Method, control device and computer program for determining a functional pedal of an electric pedal arrangement for a vehicle, and pedal arrangement, vehicle and computer-readable medium

Abstract

The present invention relates to a method, a control device and a computer program for determining a functional pedal of an electric pedal arrangement for a vehicle, and to a pedal arrangement, a vehicle and a computer-readable medium. The pedal arrangement (100) comprises: the pedal (110) which can be attached to the vehicle for pivoting between a predetermined first end position and a predetermined second end position; a pedal position sensor (130); and a pedal actuation unit (120) which is operatively connected to the pedal (110) and is designed to set the position of the pedal (110) between the predetermined first end position and the predetermined second end position. The method according to the invention comprises: transmitting to the pedal actuation unit (120) a first diagnostic signal which causes the pedal actuation unit (120) to move the pedal (110) into the predetermined first end position; receiving a pedal position signal from the pedal position sensor (130); determining a functional pedal (110) if the received pedal position signal indicates an actual position of the pedal (110) which is substantially equal to the predetermined first end position of the pedal (110); and transmitting a pedal signal which is representative of a functional pedal (110).

Description

[0001] Description

[0002] Method, control device and computer program for determining a functioning pedal of an electric pedal assembly for a vehicle, as well as pedal assembly, vehicle and computer-readable medium

[0003] The present invention relates to a method, a control device and a computer program for determining a functioning pedal of an electric pedal assembly for a vehicle, as well as a pedal assembly, a vehicle and a computer-readable medium, in particular for a so-called brake-by-wire pedal or a drive-by-wire accelerator pedal.

[0004] Electric pedal assemblies that lack a mechanical connection to the respective actuating elements, such as the brake unit or throttle valve, may become increasingly important in the future. With such electric pedal assemblies, such as an electric brake or accelerator pedal, a functional check before use is essential to ensure the driver can safely and reliably operate all the desired functions of the electric pedal assembly.

[0005] Exemplary prior art is known from US 2023 / 0127493A1, US 2022 / 0144293A1, US 6736233B2, CN 111775959B and CN 110901658B.

[0006] The present invention is essentially based on the objective of verifying the proper functioning of a pedal of an electric pedal assembly in a simple and efficient manner.

[0007] This problem is solved by a method according to claim 1, a control device according to claim 11, a pedal arrangement according to claim 13, a vehicle according to claim 14, a computer program according to claim 15, and a computer-readable medium according to claim 16. Advantageous embodiments are specified in the dependent claims. The present invention is essentially based on the idea of ​​providing a method for determining whether a pedal of an electric pedal arrangement for a vehicle is functioning, in which the pedal is moved to a predetermined position, in particular to a predetermined first end position, by means of a pedal actuation unit, and it is verified whether the pedal actually reaches the predetermined first end position.If, after the pedal of the electric pedal assembly has been moved, it is determined that the actual position of the pedal does not correspond to the desired and predetermined first end position, it can be concluded that a fault in the pedal assembly exists. This can be the case, for example, if there is an obstruction, such as a bottle, in the footwell of the vehicle where the pedal is located, and the bottle prevents the pedal from reaching the predetermined end position when it is moved to it. Furthermore, in one embodiment of the invention, the required pedal actuator force is monitored while the pedal is being moved to the predetermined first end position.If it is found that the pedal actuator force required to move the pedal to the predetermined first end position is greater than expected, a fault in the pedal arrangement may again be detected, since, for example, the interfering object located in the footwell is again disturbing the movement of the pedal.

[0008] Consequently, according to a first aspect of the present invention, a method for determining a functional pedal of an electric pedal assembly for a vehicle is disclosed. The pedal assembly comprises a pedal that can be pivotably mounted on the vehicle between a predetermined first end position and a predetermined second end position, and which is configured to be actuated by the foot of a driver of the vehicle; a pedal position sensor configured to generate a pedal position signal that is representative of the actual position of the pedal between the predetermined first end position and the predetermined second end position; and a pedal actuation unit operatively connected to the pedal, which is configured to adjust the position of the pedal between the predetermined first end position and the predetermined second end position.The method according to the invention comprises sending a first diagnostic signal to the pedal actuation unit, which causes the pedal actuation unit to move the pedal to the predetermined first end position, receiving a pedal position signal from the pedal position sensor, determining a functioning pedal if the received pedal position signal indicates an actual position of the pedal that is substantially the same as the predetermined first end position of the pedal, and sending a pedal signal that is representative of a functioning pedal.

[0009] If, when moving the pedal to its predetermined first end position, it is determined that the pedal has actually reached this predetermined first end position, then the pedal can be diagnosed as at least partially functional. Consequently, it can be assumed that at least the area between the pedal's original position and the predetermined first end position is free of any obstruction that could impede its movement.

[0010] In a preferred embodiment of the method according to the invention, the pedal actuation unit comprises a pedal actuator configured to exert a pedal actuator force on the pedal, corresponding to the pedal actuator operating parameters, when the pedal actuator is operated with these parameters, in order to move the pedal. In such a preferred embodiment, the method according to the invention further comprises determining the actual pedal actuator force during movement of the pedal to the predetermined first end position, at least partially based on the pedal actuator operating parameters; determining whether the pedal is functioning correctly if the determined actual pedal actuator force is less than a predetermined pedal actuator force threshold; and sending the pedal signal that is representative of a functioning pedal. For example, this could be a predetermined maximum pedal actuator force threshold.If this threshold is exceeded when moving the pedal to the predetermined first end position, a fault in the pedal assembly can be inferred. The pedal actuator operating parameters preferably consist of the electrical voltage and / or the electrical current applied to the pedal actuator for its operation. Based on these operating parameters, the pedal actuator exerts the predetermined pedal actuator force on the pedal to move it. In this preferred embodiment of the method according to the invention, if it is determined that the pedal actuator force is greater than the predetermined pedal actuator force threshold when moving the pedal to the predetermined first end position, a fault in the pedal assembly, particularly in the pedal itself, can be inferred, such as an obstruction in the vehicle's footwell.If the pedal reaches the predetermined first end position, but the expected pedal actuator force is greater than the predetermined pedal actuator force threshold, this can indicate the presence of an obstruction, as the pedal actuator must also move the obstruction, such as a floor mat not in its intended position, at least partially to the side. Furthermore, a fault in the pedal mechanism, such as a bearing failure in the pedal assembly, can be diagnosed in this way.

