A vehicle, a welcome pedal assembly, and a vehicle control method

Abstract

A vehicle, a welcome pedal assembly and a vehicle control method, the vehicle (01) can include a vehicle body (100), a wheel (200), a suspension (300), a welcome pedal assembly (02) and a controller (60). The wheel (200) is connected with the vehicle body (100), and the wheel (200) is located below the vehicle body (100). The suspension (300) is connected between the wheel (200) and the vehicle body (100). Wherein, the welcome pedal assembly (02) includes a welcome pedal (600) and a first sensor (610). The welcome pedal (600) is connected with the vehicle body (100), and the welcome pedal (600) is located below the vehicle body (100). The first sensor (610) is installed on the side of the welcome pedal (600) away from the vehicle body, for detecting the ground clearance on both sides of the vehicle body (100). The controller (60) is coupled with the suspension (300) and the first sensor (610). In this way, the controller (60) can be used to control the extension amount of the suspension (300) according to the ground clearance on both sides of the vehicle body (100), so as to adjust the distance between the wheel and the vehicle body, and solve the problem that the vehicle cannot keep the driver's stable sitting posture when turning sharply.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle, a welcome pedal assembly, and a vehicle control method. Background Technology

[0002] With the development of intelligent automotive technology, users have increasingly higher requirements for vehicle safety and comfort. Throughout a vehicle's lifecycle, taking a sharp turn as an example, the centrifugal force during a sharp turn causes the driver's body to sway in the opposite direction of the turn. This makes it difficult for the driver to maintain a stable seating position during a sharp turn, severely impacting driving safety and comfort. Summary of the Invention

[0003] This application provides a vehicle, a welcome pedal assembly, and a vehicle control method to solve the problem that the driver cannot maintain a stable seating position when the vehicle is making a sharp turn.

[0004] To achieve the above objectives, this application adopts the following technical solution:

[0005] A first aspect of this application provides a vehicle. The vehicle may include a body, wheels, a suspension, a door sill assembly, and a controller. The wheels are connected to the body and are located below the body. The suspension connects the wheels to the body. The door sill assembly includes a door sill and a first sensor. The door sill is connected to the body and is located below the body. The first sensor is mounted on the side of the door sill away from the body and is used to detect the ground clearance of both sides of the body. The controller is coupled to the suspension and the first sensor. Thus, the controller can be used to control the extension and retraction of the suspension based on the ground clearance of both sides of the body to adjust the distance between the wheels and the body.

[0006] As described above, this embodiment of the application sets a first sensor on the welcome pedal to form a welcome pedal assembly, which can detect the ground clearance of both sides of the vehicle body. When the vehicle makes a sharp left turn, the ground clearance of the left side of the vehicle body is greater than that of the right side, causing the driver's body to sway to the right. At this time, the controller, based on the ground clearance of the left and right sides of the vehicle body detected by the first sensor, controls the suspension to bring the left side of the vehicle body closer to the wheel and controls the suspension to move the right side of the vehicle body away from the wheel. Similarly, when the wheel makes a sharp right turn, the control process is exactly the opposite of that when the vehicle makes a sharp left turn, and will not be described in detail here. In this way, the left and right sides of the vehicle body can remain level when making a sharp turn, thereby ensuring the stability of the driver's seating position.

[0007] Optionally, the vehicle also includes a seat, a first drive assembly, and a second sensor. The seat is located within the vehicle body. The first drive assembly connects the vehicle body and the seat, and is used to drive the horizontal deflection of the seat. The second sensor is mounted between the vehicle body and the seat, and is also coupled to a controller, for detecting the deflection angle of the seat's horizontal deflection. Furthermore, the controller is also coupled to the first drive assembly, for controlling the drive stroke of the first drive assembly based on the deflection angle and the suspension's extension / retraction.

[0008] When the vehicle makes a sharp turn, if the suspension is insufficient to adjust the ground clearance on both sides of the vehicle due to travel limitations, jamming, or other reasons, the vehicle can also adjust the seat's yaw angle via a second sensor and the first drive assembly to compensate for the insufficient suspension adjustment. When the vehicle makes a sharp left turn, the controller also controls the first drive assembly to drive the seat to the left side of the vehicle. That is, lowering the height of the left side of the seat and raising the height of the right side of the seat. In this way, the stability of the driver's seating position can also be ensured, thereby improving the safety and comfort of driving the vehicle.

