CN104175962B - The control method of the auto pedal of vehicle, system and there is the vehicle of this system - Google Patents
The control method of the auto pedal of vehicle, system and there is the vehicle of this system Download PDFInfo
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- CN104175962B CN104175962B CN201410373030.7A CN201410373030A CN104175962B CN 104175962 B CN104175962 B CN 104175962B CN 201410373030 A CN201410373030 A CN 201410373030A CN 104175962 B CN104175962 B CN 104175962B
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Abstract
The present invention proposes a kind of control method of auto pedal of vehicle, system and has the vehicle of this system, and wherein, described method comprises: S1: control auto pedal and carry out stretching or retracting; According to the current location of auto pedal and present drive current, S2: when auto pedal carries out stretching or retracting, judges whether auto pedal encounters obstacle; S3: if current location be not target location and present drive current be greater than anti-pinch detect electric current, then confirm auto pedal encounter obstacle; S4: stop after controlling auto pedal counter motion preset distance, and delay scheduled time; S5: repeated execution of steps S1 to S4 until in preset loop number of times auto pedal stretch or be retracted to target location, otherwise control auto pedal be back to reference position.According to the control method of the auto pedal of the vehicle of the embodiment of the present invention, auto pedal can be made to have safe and reliable and that the life-span is long advantage.
Description
Technical field
The present invention relates to automobile technical field, particularly a kind of control method of auto pedal of vehicle, system and there is the vehicle of this system.
Background technology
Auto pedal (such as intelligent electric pedal) is applicable to SUV vehicle more, and its effect is equivalent to step, and object facilitates passenger to get on and off.Auto pedal can according to the on-off signal auto-extending of door or retraction.Door is opened, and auto pedal auto-extending, facilitates passenger loading; Door is closed, and auto pedal automatic retraction, ensure that safety when driving.
Auto pedal also achieves detection of obstacles function mostly at present.Namely auto pedal stretches out or in retraction process, if do not receive the signal that auto pedal passes back within a certain period of time, then judge to encounter obstacle, auto pedal stops automatically, prevents from damaging pedal or crushing the objects such as child to reach.
But there is following shortcoming in aforesaid way: detection of obstacles function judges the time by passing signal back to auto pedal, namely in auto pedal motion process, detect the signal of auto pedal, when not receiving pedal signal within certain a period of time, then think that pedal encounters obstacle, and stop the measures such as auto pedal.During this period of time running made great efforts by motor always, and the strength of auto pedal may be very large, also may damage people or auto pedal.Auto pedal stops when encountering obstacle automatically, a lot of potential safety hazard can be caused like this, if such as auto pedal is in half extended configuration, if people now steps on possibility because position is improper, auto pedal is unstable cause danger, the stressed mal of auto pedal causes the damage of pedal simultaneously.If auto pedal stops when being and clipping to people when retracting, human body will be caused to be stuck in that position and to damage.
Summary of the invention
The present invention is intended at least one of solve the problems of the technologies described above.
For this reason, one object of the present invention is the control method of the auto pedal proposing a kind of vehicle.The method can make auto pedal have safe and reliable and that the life-span is long advantage.
Another object of the present invention is the control system of the auto pedal proposing a kind of vehicle.
Another object of the present invention is to propose a kind of vehicle.
To achieve these goals, the embodiment of a first aspect of the present invention discloses a kind of control method of auto pedal of vehicle, comprises the following steps: S1: control described auto pedal and carry out stretching or retracting; According to the current location of auto pedal and present drive current, S2: when described auto pedal carries out stretching or retracting, judges whether described auto pedal encounters obstacle in the process stretched or retract; S3: if described current location be not target location and present drive current be greater than anti-pinch detect electric current, then confirm described auto pedal stretch or retract process in encounter obstacle; S4: when described auto pedal encounters obstacle in the process stretched or retract, stop after controlling described auto pedal counter motion preset distance, and delay scheduled time; S5: repeat described step S1 to S4 until described auto pedal stretches or is retracted to described target location in preset loop number of times, otherwise control described auto pedal and be back to reference position.
