to as the second power supply.

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

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

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

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

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

[0147] In possible implementations, the first and second followers may be powered from a first power supply of the first control unit or from a second power supply of the second control unit. See Figure 10. The operational amplifier U of the first follower further includes two pins which may be denoted as V+ and V-. Pin V+ is configured to be connected to a power supply (e.g., a first or second power supply) that powers the first follower, and pin V- is connected to terminal J12 of the follower.

[0148] In another possible implementation, the second control unit further includes a power detection module, as shown in Figure 9B. The power detection module is configured to detect whether or not a failure has occurred in the first power supply. If a failure in the first power supply is detected, the power detection module transmits instruction information to the second MCU, which, based on the instruction information, switches to supplying power to the first and second followers using the second power supply.

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

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

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

[0152] Figures 9A and 9B both show examples where the first combiner module and the second combiner module are independently integrated on a single printed circuit board.

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

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

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

[0156] As shown in Figure 12, based on the configuration of the control system, the voltage of the first signal detected by the first detection module is boosted through the first resistor network, and the boosted first signal is input to the positive input terminal of the first ADC. The voltage of the first ground signal detected by the first detection module is boosted through the third resistor network, and the boosted first ground signal is input to the negative input terminal of the ADC. The boosted first signal and the boosted first ground signal are subtracted to obtain the first actual pedal opening information. The voltage of the second signal detected by the second detection module is boosted through the second resistor network, and the boosted second signal is input to the positive input terminal of the second ADC. The voltage of the second ground signal detected by the second detection module is boosted through the fourth resistor network, and the boosted second ground signal is input to the negative input terminal of the ADC. The boosted second signal and the boosted second ground signal are subtracted to obtain the second actual pedal opening information. In this example, the first, second, third, and fourth resistor networks are identical. For a detailed explanation of the first, second, third, and fourth resistor networks, please refer to the related explanations mentioned above. Further details will not be explained again here. Note that the first and second ADCs may sample simultaneously. If the difference between the first and second actual opening information does not conform to the standard, it indicates that a sensor failure has occurred, and fault protection mode is enabled to perform control based on "not pressing the pedal".

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

number

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

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

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

number

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

[0162] Based on Equation 3, when the input voltage is -1V, the output voltage is 0. When the input voltage is 6V, the output voltage is 5V. In both cases, the ±1V grounding offset requirement is met.

[0163] In this application, the first ADC may be an existing ADC as an alternative, specifically, the existing ADC performs a subtraction operation based on software to obtain the first actual aperture information. The second ADC may be an existing ADC as an alternative, and performs a subtraction operation based on the existing ADC to obtain the second aperture information.

[0164] Embodiment 2 Figure 13 shows the structure of yet another sensor of the present invention. The sensor includes a first detection module, a second detection module, and a processing module, the first and second detection modules being grounded. The first end of the processing module is connected to the first detection module, the second end of the processing module is connected to the second detection module, the third end of the processing module is connected to a third control unit, and the fourth end of the processing module is also connected to the third control unit. Specifically, the third end of the processing module may be connected to the third control unit using a first digital signal cable or a first I / O bus, and the fourth end of the processing module may be connected to the fourth control unit via a second digital signal cable or a second I / O bus. The first detection module includes a signal output terminal 1, a ground terminal 5, and a power terminal 2. The second detection module includes a signal output terminal 4, a ground terminal 6, and a power terminal 3. The signal output terminal 1 of the first detection module is connected to the first end of the processing module. The signal output terminal 4 of the second detection module is connected to the second end of the processing module. The ground terminal 5 of the first detection module and the ground terminal 6 of the second detection module are directly grounded. The power terminal 2 of the first detection module and the power terminal 3 of the second detection module are configured to be connected to a power supply. The potentiometer in this example may be a Hall effect non-contact potentiometer or a variable resistance potentiometer.

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

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

[0167] In possible implementations, the processing module includes, but is not limited to, a third ADC or a fifth MCU. The fifth MCU may be the same as the first MCU. For specific implementations, see the description of the first MCU. Further details will not be explained again here.