[0009] Optionally, the first drive assembly includes a pivot, a support, and a telescopic cylinder. The pivot is connected to the seat. The support is connected to the vehicle body and has a pivot hole through which the pivot passes and can deflect relative to the support to either side of the vehicle body. One end of the telescopic cylinder is connected to the bottom of the seat, and the other end is connected to the vehicle body. When the telescopic cylinder extends or retracts, the seat can deflect horizontally within the vehicle body through the cooperation of the pivot and the support.

[0010] Optionally, the vehicle also includes a second drive assembly connected between the vehicle body and the welcome pedal. This second drive assembly drives the welcome pedal to extend beyond the vehicle body or retract beneath it. The welcome pedal assembly also includes a third sensor coupled to a controller. This third sensor is mounted on a first side of the welcome pedal and detects the obstacle avoidance distance between the first side of the welcome pedal and an obstacle. The first side of the welcome pedal is the surface of the welcome pedal furthest from the side of the vehicle body. Furthermore, the controller is also coupled to the second drive assembly and controls the drive stroke of the second drive assembly based on the obstacle avoidance distance. The third sensor on the welcome pedal enables the vehicle's welcome pedal to automatically avoid obstacles.

[0011] During operation, vehicles may encounter situations such as passing other vehicles, navigating narrow curbs, or parking. When side steps are installed on both sides of the vehicle, the increased width on both sides makes it difficult for the vehicle to pass smoothly. The controller, through a third sensor and a second drive assembly, can detect the distance between the side steps and other vehicles, curbs, or obstacles such as pillars, and control the second drive assembly to retract the side steps under the vehicle body. This allows the vehicle to pass smoothly.

[0012] Optionally, the second drive assembly includes a motor and at least two parallel linkages. The motor is connected to the vehicle body. One end of each of the at least two linkages is hinged to the door sill, and the other end of each linkage is hinged to the vehicle body. One of the linkages is also fixedly connected to the output shaft of the motor. Linkages are provided on the door sill, enabling it to extend and retract relative to the vehicle body. The motor drives the linkages to rotate, causing the door sill to extend beyond the vehicle body or retract under the vehicle body.

[0013] Optionally, the welcome pedal assembly also includes a fourth sensor and two welcome pedals, each positioned on one side of the vehicle body. The fourth sensor includes a light signal transmitter and a light signal receiver, both coupled to a controller. The light signal transmitter emits a light signal under the control of the controller. The light signal receiver sends a first signal to the controller if it receives a light signal emitted from the transmitter, and a second signal if it does not receive a light signal from the transmitter. The light signal transmitter is mounted on the second side of one of the welcome pedals, and the light signal receiver is mounted on the second side of the other welcome pedal; the second side is the surface of the welcome pedal closest to the side of the vehicle body. Furthermore, the controller controls the suspension to maintain its current extension / retraction based on the first signal, and also controls the suspension to increase its extension based on the second signal.

[0014] When a vehicle with a low chassis travels on a dirt or rocky road, protruding rocks or other hard objects may scratch the chassis. The controller uses a fourth sensor, consisting of a light signal transmitter and receiver, to detect the risk of such damage. If this risk is present, the controller can extend the suspension to raise the vehicle's chassis height.

[0015] Optionally, the vehicle also includes a water spray system mounted on the vehicle body, with the water spray direction directed towards the wheels. The welcome pedal assembly further includes a fifth sensor coupled to the controller, mounted on the welcome pedal near the wheels, for acquiring vital sign information within a preset range around the wheels. Additionally, the controller is coupled to the water spray system to control the water spray based on the vital sign information.

[0016] If small animals are present around the wheels, the vehicle could easily run them over after starting. The controller, using a fifth sensor and a water spray system, can detect the presence of small animals around the wheels before the vehicle starts. If animals are present, the controller can then direct the water spray system to spray water at them to repel them.

[0017] Optionally, the water spray assembly includes a water tank and nozzles. The water tank is connected to the vehicle body and contains a water pump. The nozzles are mounted on the welcome pedals with their nozzles facing the wheels, and are connected to the water pump via drain pipes. The water pump draws water from the water tank and sprays it out from the nozzles through the drain pipes, thus repelling small animals around the wheels. Furthermore, mounting the nozzles on the welcome pedals improves the integration of the welcome pedals.

[0018] Optionally, the vehicle also includes a drain valve and a sixth sensor. The water tank is installed at the lowest point inside the vehicle body, and a drain outlet is located at the lowest point of the water tank; the drain valve is installed at the drain outlet. The sixth sensor is installed at the lowest point inside the vehicle body and is coupled to the controller to acquire information about water accumulation inside the vehicle body. Furthermore, the controller is used to control the water spray system to drain water from inside the vehicle body based on the water accumulation information.