According to the control method of the auto pedal of the vehicle of the embodiment of the present invention, according to current location and the present drive current of the auto pedal detected, such as when judging that present drive current is greater than a certain default anti-pinch and detects electric current, then just confirm that auto pedal runs into obstacle, thus can be timely, judge whether auto pedal runs into obstacle in the process stretched or retract exactly, and after judgement runs into obstacle, promptly can control auto pedal and move to reversing sense that certain is a bit of apart from rear time delay Preset Time, like this, can prevent obstacle from blocking, and obstacle can be made to remove smoothly, thus avoid dangerous generation, improve the safety of vehicle.In addition, auto pedal trial move to target location several times after, if obstacle exists all the time, then control auto pedal correcting action, avoiding causing auto pedal or the failsafety relevant to auto pedal (burning as driven the motor rotation blockage of auto pedal motion) because control auto pedal cannot arrive target location to target location motion all the time, improving the service life of auto pedal and the parts relevant to auto pedal.
In addition, the control method of the auto pedal of vehicle according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, when described auto pedal carries out stretching or retracting, also comprise: judge whether described auto pedal cannot move according to the current location of auto pedal and present drive current; If described current location is in described reference position and described present drive current is greater than described anti-pinch detection electric current, then judge that described auto pedal cannot move; When described auto pedal cannot move, forbidding auto pedal function.
In some instances, also comprise: when the vehicle is running, judge whether to forbid described auto pedal function according to the speed of a motor vehicle; If the described speed of a motor vehicle is greater than the first preset vehicle speed and described auto pedal is in complete retracted position, then forbid described auto pedal function, otherwise control after described auto pedal moves to described complete retracted position, to forbid described auto pedal function; If when the described speed of a motor vehicle is less than the second preset vehicle speed and judges that described auto pedal can move, enable described auto pedal function.
In some instances, described vehicle comprises courtesy light, and described method also comprises: judge whether to start described courtesy light according to the state of auto pedal and Illumination intensity; If the state of described auto pedal is extended configuration and described Illumination intensity is less than default Illumination intensity, then control described courtesy light and light.
In some instances, the current location of described auto pedal is detected by Hall element and obtains, and the present drive current of described auto pedal is detected by current sensor and obtains.
The embodiment of second aspect present invention discloses a kind of control system of auto pedal of vehicle, comprising: actuator, carries out stretching or retracting for driving described auto pedal; Judge module, during for carrying out stretching or retracting at described auto pedal, judge whether described auto pedal encounters obstacle in the process stretched or retract according to the current location of auto pedal and present drive current, and judge described current location be not target location and present drive current be greater than anti-pinch detect electric current time, confirm described auto pedal stretch or retract process in encounter obstacle; Controller, during for confirming that at described judge module described auto pedal encounters obstacle in the process stretched or retract, stop after controlling auto pedal counter motion preset distance described in described driver drives, and delay scheduled time controls auto pedal described in described driver drives again carries out stretching or retracting, until auto pedal carries out stretching or in retraction pre-determined number, described auto pedal stretches or is retracted to described target location described in the described driver drives of control, otherwise control auto pedal described in described driver drives and be back to reference position.
According to the control system of the auto pedal of the vehicle of the embodiment of the present invention, according to current location and the present drive current of the auto pedal detected, such as when judging that present drive current is greater than a certain default anti-pinch and detects electric current, then just confirm that auto pedal runs into obstacle, thus can be timely, judge whether auto pedal runs into obstacle in the process stretched or retract exactly, and after judgement runs into obstacle, promptly can control auto pedal and move to reversing sense that certain is a bit of apart from rear time delay Preset Time, like this, can prevent obstacle from blocking, and obstacle can be made to remove smoothly, thus avoid dangerous generation, improve the safety of vehicle.In addition, auto pedal trial move to target location several times after, if obstacle exists all the time, then control auto pedal correcting action, avoiding causing auto pedal or the failsafety relevant to auto pedal (burning as driven the motor rotation blockage of auto pedal motion) because control auto pedal cannot arrive target location to target location motion all the time, improving the service life of auto pedal and the parts relevant to auto pedal.