[0011] In a further preferred embodiment of the method according to the invention, the pedal actuator is further configured to move the pedal according to a target pedal actuator force-pedal position characteristic curve. In such a preferred embodiment, the method further comprises determining the actual pedal actuator force-pedal position characteristic curve during the movement of the pedal to the predetermined first end position, at least partially based on the pedal actuator operating parameters and at least partially based on the received pedal position signal; determining a functioning pedal if the determined actual pedal actuator force-pedal position characteristic curve substantially corresponds to the target pedal actuator force-pedal position characteristic curve; and transmitting the pedal signal that is representative of a functioning pedal.In particular, the actual pedal actuator force is compared with the target pedal actuator force threshold value corresponding to the respective actual pedal position.

[0012] In such a preferred embodiment, the actual pedal actuator force required to move the pedal to the predetermined first end position is monitored as a function of the pedal's actual position. If the actual pedal actuator force-pedal position characteristic deviates substantially from the target pedal actuator force-pedal position characteristic, a fault in the pedal actuation unit, such as an obstruction in the pedal's path of travel, can be inferred.

[0013] In a further advantageous embodiment of the method according to the invention, the pedal actuation unit further comprises a first limiting element configured to mechanically limit movement of the pedal beyond the predetermined first end position. In addition, the pedal comprises a pedal force sensor configured to generate a pedal force signal representative of a force applied externally to the pedal.In such an advantageous embodiment, the method according to the invention further comprises sending a second diagnostic signal to the pedal actuation unit, which causes the pedal actuator to exert a predetermined target pedal actuator force on the pedal located in the first end position and contacting the first limiting element, receiving a pedal force signal from the pedal force sensor, determining a functioning pedal if the received pedal force signal indicates a pedal force that correlates with the predetermined target pedal actuator force, and sending the pedal signal that is representative of a functioning pedal.

[0014] In such an advantageous embodiment of the method according to the invention, applying the predetermined target pedal actuator force to the pedal, which rests against the limiting element, allows verification of whether the pedal force sensor functions correctly and correlates with the predetermined target pedal actuator force. For example, with a functioning pedal and pedal force sensor, applying twice the target pedal actuator force should result in the pedal force sensor displaying twice the pedal force value.

[0015] In a further advantageous embodiment, the method according to the invention further comprises sending a third diagnostic signal to the pedal actuation unit, which causes the pedal actuation unit to move the pedal to the predetermined second end position, receiving the pedal position signal from the pedal position sensor, determining a functioning pedal if the received pedal position signal indicates an actual position of the pedal that is essentially the same as the predetermined second end position of the pedal, and sending the pedal signal that is representative of a functioning pedal.

[0016] In a further embodiment of the method according to the invention, when a deviation of the actual pedal actuator force-pedal position characteristic curve from the target pedal actuator force-pedal position characteristic curve is detected, the pedal force signal can also be evaluated. If the pedal force signal also indicates a non-zero pedal force value and the pedal does not reach the predetermined second end position, it can be concluded that there is an obstruction in the footwell of the vehicle that is exerting an external force on the moving pedal. Conversely, if the pedal force sensor indicates a pedal force of zero and the pedal does not reach the predetermined first end position, a fault in the pedal actuation unit can be concluded. The fault in the pedal assembly can therefore be at least partially quantified.

[0017] According to such an advantageous embodiment, it can further be verified whether, after the pedal moves to the predetermined first end position, it also reaches the predetermined second end position. If it is determined that the pedal does not reach the predetermined second end position, a faulty pedal arrangement can be inferred, as, for example, there may be an obstruction in the vehicle's footwell that at least partially blocks the pedal's movement to the predetermined second end position. Conversely, if it is determined that the actual position of the pedal essentially corresponds to the predetermined second end position, a functioning pedal and thus an obstruction-free footwell can be inferred.

[0018] In a further preferred embodiment, the pedal actuation unit comprises a pedal actuator configured to exert a pedal actuator force on the pedal, corresponding to the pedal actuator operating parameters, to move the pedal. In such a preferred embodiment, the method according to the invention further comprises determining the actual pedal actuator force during movement of the pedal to the predetermined second end position, at least partially based on the pedal actuator operating parameters; determining a functioning pedal if the determined actual pedal actuator force is less than a predetermined pedal actuator force threshold; and sending the pedal signal that is representative of a functioning pedal.In this process, the actual pedal actuator force is compared with the target pedal actuator force threshold value corresponding to the respective actual pedal position.

[0019] Here too, the pedal actuator force is monitored while the pedal is moving from the predetermined first end position to the predetermined second end position, and it is checked whether this force exceeds the predetermined pedal actuator force threshold. If this threshold is exceeded, it can be assumed that an excessively high pedal actuator force is required to move the pedal from the predetermined first end position to the predetermined second end position, which in turn indicates that a faulty pedal or pedal assembly is present.