[0019] In flooded areas or during heavy rain, water can easily accumulate inside the vehicle, damaging its electronic components. The controller uses a sixth sensor to detect water accumulation inside the vehicle. If water is present, the controller opens the drain valve and uses a water pump to expel the water, protecting the vehicle's electronic components from immersion in the water.

[0020] Optionally, the vehicle also includes an inflation assembly mounted on the vehicle body and oriented towards the wheels. The welcome pedal assembly further includes a seventh sensor coupled to the controller, which is installed within the inflation assembly and used to detect the tire pressure of the wheels based on inflation commands. Additionally, the controller is coupled to the inflation assembly and used to generate inflation commands based on user inflation operations. The controller is also used to control the inflation assembly to inflate the wheels if the tire pressure is less than or equal to a preset tire pressure threshold. The user's inflation operation instructs the inflation assembly to connect to the wheels.

[0021] After a vehicle has been parked for an extended period or driven for a while, the tire pressure may become insufficient. To facilitate tire inflation, once the user connects the inflation device to the wheel, the controller automatically detects the tire pressure using a seventh sensor. If the tire pressure is less than or equal to a preset threshold, the controller will inflate the wheel.

[0022] Optionally, the inflation assembly includes an air pump and an inflation head. The air pump is mounted on the vehicle body. The inflation head is connected to the side of the welcome pedal away from the vehicle body. The inflation head is connected to the air pump via an inflation hose and is used to inflate the wheels. By installing the inflation head on the welcome pedal, the welcome pedal gains the ability to inflate the wheels.

[0023] Optionally, the welcome pedal assembly also includes a screen cloth and a folding bracket. The folding bracket includes a first folding rod and a second folding rod. A first end of the first folding rod is connected to the welcome pedal, and a second end of the first folding rod is hinged to the first end of the second folding rod. Both the first and second folding rods are used to connect to the screen cloth. Furthermore, the second end of the second folding rod rotates away from the first folding rod, allowing the screen cloth to unfold and cover at least part of the wheel. By providing a screen cloth and a folding bracket on the welcome pedal, the welcome pedal can cover the wheel, preventing small animals from defecating on the wheel and causing dirt and corrosion to the wheel hub or brake disc.

[0024] Optionally, the welcome pedal assembly also includes a first storage slot and a second storage slot. The first storage slot is located on the side of the welcome pedal closest to the door, and the cover cloth is installed within it. The second storage slot is also located on the side of the welcome pedal closest to the door, with the first end of the first folding rod hinged to the wall of the second storage slot. The folding bracket is folded and placed within the second storage slot. By providing the first and second storage slots on the welcome pedal, it enables the pedal to function as a storage unit for both the cover cloth and the folding bracket.

[0025] A second aspect of this application provides a welcome pedal assembly for use in a vehicle, the vehicle including a body. The welcome pedal assembly includes a welcome pedal and a first sensor. The welcome pedal is connected to the body and located below the body. The first sensor is mounted on the side of the welcome pedal away from the body and is used to detect the ground clearance of both sides of the body. By providing the first sensor on the welcome pedal, the welcome pedal acquires the function of detecting the ground clearance of both sides of the body.

[0026] Optionally, the welcome pedal assembly also includes a third sensor mounted on the first side of the welcome pedal to detect the obstacle avoidance distance between the first side of the welcome pedal and an obstacle. The first side is the surface of the welcome pedal furthest from the side of the vehicle body. By installing the third sensor on the welcome pedal, the welcome pedal gains the ability to detect the obstacle avoidance distance between the first side of the welcome pedal and an obstacle.

[0027] Optionally, the welcome pedal assembly also includes a fourth sensor and two welcome pedals, each positioned on one side of the vehicle body. The fourth sensor includes a light signal transmitter and a light signal receiver, both coupled to a controller. The light signal transmitter emits a light signal under the control of the controller, and the light signal receiver receives the light signal emitted by the transmitter. The light signal transmitter is mounted on the second side of one of the welcome pedals, and the light signal receiver is mounted on the second side of the other welcome pedal; the second side is the surface of the welcome pedal closest to the side of the vehicle body. By installing the fourth sensor on the welcome pedals, the system can detect whether protruding dirt or other hard objects on the road surface pose a risk of scratching the vehicle's chassis.