In addition, the control system of the auto pedal of vehicle according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, when described judge module is also for carrying out stretching or retracting at described auto pedal, judge whether described auto pedal cannot move according to the current location of auto pedal and present drive current, and judge described current location be in described reference position and described present drive current be greater than described anti-pinch detect electric current time, judge that described auto pedal cannot move; Described controller, also for when described judge module judges that described auto pedal cannot move, controls described actuator and cuts out to forbid auto pedal function.
In some instances, described controller is also for when vehicle travels, if judge that the speed of a motor vehicle is greater than the first preset vehicle speed and described auto pedal is in complete retracted position, then forbid described auto pedal function, otherwise control after auto pedal described in described driver drives moves to described complete retracted position, forbid described auto pedal function, if the described speed of a motor vehicle is less than the second preset vehicle speed and described judge module judges that described auto pedal can move, then enable described auto pedal function.
In some instances, also comprise: courtesy light, described controller, when the state of described auto pedal is extended configuration and described Illumination intensity is less than default Illumination intensity, controls described courtesy light and lights.
The embodiment of third aspect present invention discloses a kind of vehicle, comprising: the control system of the auto pedal according to any one embodiment above-mentioned.The auto pedal of this vehicle has safe and reliable and that the life-span is long advantage.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the diagram of circuit of the control method of the auto pedal of vehicle according to an embodiment of the invention;
Fig. 2 is the stretching, extension of the auto pedal of the control method of the auto pedal of vehicle according to an embodiment of the invention and the control flow chart of retraction process;
Fig. 3 is the processing flow chart when auto pedal encounters obstacle of the control method of the auto pedal of vehicle according to an embodiment of the invention;
Fig. 4 is the diagram of circuit of the forbidding auto pedal function of the control method of the auto pedal of vehicle according to an embodiment of the invention;
Fig. 5 is vehicle startup in motion and the diagram of circuit of forbidding auto pedal function of the control method of the auto pedal of vehicle according to an embodiment of the invention;
Fig. 6 is the control flow chart of the courtesy light of the control method of the auto pedal of vehicle according to an embodiment of the invention; And
Fig. 7 is the structured flowchart of the control system of the auto pedal of vehicle according to an embodiment of the invention.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, particular case above-mentioned term concrete meaning in the present invention can be understood.
Describe according to the control method of the auto pedal of the vehicle of the embodiment of the present invention, system and the vehicle with this system below in conjunction with accompanying drawing.
Fig. 1 is the diagram of circuit of the control method of the auto pedal of vehicle according to an embodiment of the invention.As shown in Figure 1, the control method of the auto pedal of vehicle, comprises the steps: according to an embodiment of the invention
Step S101: control auto pedal and carry out stretching or retracting.Wherein, when vehicle parking and car door opening time, usual auto pedal stretches out and gets on and off for passenger.When vehicle travel and/or closing of the door time, it has been generally acknowledged that passenger does not get on and off demand, auto pedal is retracted.
Specifically, as shown in Figure 2, gate signal detection (i.e. detecting gate signal) is carried out, when gate signal is high level, door is opened (namely opening the door), now, if judge that auto pedal (abbreviation pedal) is as retracted mode (namely pedal closes), then control pedal stretches, if when gate signal is low level, door closes (namely closing the door), now, if judge that pedal is extended configuration (namely pedal is opened), then control pedal is retracted.
According to the current location of auto pedal and present drive current, step S102: when auto pedal carries out stretching or retracting, judges whether auto pedal encounters obstacle in the process stretched or retract.
As a concrete example, the current location of auto pedal detects by Hall element and obtains, and such as, auto pedal is when moving to diverse location, Hall element senses changes of magnetic field, thus can detect the position of auto pedal according to the difference in the magnetic field sensed.The present drive current of auto pedal detects by current sensor and obtains.
Step S103: if current location be not target location and present drive current be greater than anti-pinch detect electric current, then confirm auto pedal stretch or retract process in encounter obstacle.