[0168] Based on the above, Figure 14A is a diagram of the structure of yet another control system of the present application. The control system includes a third control unit. The third control unit includes a third power supply and a third control unit. In this example, the third control unit includes a third MCU. The sensor includes a first sensor module, a second sensor module, and a processing module. For a description of the first and second sensing modules, please refer to Figure 13. Further details will not be explained again here. The signal output terminal 1 of the first sensing module is connected to the first terminal of the processing module. The signal output terminal 4 of the second sensing module is connected to the second terminal of the processing module. The third terminal of the processing module is connected to the third control unit of the third control unit. The fourth terminal of the processing module is connected to the third control unit of the third control unit. This can also be understood as follows: The processing module is doubly connected to the third control unit. The third control unit is configured to receive a first digital signal from the third end of the processing module, receive a second digital signal from the fourth end of the processing module, and transmit a second control signal to the actuator, the second control signal being determined based on the first and second digital signals. Alternatively, the third control unit is configured to receive a first I / O bus signal from the third end of the processing module, receive a second I / O bus signal from the fourth end of the processing module, transmit a third control signal to the actuator, and control the actuator to perform the corresponding processing. The third control signal is determined based on the first and second I / O bus signals.

[0169] Figure 14A uses an example where the processing module and the third control unit are dually connected, meaning the processing module can transmit a first digital signal or a first I / O bus signal via one channel and a second digital signal or a second I / O bus signal via the other channel. The first channel may be, for example, a first I / O bus or a first digital signal line, and the second channel may be, for example, a second I / O bus or a second digital signal line. Furthermore, one of the channels for the first digital signal or the first I / O bus signal may be between the processing module and the third control unit, and the second digital signal or second I / O bus signal may be transmitted to the third control unit via the same channel. See Figure 14B.

[0170] Figure 15 is a diagram of the structure of yet another control system of the present invention. The control system includes a third control unit and a fourth control unit. The third control unit includes a third power supply and a third control unit. The fourth control unit includes a fourth power supply and a fourth control unit. The sensor includes a first sensor module, a second sensor module and a processing module. For a description of the first and second detection modules, please refer to Figure 13. Further details will not be explained again here. For a description of how to connect the third control unit to the sensor, please refer to the description in Figure 14A. Further details will not be explained again here. The method of connecting the fourth control unit to the sensor is the same as the method of connecting the third control unit to the sensor, and further details will not be explained again here. It may also be understood that the processing module is doubly connected to the third control unit, and the processing module is also doubly connected to the fourth control unit.

[0171] In a possible implementation, if the third control unit fails, the fourth control unit is configured to receive a first digital signal from the third end of the processing module, receive a second digital signal from the fourth end of the processing module, and transmit a third control signal to the actuator, the third control signal being determined based on the first and second digital signals.

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

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

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

[0175] Alternatively, the control system further includes a first combiner module and a second combiner module. See Figure 16B. The first combiner module is configured to control a first power supply or a second power supply to power the first sensing module. Specifically, the first combiner module includes a first switch and a second switch, the first end of the first switch being connected to the first power supply, and the second end of the first switch being connected to the first power supply terminal 2 of the first sensing module. The first end of the second switch is connected to the second power supply, and the second end of the second switch is connected to the first power supply terminal 2 of the first sensing module. The second combiner module is configured to control a first power supply or a second power supply to power the second sensing module. Specifically, the second combiner module includes a third switch and a fourth switch. The first end of the third switch is connected to the first power supply, and the second end of the third switch is connected to the second power supply terminal 3 of the second sensing module. The first terminal of the fourth switch is connected to the second power supply, and the second terminal of the fourth switch is connected to the second power supply terminal 3 of the second sensing module. For a more detailed description of the first and second combiner modules, please refer to the relevant descriptions mentioned above. Further details will not be explained again here.