[0028] Optionally, the vehicle also includes wheels, a water tank, and a water pump housed within the water tank. The welcome pedal assembly further includes nozzles and a fifth sensor. The nozzles are mounted on the welcome pedals with their nozzles facing the wheels, and are connected to the water pump via drain pipes. The fifth sensor is mounted on the welcome pedals near the wheels to acquire vital sign information within a preset range around the wheels. By installing the fifth sensor on the welcome pedals, the vehicle can detect the presence of small animals around the wheels, preventing the vehicle from running over small animals after starting.

[0029] Optionally, the vehicle also includes wheels and an air pump. The welcome pedal assembly further includes an inflation head and a seventh sensor. The inflation head is connected to the side of the welcome pedal away from the vehicle body. The inflation head is connected to the air pump via an inflation hose for inflating the wheels. The seventh sensor is installed inside the inflation hose for detecting tire pressure. The inflation head on the welcome pedal enables it to inflate the wheels. The seventh sensor on the welcome pedal enables it to detect tire pressure.

[0030] A third aspect of this application provides a vehicle control method applied in a vehicle controller. The vehicle includes a body, wheels, a suspension, door sills, and a first sensor. The suspension connects the wheels to the body. The door sills are connected to the body and located below it. The first sensor is mounted on the side of the door sill away from the body and is used to detect the ground clearance of both sides of the body. The vehicle control method includes: the controller receiving the ground clearance of both sides of the body; and the controller controlling the extension and retraction of the suspension based on the ground clearance of both sides of the body to adjust the distance between the wheels and the body. This allows the vehicle to maintain a stable driving posture during sharp turns.

[0031] Optionally, the controller's control of the suspension's extension / retraction based on the ground clearance of both sides of the vehicle body includes: the controller acquiring the difference between the ground clearance of both sides of the vehicle body; and the controller controlling the extension / retraction of the suspension on each side of the vehicle body based on the difference, thereby adjusting the distance between the wheels and the vehicle body. In this way, when the difference between the ground clearance of both sides of the vehicle body is equal to the compensation value of the suspension extension / retraction on both sides of the vehicle body, the vehicle body is in a level state, maintaining the same ground clearance as when not making a sharp turn.

[0032] Optionally, the vehicle also includes a seat, a first drive assembly, and a second sensor installed within the vehicle body. The first drive assembly is connected between the vehicle body and the seat for driving the horizontal deflection of the seat. The second sensor is installed between the vehicle body and the seat for detecting the deflection angle of the seat's horizontal deflection. The vehicle control method further includes: a controller receiving the deflection angle of the seat's horizontal deflection; and the controller controlling the drive stroke of the first drive assembly based on the deflection angle and the suspension's extension / retraction. In this way, during sharp turns, the seat within the vehicle body can compensate for insufficient suspension adjustment, further maintaining a stable driver posture and improving vehicle driving safety and comfort.

[0033] Optionally, the vehicle also includes a second drive assembly and a third sensor. The second drive assembly is connected between the vehicle body and the welcome pedal, used to drive the welcome pedal to extend beyond the vehicle body or retract under the vehicle body. The third sensor is mounted on the first side of the welcome pedal, used to detect the obstacle avoidance distance between the first side of the welcome pedal and an obstacle. The first side of the welcome pedal is the surface of the welcome pedal away from the side of the vehicle body. The vehicle control method further includes: a controller receiving the obstacle avoidance distance between the first side of the welcome pedal and the obstacle; and the controller controlling the drive stroke of the second drive assembly based on the obstacle avoidance distance. This allows the vehicle to smoothly pass other vehicles, navigate narrow curbs, or park.

[0034] Optionally, the vehicle also includes welcome pedals located on both sides of the vehicle body and a fourth sensor, which includes a light signal transmitter and a light signal receiver. The light signal transmitter is mounted on the second side of one of the welcome pedals, and the light signal receiver is mounted on the second side of the other welcome pedal; the second side is the surface of the welcome pedal closest to the side of the vehicle body. The vehicle control method further includes: the controller controlling the light signal transmitter to emit a light signal; and the controller controlling the light signal receiver to receive the light signal emitted by the light signal transmitter. If the light signal receiver receives the light signal emitted by the light signal transmitter, it receives a first signal sent by the light signal receiver; if the light signal receiver does not receive the light signal emitted by the light signal transmitter, it receives a second signal sent by the light signal receiver.