Moved to retracted mode by extended configuration for auto pedal, such as, when auto pedal is moved to complete retracted position (i.e. target location) by full extended position (i.e. reference position), obtain current location and the present drive current of auto pedal in real time, as shown in Figure 3, signal using hall signal number as reflection automobile pedal position, then detect the hall signal number received, if hall signal number reaches predetermined value, then represent that auto pedal arrives target location, continue to detect present drive current, if the present drive current detected is greater than default stopping electric current, then stop pedal, illustrate that auto pedal moves to complete retracted position by full extended position, in motion process, auto pedal is not encountered obstacle but is normally run.
If hall signal number does not reach predetermined value, and the present drive current detected is greater than anti-pinch detection electric current, illustrates that auto pedal encounters obstacle in the process of retracting, and in actual applications, anti-pinch detects electric current and is less than default stopping electric current.
If the present drive current that hall signal number does not reach predetermined value and detects is normal current, auto pedal is described just at regular event.
Step S104: when auto pedal encounters obstacle in the process stretched or retract, stops after controlling auto pedal counter motion preset distance, and delay scheduled time.
Shown in composition graphs 3, when auto pedal encounters obstacle in the process of retracting, then control auto pedal (i.e. direction of extension) motion predeterminable range (can be such as a certain less distance) round about, and time delay is but is not limited to 2 seconds.
Step S105: repeated execution of steps S101 to step S104 until in preset loop number of times auto pedal stretch or be retracted to described target location, otherwise control auto pedal be back to reference position.
Shown in composition graphs 3, after delay time terminates, again attempt controlling auto pedal to retract, after trial pre-determined number (such as 3 times), auto pedal still cannot move to target location, then control auto pedal and be back to reference position, illustrate that obstacle exists all the time, auto pedal normally can not run to target location.
It should be noted that, whether whether auto pedal detects when being moved to extended configuration by retracted mode has obstacle and processing mode and auto pedal to be detected when retracted mode moves by extended configuration to have the principle of obstacle and processing mode similar, in order to reduce redundancy, do not repeat.
According to the control method of the auto pedal of the vehicle of the embodiment of the present invention, according to current location and the present drive current of the auto pedal detected, such as when judging that present drive current is greater than a certain default anti-pinch and detects electric current, then just confirm that auto pedal runs into obstacle, thus can be timely, judge whether auto pedal runs into obstacle in the process stretched or retract exactly, and after judgement runs into obstacle, promptly can control auto pedal and move to reversing sense that certain is a bit of apart from rear time delay Preset Time, like this, can prevent obstacle from blocking, and obstacle can be made to remove smoothly, thus avoid dangerous generation, improve the safety of vehicle.In addition, auto pedal trial move to target location several times after, if obstacle exists all the time, then control auto pedal correcting action, avoiding causing auto pedal or the failsafety relevant to auto pedal (burning as driven the motor rotation blockage of auto pedal motion) because control auto pedal cannot arrive target location to target location motion all the time, improving the service life of auto pedal and the parts relevant to auto pedal.
Due under severe conditions, may cause that auto pedal is locked can not move in certain position, such as, cause auto pedal to freeze in the winter of cold owing to freezing and can not move.Therefore, the method for the embodiment of the present invention is when auto pedal carries out stretching or retracting, further comprising the steps of:
1, judge whether auto pedal cannot move according to the current location of auto pedal and present drive current.
If 2 current locations are in reference position and present drive current is greater than anti-pinch detection electric current, then judge that auto pedal cannot move.
3, when auto pedal cannot move, forbidding auto pedal function.
As a concrete example, shown in composition graphs 3, when needs drive brake pedal motion, such as by electric motor starting brake pedal setting in motion, now, if do not receive hall signal or hall signal number is very little, but the present drive current detected is greater than anti-pinch detects electric current, then illustrate that auto pedal does not move, motor can not drive auto pedal to move, then motor can be stopped, and starter motor trial driving auto pedal motion again after time delay a period of time (as 5 seconds), such as after trial three times, auto pedal still cannot be driven to move, then judge that auto pedal cannot move (such as freezing), now, can forbid auto pedal function makes it enter lock-out state.