[0020] It may be preferred that the pedal actuator is further configured to move the pedal according to a target pedal actuator force-pedal position characteristic curve. The method according to the invention further comprises determining the actual pedal actuator force-pedal position characteristic curve during the movement of the pedal to the predetermined second end position, at least partially based on the pedal actuator operating parameters and at least partially based on the received pedal position signal; determining a functioning pedal if the determined actual pedal actuator force-pedal position characteristic curve substantially corresponds to the target pedal actuator force-pedal position characteristic curve; and transmitting the pedal signal that is representative of a functioning signal.

[0021] Here too, it can be checked while moving the pedal from the predetermined first end position to the predetermined second end position whether the pedal actuator force at the respective pedal position corresponds to a predetermined and expected target value.

[0022] As previously described, it can again be advantageous in one configuration to additionally evaluate the pedal force signal when a deviation of the actual pedal actuator force-pedal position characteristic curve from the target pedal actuator force-pedal position characteristic curve is detected. Specifically, if the pedal force signal shows a non-zero pedal force value while the pedal is moving from the predetermined first end position to the predetermined second end position, it can be concluded that there is an object in the vehicle's footwell exerting an external force on the moving pedal. Conversely, if the pedal force sensor indicates a pedal force of zero and the pedal does not reach the predetermined second end position, a fault in the pedal actuation unit can be inferred. The fault in the pedal assembly can therefore be at least partially quantified.

[0023] According to a further preferred embodiment of the method according to the invention, the pedal actuation unit further comprises a second limiting element, which is configured to mechanically limit movement of the pedal beyond the predetermined second end position. The pedal includes a pedal force sensor, which is configured to generate a pedal force signal that is representative of a force exerted externally on the pedal.In such a preferred embodiment, the method according to the invention further comprises sending a fourth diagnostic signal to the pedal actuation unit, which causes the pedal actuator to exert a predetermined target pedal actuator force on the pedal which is in the predetermined second end position and is contacting the second limiting element, receiving a pedal force signal from the pedal force sensor, determining a functioning pedal if the received pedal force signal indicates a pedal force that correlates with the predetermined target pedal actuator force, and sending the pedal signal that is representative of a functioning pedal.

[0024] In such a preferred embodiment, the pedal force sensor can again be validated and its functionality checked. Specifically, if the predetermined target pedal actuator force is applied to the pedal while it is in contact with the second limiting element, the received pedal force signal should, in the case of a functioning pedal, indicate a pedal force that correlates with the predetermined target pedal actuator force. If the pedal or the electrical pedal assembly is faulty, this would not be the case, and a corresponding error signal can be output.

[0025] According to the invention, in a further embodiment it may be preferred that the pedal force sensor is calibrated with the target pedal actuator force applied to the pedal while the pedal is in contact with the first or second limiting element. Furthermore, it may be possible to calibrate the pedal force sensor in the pedal's force-free position. The force-free pedal position is the position the pedal assumes when no force is applied to the pedal, either by the pedal actuation unit or externally. In this force-free pedal position, the pedal force sensor should indicate a pedal force of zero, assuming both the pedal and the sensor are functioning correctly. If this is not the case, the pedal force sensor can be calibrated with the pedal force detected in this pedal position.Furthermore, it may be advantageous to additionally consider the pedal actuator operating parameters and include them in the calibration when calibrating the pedal force sensor in the predetermined first end position, and / or in the predetermined second end position and / or in the force-free pedal position.

[0026] According to a further advantageous embodiment, the method according to the invention also includes detecting a defective pedal if a functioning pedal cannot be detected, and sending a warning signal to the driver of the vehicle that is representative of a detected defective pedal. Sending a warning signal can prevent the vehicle from being started and / or operated.

[0027] According to a further preferred embodiment, the method according to the invention further comprises receiving an occupant signal representative of a person located inside the vehicle and determining that no person is in the vehicle, at least partially based on the received occupant signal. The determination of a functioning pedal only occurs if an unoccupied driver's seat has been detected. The occupant signal can originate from an occupant sensor arranged in the vehicle, such as a camera, a radar sensor, an ultrasonic sensor, or any other occupant sensor known from the prior art.

[0028] Preferably, a seat occupancy signal that is representative of an occupied driver's seat of the vehicle can be evaluated as an occupant signal, and the detection of a functioning pedal can only occur if an unoccupied driver's seat has been detected.

[0029] According to one such preferred embodiment of the method according to the invention, it can be ensured that the driver of the vehicle cannot be injured during the pedal diagnosis. Furthermore, it can be ruled out that the interfering object is a body part of the driver, such as a foot or leg. According to another aspect of the present invention, a control device is disclosed which is configured to execute a method according to the invention for determining a functioning pedal of an electric pedal assembly for a vehicle.

[0030] In a preferred embodiment, the control device according to the invention comprises a first control device section for performing the step of sending the first diagnostic signal, a second control device section for performing the step of receiving the pedal position signal from the pedal position sensor, a third control device section for performing the step of determining a functioning pedal, and a fourth control device section for performing the step of sending the pedal signal.

[0031] According to a further aspect of the present invention, a pedal arrangement for a vehicle is disclosed, comprising a pedal pivotably mounted on the vehicle between a predetermined first end position and a predetermined second end position, which is designed to be actuated by the foot of a driver of the vehicle, a pedal position sensor designed to generate a pedal position signal representative of the actual position of the pedal between the predetermined first end position and the predetermined second end position, a pedal actuation unit operatively connected to the pedal and designed to adjust the position of the pedal between the predetermined first end position and the predetermined second end position, and a control device according to the invention.

[0032] According to a further aspect of the present invention, a vehicle with a pedal arrangement according to the invention is disclosed.