[0035] Based on the first signal, the controller keeps the suspension at its current extension / retraction level. Based on the second signal, the controller increases the extension / retraction level of the suspension. In this way, the vehicle can avoid the risk of the chassis being scratched by hard objects such as mud and gravel protruding from the road surface.

[0036] Optionally, the vehicle also includes a water spray system and a fifth sensor. The water spray system includes a water tank, nozzles, and a water pump housed within the water tank. The nozzles are mounted on the welcome pedals with their nozzles facing the wheels, and are connected to the water pump via drain pipes. The fifth sensor is mounted on the welcome pedals near the wheels to acquire vital sign information within a preset range around the wheels. The vehicle control method further includes: a controller acquiring vital sign information within the preset range around the wheels; and the controller controlling the water spray system to spray water based on the vital sign information. This allows the vehicle to repel small animals around the wheels before starting, preventing them from being run over.

[0037] Optionally, the vehicle also includes a drain valve and a sixth sensor. The water tank is installed at the lowest point inside the vehicle body, and a drain outlet is provided at the lowest point of the water tank; the drain valve is installed at the drain outlet. The sixth sensor is installed at the lowest point inside the vehicle body to acquire information about water accumulation inside the vehicle body. The vehicle control method further includes: a controller acquiring information about water accumulation inside the vehicle body; and the controller controlling the water spray assembly to drain the water from the vehicle body based on the water accumulation information. In this way, the vehicle can prevent electronic circuit components from being submerged in water, thereby effectively protecting the vehicle's electronic circuit components.

[0038] Optionally, the vehicle also includes an inflation assembly and a seventh sensor. The inflation assembly is mounted on the vehicle body and faces the wheel. The seventh sensor, installed within the inflation assembly, detects the tire pressure of the wheel based on an inflation command. The vehicle control method further includes: a controller acquiring the tire pressure of the wheel; the controller generating an inflation command based on the user's inflation operation; and controlling the inflation assembly to inflate the wheel if the tire pressure is less than or equal to a preset tire pressure threshold. The user's inflation operation instructs the inflation assembly to connect with the wheel. This allows the user to inflate the wheel via the inflation assembly when the tire pressure is less than or equal to the preset tire pressure threshold. Attached Figure Description

[0039] Figure 1 A schematic diagram of the structure of a vehicle provided in an embodiment of this application;

[0040] Figure 2 This is a schematic diagram of the structure of the second driving component in Example 1 provided in the embodiments of this application;

[0041] Figure 3 for Figure 2 A schematic diagram showing the structure where the welcome pedals retract to the underside of the vehicle body when the central motor is not running;

[0042] Figure 4 for Figure 2 A schematic diagram of the structure where the welcome pedal extends outside the vehicle body after the central motor starts;

[0043] Figure 5 This is a schematic diagram of the welcome pedal assembly in Example 1 provided in the embodiments of this application;

[0044] Figure 6 This is a schematic diagram of the structure of a vehicle control system provided in Example 1 of the embodiments of this application;

[0045] Figure 7 A flowchart of a vehicle control method provided in Example 1 of this application embodiment;

[0046] Figure 8 for Figure 7 A specific flowchart of a vehicle control method in China;

[0047] Figure 9 This is a schematic diagram of a vehicle making a sharp right turn in Example 1 provided in the embodiments of this application;

[0048] Figure 10 This is a schematic diagram of a vehicle making a sharp left turn in Example 1 provided in the embodiments of this application;

[0049] Figure 11 for Figure 7 Another specific flowchart of the vehicle control method in China;

[0050] Figure 12 This is a schematic diagram of the structure of the first driving component in Example 1 provided in the embodiments of this application;

[0051] Figure 13 This is a schematic diagram of the structure of another vehicle control system provided in Example 1 of the embodiments of this application;

[0052] Figure 14 A flowchart of another vehicle control method provided in Example 1 of this application embodiment;

[0053] Figure 15 for Figure 14 A detailed flowchart of the vehicle control method in China;

[0054] Figure 16 A schematic diagram of the seat when a vehicle makes a sharp right turn in Example 1, provided as an embodiment of this application;

[0055] Figure 17 A schematic diagram of the seat when a vehicle makes a sharp left turn in Example 1, provided as an embodiment of this application;

[0056] Figure 18 This is a schematic diagram of the vehicle control system in Example 2 provided in the embodiments of this application;

[0057] Figure 19 This is a schematic diagram of the welcome pedal assembly in Example 2 provided in the embodiments of this application;

[0058] Figure 20 A flowchart of the vehicle control method in Example 2 provided in this application embodiment;