As mentioned above, after forbidding auto pedal function, even if meet auto pedal moving condition as described in step S101, also can not respond.Doing like this can when such as auto pedal freezes and cannot move but meet auto pedal moving condition, avoid driving the actuator of auto pedal motion start (as motor) and auto pedal motion can not be driven to cause actuator or auto pedal damage etc., the service life of effective Hoist braking pedal, simultaneously, start or forbid auto pedal function compared to manually operating in existing mode, there is intelligentized advantage, in addition, such as when auto pedal freezes, if forget M/C forbidding auto pedal function, actuator or auto pedal then may be caused to damage, therefore, the method of the embodiment of the present invention can avoid actuator or auto pedal to damage effectively.
As shown in Figure 4, if when attempting driving auto pedal motion, present drive current is less than anti-pinch and detects electric current, then judge that auto pedal can move, and now, can start auto pedal function, thus when meeting auto pedal moving condition, control auto pedal motion.
In vehicle travel process, the method can also control auto pedal function according to the speed of a motor vehicle etc., as shown in Figure 5, such as, comprises:
1, when the vehicle is running, forbidding auto pedal function is judged whether according to the speed of a motor vehicle.
If 2 speed of a motor vehicle are greater than the first preset vehicle speed and auto pedal is in complete retracted position, then forbid auto pedal function, otherwise control after auto pedal moves to complete retracted position, forbidding auto pedal function.
If when 3 speed of a motor vehicle are less than the second preset vehicle speed and judge that auto pedal can move, enable auto pedal function, wherein, the second preset vehicle speed is less than the first preset vehicle speed.
Such as: obtain current vehicle speed information by CAN, when the speed of a motor vehicle is greater than prohibition vehicle speed (the first preset vehicle speed, namely speed of a motor vehicle when forbidding auto pedal function is needed, as 8,000 ms/h) time, read auto pedal Status Flag, if auto pedal Status Flag is for stretching (if namely auto pedal is extended configuration), then bounce back auto pedal, and upgrade auto pedal Status Flag.After auto pedal bounces back completely (namely auto pedal is in complete retracted position), forbidding auto pedal function.
When the speed of a motor vehicle is less than the enable speed of a motor vehicle (i.e. the second preset vehicle speed, the speed of a motor vehicle of auto pedal function can be started, as 5,000 ms/h) time, read automobile pedal switch Status Flag, if this is masked as enable (namely starting electric treadle function), then can determine whether to stretch or retraction auto pedal according to vehicle door status etc.It can thus be appreciated that, when the speed of a motor vehicle is higher (as 8,000 ms/h), illustrate that automobile normally travels, now, have disabled auto pedal function, occur beyond preventing, ensure vehicle safety.When the speed of a motor vehicle is less (as 5,000 ms/h), namely vehicle is when parking or very little speed low speed driving, may the demand of getting on and off be there is in explanation, therefore auto pedal function is started, during to need to get on and off passenger, auto pedal can stretch smoothly or bounce back, and facilitates passenger to get on and off.
In existing mode, there are some to be by forbiddings such as vehicle door status (as whether latched) or start auto pedal function, if when vehicle travels, do not latch, even if then vehicle is in the process of running at high speed, auto pedal function does not have disabled yet, thus once auto pedal stretching, extension in the process of running at high speed, then may cause danger.Therefore, the method for the embodiment of the present invention determines whether forbidding auto pedal function by the speed of a motor vehicle, then can lifting vehicle safety effectively, avoids dangerous generation.
In addition, in existing mode, although also have some to be determine whether forbidding auto pedal function by the speed of a motor vehicle, but be all that a velocity amplitude is set, when the speed of a motor vehicle then forbids auto pedal function higher than this velocity amplitude, auto pedal function is then started lower than this velocity amplitude, imagine, if the speed of a motor vehicle is hovered upper and lower at this velocity amplitude, then auto pedal function will constantly be changed between startup and forbidding, constantly start at short notice and forbid the damage that may cause vehicle associated components, affecting the service life of vehicle.Therefore, the method for the embodiment of the present invention can also improve the service life of vehicle effectively.