[0176] Furthermore, optionally, the first combiner module, the second combiner module, and the third control unit may be integrated onto the same printed circuit board. Alternatively, at least two of the first combiner module, the second combiner module, and the third control unit may be integrated onto different printed circuit boards. Alternatively, the first combiner module, the second combiner module, and the fourth control unit may be integrated onto the same printed circuit board. Alternatively, at least two of the first combiner module, the second combiner module, and the fourth control unit may be integrated onto different printed circuit boards.

[0177] In the above embodiment 2, an example was described using a configuration in which the sensor detects a non-contact pedal.

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

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

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

[0181] Furthermore, the control system may further include a first combiner module and a second combiner module. For details regarding the first and second combiner modules, please refer to the relevant descriptions above. Further details will not be provided here. Also, for the integrated relationship between the first combiner module, the second combiner module, the third control unit, and the fourth control unit, please refer to the relevant descriptions in Embodiment 2 above. Further details will not be provided here.

[0182] Embodiment 4 Figure 18 is a diagram of the structure of the detection system of the present invention. The detection system includes a first sensor and a second sensor. The first sensor includes a first detection module and a second detection module. The second sensor includes a third detection module and a fourth detection module. The third detection module includes a variable resistor potentiometer 3 and power cables, signal cables, and ground cables connected to the variable resistor potentiometer 2. The third detection module may provide three ends: a third signal output terminal 7, a third ground terminal 11, and a third power terminal 8. The fourth detection module includes a variable resistor potentiometer 4 and power cables, signal cables, and ground cables connected to the variable resistor potentiometer 4. The third detection module may provide three ends: a third signal output terminal 10, a third ground terminal 12, and a third power terminal 9. The first and second detection modules are described in detail above and will not be described again here. It is understood that the variable resistor potentiometer in Figure 18 may be replaced with a non-contact potentiometer. Figure 18 is merely a possible example.

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

[0184] In possible implementations, the first sensor may be identical to the second sensor. Specifically, the first detection module is identical to the third detection module, and the second detection module is identical to the fourth detection module. This can also be understood as follows: Variable resistance potentiometer 3 is identical to variable resistance potentiometer 1, and variable resistance potentiometer 4 is identical to variable resistance potentiometer 2.

[0185] Two sets of independent sensors may be integrated into the detection system and independently connected to different control units. Specifically, the first sensor is connected to the first control unit, and the second sensor is connected to the second control unit. A redundant mechanism is formed by the dual connection of the first control unit (conventional vehicle control component) and the second control unit (control unit used for advanced autonomous driving). Therefore, even if the first control unit malfunctions, the second control unit can still perform control functions (e.g., acceleration control). The control system can integrate manual driving functions in conjunction with functional modules such as brakes. Sampling is unaffected by ground offset, and the overall component layout of the vehicle becomes more flexible.

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

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

[0188] Embodiment 5 Figure 20A is a diagram illustrating the structure of yet another control system of the present application. The control system includes a first combiner module and a second combiner module. The first combiner module is connected to the first sensing module of the sensor, and the second combiner module is connected to the second sensing module of the sensor. The first combiner module is further connected to the first control unit and the second control unit. The second combiner module is further connected to the first control unit and the second control unit. The first combiner module is configured to supply power to the first sensing module by controlling the first power supply of the first control unit or the second power supply of the second control unit. The second combiner module is configured to supply power to the second sensing module by controlling the first power supply or the second power supply. For a more detailed description of the first and second combiner modules, please refer to the relevant descriptions above. Further details will not be explained again here. For the connection relationships between the first combiner module, the second combiner module, the first control unit, the second control unit and the sensor, please refer to the description in Figure 11. Further details will not be explained again here.