[0059] Figure 21 for Figure 20 A detailed flowchart of the vehicle control method in China;

[0060] Figure 22 This is a schematic diagram of the welcoming tread before it avoids the obstacle in Example 2 provided in the embodiments of this application;

[0061] Figure 23 A schematic diagram of the welcoming treads after they have avoided obstacles in Example 2 provided for the embodiments of this application;

[0062] Figure 24 A schematic diagram of the central control console display interface in Example 2 provided for the embodiments of this application;

[0063] Figure 25 This is a schematic diagram of the vehicle control system in Example 3 provided in the embodiments of this application;

[0064] Figure 26 This is a schematic diagram of the welcome pedal assembly in Example 3 provided in the embodiments of this application;

[0065] Figure 27 A flowchart of the vehicle control method in Example 3 provided in this application embodiment;

[0066] Figure 28 A schematic diagram showing mud and rocks on the chassis of a vehicle in Example 3 provided for the embodiments of this application;

[0067] Figure 29 A schematic diagram of the central control console display interface in Example 3 provided in this application embodiment;

[0068] Figure 30 This is a schematic diagram of the water tank in Example 4, provided as an embodiment of this application.

[0069] Figure 31 This is a schematic diagram of the vehicle control system in Example 4 provided in the embodiments of this application;

[0070] Figure 32 This is a schematic diagram of the welcome pedal assembly in Example 4, provided as an embodiment of this application.

[0071] Figure 33 A flowchart of the vehicle control method in Example 4 provided as an embodiment of this application;

[0072] Figure 34 for Figure 33 The specific flowchart of S51 in the vehicle control method;

[0073] Figure 35 for Figure 33 The specific flowchart of S52 in the vehicle control method;

[0074] Figure 36 A schematic diagram of the central control console display interface in Example 4 provided for the embodiments of this application;

[0075] Figure 37 This is a schematic diagram of the water tank in Example 5, provided as an embodiment of this application.

[0076] Figure 38 This is a schematic diagram of the vehicle control system in Example 5 provided in the embodiments of this application;

[0077] Figure 39 A flowchart of the vehicle control method in Example 5 provided as an embodiment of this application;

[0078] Figure 40 for Figure 39 The specific flowchart of S61 in the vehicle control method;

[0079] Figure 41 for Figure 39 The specific flowchart of S62 in the vehicle control method;

[0080] Figure 42 This is a schematic diagram of the structure of the inflatable component in Example Six, provided as an embodiment of this application;

[0081] Figure 43 This is a schematic diagram of the vehicle control system in Example Six, provided as an embodiment of this application.

[0082] Figure 44 A schematic diagram of the welcome pedal assembly in Example Six, provided as an embodiment of this application;

[0083] Figure 45 A flowchart of the vehicle control method in Example Six provided as an embodiment of this application;

[0084] Figure 46 for Figure 45 The specific flowchart of S72 in the vehicle control method;

[0085] Figure 47 A schematic diagram of the central control console display interface in Example Six provided for embodiments of this application;

[0086] Figure 48 This is a structural schematic diagram of the vehicle in Example 7 provided in the embodiments of this application;

[0087] Figure 49 This is a schematic diagram of the structure of the welcome pedal assembly in Example 7, which is provided as an embodiment of this application. Detailed Implementation

[0088] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0089] Hereinafter, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature.

[0090] Furthermore, in this application, directional terms such as "upper," "lower," "left," "right," "front," "back," "horizontal," and "vertical" are defined relative to the indicated placement of the components in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the placement of the components in the accompanying drawings.

[0091] In this application, unless otherwise expressly specified and limited, the term "connection" shall be interpreted broadly. For example, "connection" may be a fixed connection, a detachable connection, or an integral part; it may be a direct connection or an indirect connection through an intermediate medium.

[0092] This application provides a vehicle, which can be a sedan, SUV, motorcycle, or tricycle, etc. For ease of explanation, the following examples use a sedan as an example. Furthermore, the vehicle can be a gasoline-powered vehicle, a hybrid vehicle, or a pure electric vehicle, etc. This application does not impose any specific limitations on the type or powertrain of vehicle 01.

[0093] The aforementioned vehicle may have a vehicle control system that can maintain the stability of the driver's seating position when the vehicle is making sharp turns, control the vehicle to avoid obstacles on the road, control the vehicle to avoid being scratched by mud and stones on the road, control the vehicle to drive away small animals around the wheels, control the vehicle to drain water from the vehicle body, and control the vehicle to inflate the wheels.