As shown in Figure 6, when getting on and off under the environment (as night) of passenger in dark, be difficult to the situation seeing underfooting clearly, easily cause danger, therefore, the vehicle of the embodiment of the present invention also comprises courtesy light, correspondingly, the method also comprises: judge whether to start courtesy light according to the state of auto pedal and Illumination intensity, if the state of auto pedal is extended configuration and Illumination intensity is less than default Illumination intensity, then control pedal illumination lamp ignition.That is, auto pedal stretches or has reached full extended position, then illustrate that passenger gets on and off demand, and when dark, in order to passenger clearly can see auto pedal, auto pedal can be illuminated by courtesy light, like this, passenger just can successfully get on and off by auto pedal, promotes Consumer's Experience and effective lifting vehicle safety.
According to the control method of the auto pedal of the vehicle of the embodiment of the present invention, auto pedal is made to have the safe and reliable and advantage of long service life.
Further embodiment of the present invention discloses a kind of control system of auto pedal of vehicle.As shown in Figure 7, the control system 700 of the auto pedal of vehicle according to an embodiment of the invention, comprising: actuator 710, judge module 720 and controller 730.
Wherein, actuator 710 carries out stretching or retracting for driving auto pedal.When judge module 720 is for carrying out stretching or retracting at auto pedal, judge whether auto pedal encounters obstacle in the process stretched or retract according to the current location of auto pedal and present drive current, and judge current location be not target location and present drive current be greater than anti-pinch detect electric current time, confirm auto pedal stretch or retract process in encounter obstacle.Controller 730 is for when judge module confirms that auto pedal encounters obstacle in the process stretched or retract, control and drive system stops after driving auto pedal counter motion preset distance, and delay scheduled time again control and drive system drive auto pedal carry out stretching or retracting, until drive auto pedal to carry out stretching or in retraction pre-determined number, auto pedal stretches or is retracted to target location at control and drive system, otherwise control and drive system drives auto pedal to be back to reference position.
According to the control system of the auto pedal of the vehicle of the embodiment of the present invention, according to current location and the present drive current of the auto pedal detected, such as when judging that present drive current is greater than a certain default anti-pinch and detects electric current, then just confirm that auto pedal runs into obstacle, thus can be timely, judge whether auto pedal runs into obstacle in the process stretched or retract exactly, and after judgement runs into obstacle, promptly can control auto pedal and move to reversing sense that certain is a bit of apart from rear time delay Preset Time, like this, can prevent obstacle from blocking, and obstacle can be made to remove smoothly, thus avoid dangerous generation, improve the safety of vehicle.In addition, auto pedal trial move to target location several times after, if obstacle exists all the time, then control auto pedal correcting action, avoiding causing auto pedal or the failsafety relevant to auto pedal (burning as driven the motor rotation blockage of auto pedal motion) because control auto pedal cannot arrive target location to target location motion all the time, improving the service life of auto pedal and the parts relevant to auto pedal.
Due under severe conditions, may cause that auto pedal is locked can not move in certain position, such as cause auto pedal to freeze in the winter of cold owing to freezing and can not move, therefore, in one embodiment of the invention, when judge module 720 is also for carrying out stretching or retracting at auto pedal, judge whether auto pedal cannot move according to the current location of auto pedal and present drive current, and judge current location be in reference position and present drive current be greater than anti-pinch detect electric current time, judge auto pedal cannot move; Controller 730 is also for when judge module 720 judges that auto pedal cannot move, and control and drive system is closed to forbid auto pedal function.
As mentioned above, after forbidding auto pedal function, even if meet auto pedal moving condition, also can not respond.Doing like this can when such as auto pedal freezes and cannot move but meet auto pedal moving condition, avoid driving the actuator of auto pedal motion start (as motor) and auto pedal motion can not be driven to cause actuator or auto pedal damage etc., the service life of effective Hoist braking pedal, simultaneously, start or forbid auto pedal function compared to manually operating in existing mode, there is intelligentized advantage, in addition, such as when auto pedal freezes, if forget M/C forbidding auto pedal function, actuator or auto pedal then may be caused to damage, therefore, the system of the embodiment of the present invention can avoid actuator or auto pedal to damage effectively.