[0189] Figure 20B is a diagram illustrating the structure of yet another control system of the present invention. The control system includes a first combiner module and a second combiner module. The first combiner module is connected to the first sensing module of the sensor, and the second combiner module is connected to the second sensing module of the sensor. The first combiner module is further connected to the third control unit and the fourth control unit. The second combiner module is further connected to the third control unit and the fourth control unit. The first combiner module is configured to supply power to the first sensing module by controlling the third power supply of the third control unit or the fourth power supply of the fourth control unit. The second combiner module is configured to supply power to the second sensing module by controlling the third power supply or the fourth power supply. For the connection relationships between the first combiner module, the second combiner module, the first control unit, the second control unit and the sensor, please refer to the relevant descriptions above. Further details will not be explained again here.

[0190] Embodiment 6 Figure 21 is a diagram of the structure of the sensor of the present invention. The sensor includes a first detection module, a second detection module, a first combiner module, and a second combiner module. For the connection relationships of the first combiner module, the second combiner module, the first detection module, and the second detection module, please refer to the relevant explanation above. Further details will not be explained again here.

[0191] In the embodiments of this application, unless otherwise stated or unless there is a logical inconsistency, the terminology and / or descriptions between different embodiments are consistent and can be mutually referenced, and the technical features in different embodiments can be combined based on their internal logical relationships to form new embodiments.

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

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

[0194] The terminal device may further include other possible functional structures, such as a pedal, but is not limited to this application.

[0195] For example, terminal devices may include vehicles (e.g., unmanned vehicles, intelligent vehicles, electric vehicles, or digital vehicles), robots, surveying and mapping equipment, unmanned aerial vehicles, smart home devices (e.g., televisions, robotic vacuum cleaners, smart desk lamps, sound systems, intelligent lighting systems, electrical control systems, home background music systems, home theater systems, intercom systems, video surveillance), or intelligent manufacturing equipment (e.g., industrial devices), intelligent transport equipment (AGVs, automated guided vehicles, trucks, etc.), intelligent terminals (e.g., mobile phones, computers, tablet computers, palmtop computers, desktop computers, headsets, sound devices, wearable devices, in-vehicle devices, virtual reality devices, or augmented reality devices).

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

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

[0198] It should be understood that the sensor system 2201 may further include sensors from the internal systems of the monitored vehicle 220 (e.g., an onboard air quality monitor, fuel gauge, oil temperature gauge, pedal position sensor). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (such as position, shape, orientation, and speed). Such detection and identification are critical functions of safe driving of the vehicle 220. The sensor system 2201 may further include other sensors, which are not specifically limited in this application.

[0199] Some or all of the functions of the vehicle 220 are controlled by a control system 2202. The control system 2202 may include at least one processor 22021. Furthermore, the control system 2202 may further include an interface circuit 22022. The processor 22021 executes instructions stored in a non-temporary computer-readable medium such as memory 22023. Alternatively, the control system 2202 may be a plurality of computing devices that control individual components or subsystems of the vehicle 220 in a distributed manner.

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

[0201] The propulsion system 2204 can provide power and motion to the vehicle 220. The propulsion system 2204 may include an engine, energy source, transmission, wheels / tires, etc. It may be understood that the propulsion system 2204 may include additional or alternative possible components. This is not specifically limited in this application.

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

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

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

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

[0206] Optionally, one or more of the aforementioned components may be installed separately from or in relation to the vehicle 220. For example, the memory 22023 may be partially or completely isolated from the vehicle 220. The aforementioned components may be coupled to each other so as to be able to communicate with each other by wired and / or wireless means.

[0207] This is not limited to the present embodiment of the present application.

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

[0209] In this application, various numbers are distinguished simply for the sake of clarity and are not used to limit the scope of the embodiments of this application. The sequence numbers of the processes described above do not imply execution sequences, and the execution sequence of a process should be determined based on the function and internal logic of the process. The terms “first,” “second,” and similar terms are used to distinguish similar objects without describing a specific order or sequence. Furthermore, the terms “include,” “have,” and any variant thereof are intended to cover non-exclusive inclusion, for example, a set of steps or units. For example, a method, system, product, or device may include other steps or units that are not explicitly described or are specific to such a process, method, product, or device, but are not necessarily limited to those steps or units explicitly described.