[0094] In some embodiments of this application, at least a portion of the vehicle control system described above can be disposed on the vehicle's door sill to form a door sill assembly. The following detailed examples illustrate the vehicle, the door sill assembly within the vehicle, the structure of the vehicle control system, and the control method of the vehicle control system in scenarios such as sharp turns, road obstacles, muddy roads, small animals around the vehicle, water accumulation inside the vehicle, insufficient tire pressure, and small animals defecating on the wheels.

[0095] Example 1:

[0096] In this example, when the vehicle is making a sharp turn, the driver's body will sway in the opposite direction of the turn due to the centrifugal force, making it impossible for the driver to maintain a stable sitting posture, and even more seriously affecting the safe driving of the vehicle.

[0097] To solve the above problems, such as Figure 1 As shown, the vehicle 01 provided in this application may include a body 100, four wheels 200, a suspension 300, a door 500, and a welcome pedal 600. The suspension 300 connects the body 100 to each wheel 200. The suspension 300 mainly consists of a telescopic mechanism, which includes, but is not limited to, structures such as cylinders or hydraulic cylinders. The suspension 300 adjusts the distance between the body 100 and the wheels 200 by the extension and retraction of the telescopic mechanism. For ease of explanation, the term "suspension 300" hereafter refers to the telescopic mechanism of the suspension 300.

[0098] Based on this, such as Figure 1 As shown, the vehicle body 100 has X, Y, and Z directions. The X direction is the front-to-back direction of the vehicle body 100, the Y direction is the vertical direction of the vehicle body 100, and the Z direction is the left-to-right direction of the vehicle body 100. Two welcome pedals 600 can be provided (one of which is obscured by the vehicle body 100), and the two welcome pedals 600 are respectively located on the left and right sides of the vehicle body 100. Each welcome pedal 600 is located below the door 500, and each welcome pedal 600 is located between the front and rear wheels 200.

[0099] Vehicle 01 may include a second drive component 10, such as Figure 2 As shown, the second drive assembly 10 may include a motor 110 and a connecting rod 120. One end of the connecting rod 120 is hinged to the vehicle body 100, and the other end is hinged to the welcome pedal 600. To allow the connecting rod 120 to rotate more flexibly, bearings may be provided on the vehicle body 100 and the welcome pedal 600, so that the connecting rod 120 is hinged to the vehicle body 100 and the welcome pedal 600 through the bearings. The output shaft of the motor 110 may be connected and fixed to the connecting rod 120 through a key connection or a coupling or other structure.

[0100] In addition, such as Figure 3As shown, two connecting rods 120 can be provided, and the two connecting rods 120 are hinged to one end of the welcome pedal 600 in parallel. The other end of the welcome pedal 600 can also be hinged to two parallel connecting rods 120, and the motor 110 (as shown) Figure 2 (As shown) It can be connected and fixed to any one of the connecting rods 120. When the motor 110 is not started, the welcome pedal 600 is connected to the bottom of the vehicle body 100 through the connecting rod 120.

[0101] On the other hand, such as Figure 4 As shown, when motor 110 (such as...) Figure 2 (As shown) After startup, the output shaft of motor 110 drives one of the connecting rods 120 to rotate. Connecting rod 120 drives the welcome pedal 600 to rotate, causing the welcome pedal 600 to extend outward along the Z direction from the outside of the vehicle body 100. When motor 110 rotates in the opposite direction, connecting rod 120 drives the welcome pedal 600 to retract along the Z direction to below the vehicle body 100.

[0102] Of course, the second drive assembly 10 may also consist of only two connecting rods 120, which are fixed to both ends of the welcome pedal 600 by welding or bolting, and can also drive the welcome pedal 600 to extend and retract. In addition, the second drive assembly 10 may also be designed as a cylinder, hydraulic cylinder, or push rod motor, etc. This application does not impose any special limitations on the specific structure of the second drive assembly 10.

[0103] It should be noted that when the retractable and movable function of the welcome pedal 600 is not required, the welcome pedal 600 can also be directly fixed to both sides of the vehicle body 100 by welding or bolting.

[0104] In some implementations, such as Figure 5 As shown, the welcome pedal 600 can be a long, strip-shaped plate structure, comprising a first side 61, a second side 62, a third side 63, and a fourth side 64. When the welcome pedal 600 is installed on the vehicle body 100, the surface of the welcome pedal 600 furthest from the side of the vehicle body 100 is the first side 61. The surface of the welcome pedal 600 closest to the side of the vehicle body 100 is the second side 62. The surface of the welcome pedal 600 facing the ground is the third side 63. The surface of the welcome pedal 600 furthest from the ground is the fourth side 64. The welcome pedal 600 will be described below using the first side 61, the second side 62, the third side 63, and the fourth side 64.