[0033] According to yet another aspect of the present invention, a

[0034] A computer program is disclosed which includes instructions which, when executed by a computing unit, cause the computing unit to execute a method according to the invention for determining a functioning pedal of an electric pedal assembly for a vehicle.

[0035] According to a further aspect of the present invention, a computer-readable medium is disclosed on which the computer program according to the invention is stored.

[0036] Further advantages and features of the present invention will become apparent to the person skilled in the art by carrying out the teaching described herein and by examining the single accompanying drawing, in which:

[0037] Fig. 1 shows a schematic representation of an electric pedal arrangement according to the invention with one pedal for a vehicle,

[0038] Fig. 2 shows an exemplary flowchart of a method according to the invention for determining a functioning pedal of the electric pedal arrangement of Fig. 1,

[0039] Fig. 3 shows a further exemplary flowchart of a method according to the invention for determining a functioning pedal of the electric pedal arrangement of Fig. 1,

[0040] Fig. 4 shows a further exemplary flowchart of a method according to the invention for determining a functioning pedal of the electric pedal arrangement of Fig. 1, and

[0041] Fig. 5 shows a further exemplary flowchart of a method according to the invention for determining a functioning pedal of the electric pedal arrangement of Fig. 1,

[0042] Within the scope of this disclosure, an "electric pedal arrangement" comprises a pedal that is mechanically decoupled from the corresponding vehicle components. The pedal may be a brake pedal, an accelerator pedal (such as a gas pedal or current pedal), a clutch pedal, or a parking brake pedal. In particular, an electric pedal arrangement according to this disclosure eliminates mechanical coupling devices, such as cables, hydraulic systems, pneumatic systems, or the like, which establish a mechanical coupling between the pedal and the respective vehicle component. The pedal may preferably be a so-called break-by-wire brake pedal, in which the pedal movement is converted into an electrical signal that is provided to the actuator for the brake shoes, which in turn generates the desired braking force.

[0043] Within the scope of the present disclosure, a “pedal force-pedal position characteristic curve” describes a characteristic curve in a diagram in which the pedal force is plotted against the respective pedal position.

[0044] According to the invention, the pedal actuation unit can be configured to adjust the pedal's actuation feel according to a characteristic curve as desired. This adjustment can be force-based or position-based. In force-based control, the pedal actuation unit adjusts the pedal position according to the force applied by the driver. In displacement-based control, the pedal actuation unit adjusts the pedal actuator force according to the respective pedal position, which is detected by the pedal position sensor and is in turn influenced by the driver by pressing the pedal.

[0045] Fig. 1 shows a schematic representation of an electric pedal assembly 100 according to the invention, comprising a pedal 110 for a vehicle. In addition to the pedal 110, the electric pedal assembly 100 includes a pedal actuation unit 120 (see dashed line in Fig. 1) operatively connected to the pedal 110, which is configured to adjust the position of the pedal 110 between a predetermined first end position and a predetermined second end position. The predetermined first and second end positions of the pedal 110 describe, in particular, the mechanical end positions of the pivotable pedal 110. Thus, the maximum pivoting range of the pedal is

[0046] 110 is defined by the predetermined first end position and the predetermined second end position.

[0047] However, it is self-evident to the expert that the actuation range of pedal 110 can also be smaller than the maximum swivel range of pedal 110. By appropriately controlling the pedal actuation unit 120, the actuation range of pedal 110 can be adjusted as desired, so that the end positions of the actuation swivel range differ from the predetermined first and second end positions. The pedal actuation unit 120 can apply such a large pedal actuator force to pedal 110 when it is in an end position of the actuation swivel range that the driver perceives the end position as having been reached. Likewise, the pedal actuation unit 120 can adjust the pedal actuation feel according to the driver's preference.

[0048] The pedal 110 has a pedal element 112 which is pivotably mounted on a pedal attachment 111. The pivoting movement of the pedal 110, in particular of the pedal element 112, is indicated by arrow 113 in Fig. 1. The pedal 110 is also equipped with a pedal force sensor 114, which is configured to generate a pedal force signal that is representative of a force exerted externally on the pedal 110. For example, the pedal force sensor 114 can detect the force exerted by a driver's foot 10 on the pedal 110, in particular on the pedal element 112.

[0049] The pedal actuation unit 120, which is operatively connected to the pedal 110, consists of a pedal actuator 122. The actuator 122 is configured to exert a pedal actuator force on the pedal 110, corresponding to the pedal actuator operating parameters such as electrical voltage and / or electrical current and / or rotor position and / or characteristics of the pedal actuator 112 itself, such as resistances, inductances, or temperature, to move the pedal 110. For this purpose, the pedal actuation unit 120 also includes a gear unit 124, which comprises a spindle 123. The spindle 123 is configured to move a spindle element 125 translationally when rotated (see arrow 127 in Fig. 1). An actuating element 121 is attached to the spindle element 125 and is coupled to the pedal 110 on the opposite side.The mechanics of the electric pedal arrangement 100 are thus achieved by a translational drive of the spindle element 125 by the pedal actuator 122, which is converted into a pivoting movement (see arrow 113 in Fig. 1) of the pedal 110 due to the joints on the spindle element 125 and the pedal 110.

[0050] The pedal actuation unit 120 further comprises a power electronics unit 126 and a pedal actuation control unit 128. The pedal actuation control unit 128 is designed in particular to control the operation of the pedal actuation unit 120, especially the pedal actuator 122.

[0051] The pedal actuation unit 120 can further include a return mechanism (not shown) designed to return the pedal 110 to a predetermined initial position in a force-free state, such as when the vehicle is deactivated. The return mechanism can, for example, be in the form of a spring-damper system. The return mechanism can also be configured to adjust the initial position of the pedal 110 as desired, thus defining an end position of the pedal's actuation range. This end position of the pedal's actuation range, as the initial position, is in turn adjustable according to the driver's preference.