[0210] The foregoing description is merely a specific implementation of the present application and is not intended to limit the scope of protection of the present application. Any modifications or substitutions that can be readily conceived by a person skilled in the art, within the scope of the technical scope disclosed herein, should be included within the scope of protection of the present application. Accordingly, the scope of protection of the present application should be subject to the scope of protection of the claims.

Claims

1. A control system comprising a first control unit and a second control unit, wherein the first control unit is connected to a sensor, the second control unit is connected to the sensor, the sensor includes a first detection module and a second detection module, the second control unit includes a sampling circuit, the sampling circuit includes a first channel and a second channel, the first channel is connected to the first detection module, and the second channel is connected to the second detection module. A control system comprising: a second control unit configured to acquire a first signal detected by the first detection module via the first channel; a second signal detected by the second detection module via the second channel; and to determine a second pedal opening degree information based on the first signal and the second signal.

2. The system according to claim 1, wherein the second control unit is further configured to transmit a second control signal to an actuator, the second control signal being obtained based on the second opening information.

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

4. The system according to claim 1, wherein the first channel includes a first analog-to-digital converter (ADC), and the second channel includes a second ADC.

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

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

7. The first control unit includes a first power supply, and the second control unit includes a second power supply. The first power supply is configured to supply power to the first follower and the second follower, or The system according to claim 6, wherein the second power supply is configured to supply power to the first follower and the second follower.

8. The first control unit includes a first power supply, and the second control unit includes a second power supply and a power supply detection module. The system according to claim 6, wherein the power supply detection module is configured to detect a failure in the first power supply, switch to the second power supply, and supply power to the first follower and the second follower.

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

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

11. The system according to claim 10, wherein the first switch includes a first diode or a first chip, and / or the second switch includes a second diode or a second chip.

12. The first combiner module, the second combiner module, and the second control unit are integrated onto the same printed circuit board, or At least two of the first combiner module, the second combiner module, and the second control unit are integrated onto different printed circuit boards, or The first combiner module, the second combiner module, and the first control unit are integrated onto the same printed circuit board, or At least two of the first combiner module, the second combiner module, and the first control unit are integrated onto different printed circuit boards. The system according to claim 9.

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

14. The control unit according to claim 13, further configured to transmit a second control signal to an actuator, the second control signal being obtained based on the second opening information.

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

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

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

18. A control system comprising a third control unit and a fourth control unit, wherein the third control unit is connected to a sensor, the fourth control unit is connected to the sensor, and the third control unit, the fourth control unit and the sensor are connected to each other and grounded. The control system further includes a first combiner module and a second combiner module, the third control unit includes a third power supply, the fourth control unit includes a fourth power supply, and the sensor includes a first detection module and a second detection module. The first combiner module is configured to control the third power supply or the fourth power supply to supply power to the first sensing module. The second combiner module is configured to control the third power supply or the fourth power supply to supply power to the second detection module, and is part of a control system.

19. The first combiner module includes a first switch and a second switch, the first end of the first switch being connected to the third power supply, the second end of the first switch being connected to the power supply terminal of the first sensing module, the first end of the second switch being connected to the fourth power supply, the second end of the second switch being connected to the power supply terminal of the first sensing module, and / or The system according to claim 18, wherein the second combiner module includes a third switch and a fourth switch, the first end of the third switch being connected to the third power supply, the second end of the third switch being connected to the power supply terminal of the second sensing module, the first end of the fourth switch being connected to the fourth power supply, and the second end of the fourth switch being connected to the power supply terminal of the second sensing module.

20. The system according to claim 19, wherein the first switch includes a first diode or a first chip, and / or the second switch includes a second diode or a second chip.

21. The first combiner module, the second combiner module, and the third control unit are integrated onto the same printed circuit board, or At least two of the first combiner module, the second combiner module, and the third control unit are integrated onto different printed circuit boards, or The first combiner module, the second combiner module, and the fourth control unit are integrated onto the same printed circuit board, or At least two of the first combiner module, the second combiner module, and the fourth control unit are integrated onto different printed circuit boards. The system according to any one of claims 18 to 20.