In one embodiment of the invention, controller 730 is also for when vehicle travels, if judge that the speed of a motor vehicle is greater than the first preset vehicle speed and auto pedal is in complete retracted position, then forbid auto pedal function, otherwise after control and drive system 710 drives auto pedal to move to complete retracted position, forbidding auto pedal function, if the speed of a motor vehicle is less than the second preset vehicle speed and judge module judges that auto pedal can move, then enables auto pedal function.
In existing mode, there are some to be by forbiddings such as vehicle door status (as whether latched) or start auto pedal function, if when vehicle travels, do not latch, even if then vehicle is in the process of running at high speed, auto pedal function does not have disabled yet, thus once auto pedal stretching, extension in the process of running at high speed, then may cause danger.Therefore, the system of the embodiment of the present invention determines whether forbidding auto pedal function by the speed of a motor vehicle, then can lifting vehicle safety effectively, avoids dangerous generation.
In addition, in existing mode, although also have some to be determine whether forbidding auto pedal function by the speed of a motor vehicle, but be all that a velocity amplitude is set, when the speed of a motor vehicle then forbids auto pedal function higher than this velocity amplitude, auto pedal function is then started lower than this velocity amplitude, imagine, if the speed of a motor vehicle is hovered upper and lower at this velocity amplitude, then auto pedal function will constantly be changed between startup and forbidding, constantly start at short notice and forbid the damage that may cause vehicle associated components, affecting the service life of vehicle.Therefore, the system of the embodiment of the present invention can also improve the service life of vehicle effectively.
In one embodiment of the invention, this system 700 also comprises: courtesy light 740, and controller 730, when the state of auto pedal is extended configuration and Illumination intensity is less than default Illumination intensity, controls described courtesy light and lights.That is, auto pedal stretches or has reached full extended position, then illustrate that passenger gets on and off demand, and when dark, in order to passenger clearly can see auto pedal, auto pedal can be illuminated by courtesy light 740, like this, passenger just can successfully get on and off by auto pedal, promotes Consumer's Experience and effective lifting vehicle safety.
According to the control system of the auto pedal of the vehicle of the embodiment of the present invention, auto pedal is made to have the safe and reliable and advantage of long service life.
It should be noted that, the specific implementation of the system of the embodiment of the present invention and the specific implementation of method part similar in principle, in order to reduce redundancy, do not repeat.
Further embodiment of the present invention discloses a kind of vehicle, comprising: the control system of the auto pedal of the vehicle as described in any one embodiment above-mentioned.This vehicle can ensure that auto pedal has safe and reliable and that the life-span is long advantage.
In addition, other formation of vehicle according to the above embodiment of the present invention and effect are all known for a person skilled in the art, in order to reduce redundancy, do not repeat.
In the description of this specification sheets, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present invention and aim, scope of the present invention is by claim and equivalency thereof.
Claims (10)
1. a control method for the auto pedal of vehicle, is characterized in that, comprises the following steps:
S1: control described auto pedal and carry out stretching or retracting;
According to the current location of auto pedal and present drive current, S2: when described auto pedal carries out stretching or retracting, judges whether described auto pedal encounters obstacle in the process stretched or retract;
S3: if described current location be not target location and present drive current be greater than anti-pinch detect electric current, then confirm described auto pedal stretch or retract process in encounter obstacle;
S4: when described auto pedal encounters obstacle in the process stretched or retract, stop after controlling described auto pedal counter motion preset distance, and delay scheduled time;
S5: repeat described step S1 to S4 until described auto pedal stretches or is retracted to described target location in preset loop number of times, otherwise control described auto pedal and be back to reference position.
2. the control method of the auto pedal of vehicle according to claim 1, is characterized in that, when described auto pedal carries out stretching or retracting, also comprises:
Judge whether described auto pedal cannot move according to the current location of auto pedal and present drive current;
If described current location is in described reference position and described present drive current is greater than described anti-pinch detection electric current, then judge that described auto pedal cannot move;
When described auto pedal cannot move, forbidding auto pedal function.