[0052] The pedal assembly 100 of Fig. 1 further comprises a pedal position sensor 130, which is configured to generate a pedal position signal that is representative of the actual position of the pedal 100 between the predetermined first end position and the predetermined second end position. The pedal position sensor 130 can, for example, be an angle sensor that detects the angle between the fastening element 111 and the pedal element 112, from which the actual position of the pedal 110 can be determined. Alternatively or additionally, a linear position sensor can be provided to detect the linear position of the spindle element 125, from which the position of the pedal 110 can be derived.Alternatively or additionally, an angle sensor can be provided to detect the angle between the spindle 123 and the actuating element 121 or to detect the angle between the actuating element 121 and the pedal element 112, from which the pedal position can then be derived. Alternatively or additionally, parameters of the pedal actuator 122, such as the motor position of the pedal actuator 122, can also be taken into account to determine the pedal position.

[0053] The pedal assembly 100 further comprises a first limiting element 140, which is configured to mechanically limit the movement of the pedal 110 beyond the predetermined first end position. In particular, when the pedal 110 is moved towards the first limiting element 140, the latter can come into contact with the pedal 110 and thus mechanically limit any further movement of the pedal 110. Similarly, the pedal assembly 100 has a second limiting element (not shown), which is configured to mechanically limit the movement of the pedal 110 beyond the predetermined second end position. In particular, when the pedal 110 is moved towards the second limiting element 140, the latter can come into contact with the pedal 110 and thus mechanically limit any further movement of the pedal 110.

[0054] The pedal assembly 100 of Fig. 1 further comprises a control device 160, which is designed to control the pedal actuation unit 120. The control device 160 can communicate with the pedal actuation control 128. Alternatively, the pedal actuation control 128 can be integrated into the control device 160.

[0055] The control device 160 can have several control device sections, such as a first control device section 162, a second control device section 164, a third control device section 166, a fourth control device section 168 and a fifth control device section, which are discussed in more detail below with reference to Figs. 2 to 5.

[0056] The control device 160 can include a processor or arithmetic unit and memory. Alternatively, the control device 160 can be the processor or arithmetic unit connected to the memory. The processor can be a central processing unit (CPU). The processor can also be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or another programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. The general-purpose processor can be a microprocessor, or the processor can be any conventional processor or the like.

[0057] The memory includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read-Only Memory (EPROM), or Portable Read-Only Memory (e.g., CD-ROM). The memory is configured to store associated program instructions and data.

[0058] With reference to Fig. 2, an exemplary flowchart of a method according to the invention for determining a functional pedal 110 of the electric pedal arrangement 100 of Fig. 1 is shown.

[0059] The method of Fig. 2 starts at step 200 and then proceeds to step 210, where it is first determined whether or not there is an occupant in the vehicle. It is preferred that the present disclosed method according to the invention for determining whether a functional pedal 110 of the electric pedal assembly 100 of Fig. 1 is only carried out once an occupant-free vehicle has been determined. Consequently, the method remains at step 210 until an occupant-free vehicle has been determined. Determining an occupant-free vehicle can, for example, be done using a seat occupancy sensor that generates a seat occupancy signal representative of an occupied or unoccupied driver's seat.

[0060] If, in step 210, it is determined that the received occupant signal indicates an empty vehicle, the procedure proceeds to step 220, in which the control device 160, in particular the first control device section 162, sends a first diagnostic signal to the pedal actuation unit 120, which causes the pedal actuation unit 120 to move the pedal 110 to the predetermined first end position. For this purpose, the pedal actuation control 128 can, for example, apply an electrical voltage and / or electrical current to the pedal actuator by means of the power electronics 126 such that the spindle 123 is rotated in such a way that the spindle element 125 is moved translationally far enough that the pedal 110 comes into contact with the limiting element 140.

[0061] In a subsequent step 230, the control device 160, in particular the second control device section 164, receives a pedal position signal from the pedal position sensor 130.

[0062] In a subsequent step 240, it is checked whether the received pedal position signal indicates an actual position of the pedal 110 that is substantially the same as the predetermined first end position of the pedal 110. If, in step 240, it is determined that the received pedal position signal indicates an actual position of the pedal 110 that is substantially the same as the predetermined first end position of the pedal 110, the method proceeds to step 250, in which the control device 160, in particular the fourth control device section 168, sends a pedal position signal that is representative of a functioning pedal 110, before the method ends at step 270.

[0063] However, if step 240 determines that the received pedal position signal indicates an actual position of pedal 110 that deviates from the predetermined first end position of pedal 110, the procedure proceeds to step 260, where a faulty pedal 110 is diagnosed, before the procedure again ends at step 270. In step 260, the control device 160, in particular the fourth control device section 168, can send a warning signal to the vehicle driver indicating a detected faulty pedal 110. In step 260, it is specifically determined that, despite sending the first diagnostic signal, the pedal 110 has not reached the predetermined first end position, for example, because an obstruction is present in the vehicle's footwell. Accordingly, the actual position of pedal 110 deviates from the predetermined first end position of pedal 110.

[0064] In a preferred embodiment, a pedal force signal can be received from the pedal force sensor 114, either additionally or separately from step 230. This signal is evaluated while the pedal 110 is being moved to the predetermined first end position. If the received pedal force signal indicates a non-zero pedal force value and the pedal does not reach the predetermined second end position, it can be concluded that there is an obstruction in the vehicle's footwell exerting an external force on the moving pedal 110. Conversely, if the pedal force sensor indicates a pedal force of zero and the pedal does not reach the predetermined second end position, a fault in the pedal actuation unit 120 can be concluded, such as a bearing failure of the pedal 110.