22. A sensor comprising a first detection module, a second detection module, and a processing module, wherein the first end of the processing module is connected to the first detection module, the second end of the processing module is connected to the second detection module, the third and fourth ends of the processing module are connected to a third control unit, and the first detection module and the second detection module are grounded. A sensor configured such that the processing module processes a first signal detected by the first detection module into a first digital signal or a first I / O bus signal, transmits the first digital signal or the first I / O bus signal to the third control unit via the third terminal of the processing module, processes a second signal detected by the second detection module into a second digital signal or a second I / O bus signal, and transmits the second digital signal or the second I / O bus signal to the third control unit via the fourth terminal of the processing module.

23. The sensor according to claim 22, wherein the processing module includes a third analog-to-digital converter (ADC) or a fifth microcontroller (MCU).

24. The sensor according to claim 22 or 23, wherein the third and fourth ends of the processing module are further connected to a fourth control unit.

25. The sensor according to claim 24, wherein the first detection module is connected to the first switch and the second switch of the first combiner module, and the second detection module is connected to the third switch and the fourth switch of the second combiner module.

26. A control system, including a third control unit, the third control unit being connected to the third and fourth ends of the sensor processing module, The third control unit is configured to receive a first digital signal from the third end of the processing module, receive a second digital signal from the fourth end of the processing module, and transmit a second control signal to the actuator, wherein the second control signal is determined based on the first digital signal and the second digital signal, or The third control unit is configured to receive a first I / O bus signal from the third end of the processing module, receive a second I / O bus signal from the fourth end of the processing module, and transmit a third control signal to the actuator, wherein the third control signal is determined based on the first I / O bus signal and the second I / O bus signal, in a control system.

27. The control system further includes a fourth control unit, the fourth control unit being connected to the third and fourth ends of the processing module, If a failure occurs in the third control unit, the fourth control unit is configured to receive the first digital signal from the third end of the processing module, receive the second digital signal from the fourth end of the processing module, and transmit the third control signal to the actuator, wherein the third control signal is determined based on the first digital signal and the second digital signal, or The control system according to claim 26, wherein the fourth control unit is configured to receive the first I / O bus signal from the third end of the processing module, receive the second I / O bus signal from the fourth end of the processing module, and transmit the third control signal to the actuator, the third control signal being determined based on the first I / O bus signal and the second I / O bus signal.

28. A control system comprising a first combiner module and a second combiner module, wherein the first combiner module is connected to a first detection module of a sensor, and the second combiner module is connected to a second detection module of the sensor. The first combiner module is further connected to the first control unit and the second control unit, the second combiner module is further connected to the first control unit and the second control unit, the first combiner module is configured to supply power to the first detection module by controlling the first power supply of the first control unit or the second power supply of the second control unit, and the second combiner module is configured to supply power to the second detection module by controlling the first power supply or the second power supply, or A control system comprising: the first combiner module being further connected to the third and fourth control units; the second combiner module being further connected to the third and fourth control units; the first combiner module being configured to supply power to the first detection module by controlling the third power supply of the third control unit or the fourth power supply of the fourth control unit; and the second combiner module being configured to supply power to the second detection module by controlling the third power supply or the fourth power supply.

29. The first combiner module includes a first switch and a second switch, the first end of the first switch being connected to the first power supply, the second end of the first switch being connected to the power supply terminal of the first sensing module, the first end of the second switch being connected to the second power supply, the second end of the second switch being connected to the power supply terminal of the first sensing module, and / or The system according to claim 28, wherein the second combiner module includes a third switch and a fourth switch, the first end of the third switch being connected to the first power supply, the second end of the third switch being connected to the power supply terminal of the second sensing module, the first end of the fourth switch being connected to the second power supply, and the second end of the fourth switch being connected to the power supply terminal of the second sensing module.

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