3. the control method of the auto pedal of vehicle according to claim 2, is characterized in that, also comprises:
When the vehicle is running, judge whether to forbid described auto pedal function according to the speed of a motor vehicle;
If the described speed of a motor vehicle is greater than the first preset vehicle speed and described auto pedal is in complete retracted position, then forbid described auto pedal function, otherwise control after described auto pedal moves to described complete retracted position, to forbid described auto pedal function;
If when the described speed of a motor vehicle is less than the second preset vehicle speed and judges that described auto pedal can move, enable described auto pedal function.
4. the control method of the auto pedal of vehicle according to claim 1, is characterized in that, described vehicle comprises courtesy light, and described method also comprises:
Judge whether to start described courtesy light according to the state of auto pedal and Illumination intensity;
If the state of described auto pedal is extended configuration and described Illumination intensity is less than default Illumination intensity, then control described courtesy light and light.
5. the control method of the auto pedal of the vehicle according to any one of claim 1-4, it is characterized in that, the current location of described auto pedal is detected by Hall element and obtains, and the present drive current of described auto pedal is detected by current sensor and obtains.
6. a control system for the auto pedal of vehicle, is characterized in that, comprising:
Actuator, carries out for driving described auto pedal stretching or retracting;
Judge module, during for carrying out stretching or retracting at described auto pedal, judge whether described auto pedal encounters obstacle in the process stretched or retract according to the current location of auto pedal and present drive current, and judge described current location be not target location and present drive current be greater than anti-pinch detect electric current time, confirm described auto pedal stretch or retract process in encounter obstacle;
Controller, during for confirming that at described judge module described auto pedal encounters obstacle in the process stretched or retract, stop after controlling auto pedal counter motion preset distance described in described driver drives, and delay scheduled time controls auto pedal described in described driver drives again carries out stretching or retracting, until auto pedal carries out stretching or in retraction pre-determined number, described auto pedal stretches or is retracted to described target location described in the described driver drives of control, otherwise control auto pedal described in described driver drives and be back to reference position.
7. the control system of the auto pedal of vehicle according to claim 6, is characterized in that,
When described judge module is also for carrying out stretching or retracting at described auto pedal, judge whether described auto pedal cannot move according to the current location of auto pedal and present drive current, and judge described current location be in described reference position and described present drive current be greater than described anti-pinch detect electric current time, judge that described auto pedal cannot move;
Described controller, also for when described judge module judges that described auto pedal cannot move, controls described actuator and cuts out to forbid auto pedal function.
8. the control system of the auto pedal of vehicle according to claim 7, it is characterized in that, described controller is also for when vehicle travels, if judge that the speed of a motor vehicle is greater than the first preset vehicle speed and described auto pedal is in complete retracted position, then forbid described auto pedal function, otherwise control after auto pedal described in described driver drives moves to described complete retracted position, forbid described auto pedal function, if the described speed of a motor vehicle is less than the second preset vehicle speed and described judge module judges that described auto pedal can move, then enable described auto pedal function.
9. the control system of the auto pedal of the vehicle according to any one of claim 6-8, it is characterized in that, also comprise: courtesy light, described controller, when the state of described auto pedal is extended configuration and Illumination intensity is less than default Illumination intensity, controls described courtesy light and lights.
10. a vehicle, is characterized in that, comprising: the control system of the auto pedal of the vehicle according to any one of claim 6-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410373030.7A CN104175962B (en) | 2014-07-31 | 2014-07-31 | The control method of the auto pedal of vehicle, system and there is the vehicle of this system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410373030.7A CN104175962B (en) | 2014-07-31 | 2014-07-31 | The control method of the auto pedal of vehicle, system and there is the vehicle of this system |
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| CN104175962A CN104175962A (en) | 2014-12-03 |
| CN104175962B true CN104175962B (en) | 2016-04-13 |
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| CN115042715A (en) * | 2021-09-13 | 2022-09-13 | 长城汽车股份有限公司 | Vehicle side pedal anti-pinch control method, device, equipment, medium and vehicle |
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