[0065] With reference to Fig. 3, a further exemplary flowchart of a method according to the invention for determining a functional pedal 110 of the electric pedal arrangement 100 of Fig. 1 is shown.

[0066] The process shown in Fig. 3 starts at step 300 and then proceeds to step 310, in which essentially the process shown in Fig. 2 is carried out. In particular, step 310 of Fig. 3 involves comparing the actual position of pedal 110 with the target position of pedal 110, more precisely, whether pedal 110 has moved to the predetermined first end position. In a subsequent step 320, the actual pedal actuator force is determined, at least partially, based on the pedal actuator operating parameters, while pedal 110 is moving to the predetermined first end position. For this purpose, the pedal actuator operating parameters necessary for moving pedal 110 to the predetermined first end position are determined, such as the electrical voltage and / or electrical current applied to pedal actuator 122, and / or the position of the rotor of pedal actuator 122, and / or other characteristics of pedal actuator 122, such as...Resistances or inductances, evaluated.

[0067] In a subsequent step 330, the control device 160, in particular the third control device section 166, determines an actual pedal actuator force-pedal position characteristic curve during the movement of the pedal 110 into the predetermined first end position at least partially based on the determined actual pedal actuator force and at least partially based on the received pedal position signal.

[0068] In a subsequent step 340, it is checked whether the determined actual pedal actuator force-pedal position characteristic curve essentially corresponds to a target pedal actuator force-pedal position characteristic curve. The target pedal actuator force-pedal position characteristic curve is an expected characteristic curve for a functioning pedal 110 and shows the pedal actuator force required at the respective pedal position to move the fault-free pedal 110.

[0069] If, at step 340, it is determined that the calculated actual pedal actuator force-pedal position characteristic curve essentially corresponds to the target pedal actuator force-pedal position characteristic curve, the procedure proceeds to step 350, at which the control device 160, in particular the fourth control device section 168, sends the pedal signal that is representative of a functioning pedal 110, before the procedure is terminated at step 370. However, if, at step 340, it is determined that the calculated actual pedal actuator force-pedal position characteristic curve deviates substantially from the target pedal actuator force-pedal position characteristic curve, the procedure proceeds to step 360, at which a defective pedal 110 is identified, before the procedure is again terminated at step 370. Additionally or simultaneously during step 360, a warning signal can be issued to the driver of the vehicle, indicating a detected faulty pedal 110.

[0070] Consequently, if the actual pedal actuator force-pedal position characteristic curve deviates from the expected target pedal actuator force-pedal position characteristic curve, a faulty pedal 110 can be identified, since more or less force is required than with a functioning pedal 110 to move the pedal 110 to the predetermined first end position.

[0071] As an alternative to steps 330 and 340 of Fig. 3, only the pedal actuator force can be evaluated during the movement of pedal 110 to the predetermined first end position. If it is determined that the measured actual pedal actuator force exceeds a predetermined pedal actuator force threshold during the movement of pedal 110 to the predetermined first end position, a faulty pedal 110 can be diagnosed, since the pedal actuator force required to move pedal 110 to the predetermined first end position is greater than expected, and thus a fault exists. However, if it is determined that the measured actual pedal actuator force during the movement of pedal 110 to the predetermined first end position is less than the predetermined pedal actuator force threshold, a functioning pedal 110 can again be identified, and thus the pedal signal representative of a functioning pedal 110 can be sent.

[0072] With reference to Fig. 4, a further exemplary flowchart of a method according to the invention for determining a functional pedal 110 of the electric pedal arrangement 100 of Fig. 1 is shown. The method of Fig. 4 starts at step 400 and then proceeds to step 410, in which essentially the method according to Fig. 3 is carried out, namely monitoring or evaluation of the actual pedal actuator force-pedal position characteristic curve and / or the actual pedal actuator force.

[0073] After the pedal 110 has been moved to the predetermined first end position with an expected pedal actuator force, the method proceeds to step 420, in which the control device 160, in particular the first control device section 162, sends a second diagnostic signal to the pedal actuation unit 120. This signal causes the pedal actuator 122 to exert a predetermined target pedal actuator force on the pedal 110, which is in the first end position and contacting the first limiting element 140. For example, the pedal actuator 122 is operated with predetermined pedal actuator operating parameters, such as a predetermined electrical current and / or a predetermined electrical voltage, which results in the predetermined target pedal actuator force being exerted on the pedal 110, which is in the predetermined first end position.

[0074] In a subsequent step 430, a pedal force signal is received from the pedal force sensor 114 by means of the control device 160, in particular the fifth control device section 169 (see Fig. 1).

[0075] In a subsequent step 440, the received pedal force signal is evaluated to determine whether it indicates a pedal force that correlates with the predetermined target pedal actuator force. If step 440 determines that the received pedal force signal indicates a pedal force that correlates with the predetermined target pedal actuator force, the method proceeds to step 450, in which the control device 160, in particular the fourth control device section 168, sends the pedal signal that is representative of a functioning pedal 110, before the method terminates at step 470. However, if step 440 determines that the received pedal force signal indicates a pedal force that does not correlate with the predetermined target pedal actuator force, the method proceeds to step 460, in which a defective pedal 100 is identified.In step 460, a warning signal can then be sent to the driver of the vehicle indicating a detected faulty pedal 110, before the procedure is ended again in step 470.

[0076] In particular, step 440 checks whether, when the pedal 110 is pressed against the first limiting element 140 with the predetermined target pedal actuator force, the pedal force signal generated by the pedal force sensor also changes and thus indicates a changing pedal force. The pedal force detected by the pedal force sensor 114 is proportional to the applied and generated predetermined target pedal actuator force.

[0077] In a preferred embodiment, in addition to or separately from step 440, the received pedal force signal can be evaluated to determine whether an obstruction is located in the vehicle's footwell. Specifically, if the pedal force signal received while moving the pedal 110 from the predetermined first end position to the predetermined second end position indicates a non-zero pedal force value and the pedal does not reach the predetermined second end position, it can be concluded that an obstruction is located in the vehicle's footwell and is exerting an external force on the moving pedal 110. Conversely, if the pedal force sensor indicates a pedal force of zero and the pedal 110 does not reach the predetermined second end position, it can be concluded that there is a fault in the pedal actuation unit 120, such as a bearing failure of the pedal 110.

[0078] With reference to Fig. 5, a further exemplary flowchart of a method according to the invention for determining a functional pedal 110 of the electric pedal arrangement 100 of Fig. 1 is shown.

[0079] The procedure shown in Fig. 5 starts at step 500 and then proceeds to step 510, where the procedure according to Fig. 3 and / or Fig. 4 is carried out. This means that at step 510, the pedal 110 has already been moved to the predetermined first end position and its functionality has already been checked. Here, the pedal position signal and / or the pedal actuator force and / or the actual pedal actuator force-pedal position characteristic curve can again be evaluated (according to Fig. 2, Fig. 3, and Fig. 4).

[0080] The procedure then proceeds to step 520, in which the control device 160, in particular the first control device section 162, sends a third diagnostic signal to the pedal actuation unit 120, which causes the pedal actuation unit 120, in particular the pedal actuator 122, to move the pedal 110 into the predetermined second end position.

[0081] In a subsequent step 530, a pedal position signal is received from pedal position sensor 130 by means of the control device 160, in particular by means of the second control device section 164.

[0082] Subsequently, in step 540, the actual position of pedal 110 is compared with the target position, i.e., with the predetermined second end position, of pedal 110. If, in step 540, it is determined that the received pedal position signal indicates an actual position of pedal 110 that is essentially the same as the predetermined second end position of pedal 110, the procedure proceeds to step 550, in which a functioning pedal 110 is determined before the procedure ends in step 570. In addition to or simultaneously with step 550, the control device 160, in particular the fourth control device section 168, can send the pedal signal, which in turn is representative of a functioning pedal.

[0083] If, however, step 540 determines that the received pedal position signal indicates an actual position of pedal 110 that is not the same as the predetermined second end position of pedal 110, the procedure proceeds to step 560, where a faulty pedal 110 is diagnosed. Here, too, a warning signal representative of a faulty pedal 110 can be sent to the vehicle's driver, either additionally or simultaneously with step 560, before the procedure is terminated again at step 570.

[0084] In particular, the method according to Fig. 5 can be used to check whether the pedal can move properly from the predetermined first end position to the predetermined second end position. If it is determined that the pedal 110 does not reach the predetermined second end position, it can be concluded that, for example, an obstruction is present in the footwell of the vehicle that essentially blocks the movement of the pedal 110.

[0085] The procedures shown in Fig. 5 can then be applied analogously to the procedures shown in Figs. 3 and 4 for the predetermined second end position. This means that the pedal actuator force and / or the actual pedal actuator force-pedal position characteristic curve are again determined and evaluated while the pedal is being moved to the predetermined second end position (according to Figs. 3 and 4).

[0086] It is self-evident to those skilled in the art that the embodiments of a method according to the invention shown in Figures 2 to 5 are merely exemplary. Consequently, the sequence of the respective steps in other embodiments of the method according to the invention may differ from that shown.

[0087] The method according to the invention therefore makes it possible to check the functionality of a pedal 110 of an electric pedal assembly 100 in a simple and efficient manner. It is possible to monitor the entire pivoting range of the pedal 110 and to diagnose whether all components are in a functional and flawless condition. If a fault is detected even before the pedal is put into operation, for example, while the driver is getting into the driver's seat, the driver of the vehicle can be informed in a timely manner that a faulty pedal 110 is present.

Claims

Patent claims 1. Method for determining a functioning pedal (110) of an electric pedal assembly (100) for a vehicle, wherein the pedal assembly (100) comprises the pedal (110) pivotably mounted on the vehicle between a predetermined first end position and a predetermined second end position, configured to be actuated by a driver's foot, a pedal position sensor (130) configured to generate a pedal position signal representative of the actual position of the pedal (110) between the predetermined first end position and the predetermined second end position, and a pedal actuation unit (120) operatively connected to the pedal (110) configured to adjust the position of the pedal (110) between the predetermined first end position and the predetermined second end position, wherein the method comprises: Sending a first diagnostic signal to the pedal actuation unit (120), which causes the pedal actuation unit (120) to move the pedal (110) to the predetermined first end position, Receiving a pedal position signal from the pedal position sensor (130), Determining a functioning pedal (110) when the received pedal position signal indicates an actual position of the pedal (110) that is substantially the same as the predetermined first end position of the pedal (110), and Sending a pedal signal that is representative of a functioning pedal (110).

2. The method of claim 1, wherein the pedal actuation unit (120) comprises a pedal actuator (122) configured to exert a pedal actuator force on the pedal (110) corresponding to the pedal actuator operating parameters when the pedal actuator is operated with pedal actuator operating parameters, and wherein the method further comprises: Determining the actual pedal actuator force during movement of the pedal (110) into the predetermined first end position, at least partially based on the pedal actuator operating parameters, Determining a functioning pedal (110) when the determined actual pedal actuator force is less than a predetermined pedal actuator force threshold, and Sending the pedal signal that is representative of a functioning pedal (110).

3. Method according to claim 2, wherein the pedal actuator (122) is further configured to move the pedal (110) according to a target pedal actuator force-pedal position characteristic curve, wherein the method further comprises: Determining the actual pedal actuator force-pedal position characteristic curve during movement of the pedal (110) into the predetermined first end position at least partially based on the pedal actuator operating parameters and at least partially based on the received pedal position signal, Determining a functioning pedal (110) if the determined actual pedal actuator force-pedal position characteristic curve substantially corresponds to the target pedal actuator force-pedal position characteristic curve, and Sending the pedal signal that is representative of a functioning pedal (110).

4. A method according to one of claims 2 and 3, wherein the pedal arrangement (100) further comprises a first limiting element (140) configured to mechanically limit movement of the pedal (110) beyond the first end position, wherein the pedal (110) comprises a pedal force sensor (114) configured to generate a pedal force signal representative of a force applied externally to the pedal (110), wherein the method further comprises: Sending a second diagnostic signal to the pedal actuation unit (120), which causes the pedal actuator (122) to actuate the The pedal (140) in the first end position and contacting the first limiting element (140) exerts a predetermined target pedal actuator force, receives a pedal force signal from the pedal force sensor (114), determines a functioning pedal (110) if the received pedal force signal indicates a pedal force that correlates with the predetermined target pedal actuator force, and Sending the pedal signal that is representative of a functioning pedal (110).

5. Method according to any of the preceding claims, further comprising sending a third diagnostic signal to the pedal actuation unit (120), which causes the pedal actuation unit (122) to move the pedal (110) into the predetermined second end position, Receiving a pedal position signal from the pedal position sensor (130), Determining a functioning pedal (110) when the received pedal position signal indicates an actual position of the pedal (110) that is substantially the same as the predetermined second end position of the pedal (110), and Sending the pedal signal that is representative of a functioning pedal (110).

6. Method according to claim 5, wherein the pedal actuation unit (120) has a pedal actuator (122) configured to exert a pedal actuator force on the pedal (110) corresponding to the pedal actuator operating parameters when the pedal actuator is operated with pedal actuator operating parameters, in order to move the pedal (110), wherein the method further comprises: Determining the actual pedal actuator force during movement of the pedal (110) into the predetermined second end position, at least partially based on the pedal actuator operating parameters, Determining a functioning pedal (110) if the determined The actual pedal actuator force is less than a predetermined value. Pedal actuator force threshold, and Sending the pedal signal that is representative of a functioning pedal (110).

7. Method according to claim 6, wherein the pedal actuator (122) is further configured to move the pedal (110) according to a target pedal actuator force pedal position characteristic curve, wherein the method further comprises: Determining the actual pedal actuator force-pedal position characteristic curve during movement of the pedal (110) into the predetermined second end position at least partially based on the pedal actuator operating parameters and at least partially based on the received pedal position signal, Determining a functioning pedal (110) if the determined actual pedal actuator force-pedal position characteristic curve substantially corresponds to the target pedal actuator force-pedal position characteristic curve, and Sending the pedal signal that is representative of a functioning pedal (110).

8. A method according to one of claims 6 and 7, wherein the pedal arrangement (100) further comprises a second limiting element configured to mechanically limit movement of the pedal (110) beyond the predetermined second end position, wherein the pedal (110) comprises a pedal force sensor (114) configured to generate a pedal force signal representative of a force applied externally to the pedal (110), wherein the method further comprises: Sending a fourth diagnostic signal to the pedal actuation unit (120), which causes the pedal actuator (122) to exert a predetermined target pedal actuator force on the pedal (110) which is in the predetermined second end position and contacting the second limiting element, Receiving a pedal force signal from the pedal force sensor (114), determining a functioning pedal if the received pedal force signal indicates a pedal force that correlates with the predetermined target pedal actuator force, and Sending the pedal signal that is representative of a functioning pedal (110).

9. Method according to one of the preceding claims, further comprising: identifying a defective pedal (110) if identifying a functioning pedal (110) is not possible, and Sending a warning signal to the driver of the vehicle that is representative of a detected faulty pedal (110).

10. Method according to any of the preceding claims, further comprising: receiving an occupant signal that is representative of a person located inside the vehicle, and Determine that there is no person in the vehicle, at least partially based on the received occupant signal, whereby determining a functioning pedal (110) only occurs if an occupant-free vehicle has been determined.

11. Control device (160) configured to perform the steps of the method according to one of the preceding claims.

12. Control device (160) according to claim 11, comprising: a first control device section (162) for Performing the step of sending the first diagnostic signal, a second control device section (164) to perform the step of receiving the pedal position signal from the pedal position sensor (130), a third control device section (166) to perform the step of detecting a functioning pedal (110), and a fourth control device section (168) to perform the step of sending the pedal signal.

13. Pedal arrangement (100) for a vehicle, comprising: a pedal (110) pivotably mounted on the vehicle between a predetermined first end position and a predetermined second end position, configured to be actuated by the foot of a driver of the vehicle, a pedal position sensor (130) configured to generate a pedal position signal representative of the actual position of the pedal (110) between the predetermined first end position and the predetermined second end position, a pedal actuation unit (120) operatively connected to the pedal (110) and configured to adjust the position of the pedal (110) between the predetermined first end position and the predetermined second end position, and a control device (160) according to one of claims 11 and 12.

14. Vehicle with a pedal arrangement according to claim 13.

15. Computer program comprising instructions which, when executed by a computing unit, cause the computing unit to execute a method according to any one of claims 1 to 10.

16. Computer-readable medium on which the computer program according to claim 15 is stored.

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