[0105] When vehicle 01 is making a sharp turn, the balance of vehicle body 100 can be adjusted via suspension 300. Based on this, in order to control suspension 300, such as... Figure 6As shown, the vehicle control system 03 provided in this application may include a controller 60 and a first sensor 610. The controller 60 may be optionally installed on the vehicle body 100 (e.g., Figure 1 The first sensor 610 may be a laser rangefinder sensor, which is a vehicle control unit (VCU) or at least a part of the VCU shown.

[0106] In some embodiments, the first sensor 610 can be mounted on the third side 63 of the welcome pedal 600 to detect the ground clearance of the welcome pedal 600. In this case, the welcome pedal 600 and the first sensor 610 constitute the aforementioned welcome pedal assembly 02. Of course, the first sensor 610 can also be mounted on the first side 61 of the welcome pedal 600 or on the bottom of the vehicle body 100. The first sensor 610, the suspension 300, and the motor 110 of the second drive assembly 10 are all coupled to the controller 60.

[0107] The above description uses the controller 60 as an example of a VCU or at least a part of a VCU. In other embodiments of this application, the controller 60 may also be a microcontroller unit (MCU). In this case, the MCU can be arranged as a separate control device in the engine compartment, driver's cab, or trunk of the vehicle 01. Alternatively, the MCU may be directly mounted on the welcome pedal 600. In this case, the welcome pedal assembly 02 also includes the controller 60.

[0108] Of course, the first sensor 610 can also be an ultrasonic ranging sensor or a radar ranging sensor, etc., and the first sensor 610 can also be installed on the bottom or side of the vehicle body 100. Furthermore, the number of first sensors 610 can be one, two, or more. This application does not impose any special limitations on the selection or specific number of the controller 60 and the first sensor 610.

[0109] Based on the vehicle 01 structure described above, which includes the welcome pedal assembly 02 and the vehicle control system 03, the control method of the vehicle control system 03 will be illustrated below. When the vehicle 01 undergoes a sharp turn, the vehicle body 100 can maintain its balance through the aforementioned vehicle control system 03. The control method of the vehicle control system 03 may include, for example... Figure 7 S11 and S12 are shown below:

[0110] S11, Receive the ground clearance of both sides of the vehicle body.

[0111] For example, controller 60 can execute S11. Since the first sensor 610 is mounted on the third side 63 of the welcome pedal 600, to ensure the accuracy of the ground clearance detected by the first sensor 610 on both sides of the vehicle body 100, it is first necessary to ensure that the initial swing angles of the welcome pedals 600 on both sides of the vehicle body 100 are the same. Therefore, before executing S11, the controller 60 may further include the following control method: Figure 8 S111 and S112 are shown.

[0112] S111. Check whether the initial swing angle of the welcome pedals on both sides of the vehicle body is the same.

[0113] For example, controller 60 can also execute S111. If, during the execution of S111, controller 60 determines that the initial swing angles of the welcome pedals 600 on both sides of the vehicle body 100 are different, then it executes S112. Alternatively, if, during the execution of S111, controller 60 determines that the initial swing angles of the welcome pedals 600 on both sides of the vehicle body 100 are the same, then it executes as follows... Figure 8 S121a is shown.

[0114] It should be noted that the initial swing angle mentioned above refers to the drive stroke of the second drive assembly 10 controlled by the controller 60. When the second drive assembly 10 is a motor 110, the drive stroke of the second drive assembly 10 refers to the rotation angle of the output shaft of the motor 110. In this case, the initial swing angles of the welcome pedals 600 on both sides of the vehicle body 100 are the same, so the rotation angles of the output shaft of the motor 110 are the same and the rotation directions are opposite. When the second drive assembly 10 is a cylinder, hydraulic cylinder, or push rod motor, the drive stroke of the second drive assembly 10 refers to the extension and retraction of the cylinder, hydraulic cylinder, or push rod motor. In this case, the initial swing angles of the welcome pedals 600 on both sides of the vehicle body 100 are the same, so the extension and retraction of the cylinder, hydraulic cylinder, or push rod motor are the same.

[0115] S112. Adjust the initial swing angle of the welcome pedal on at least one side of the vehicle body.

[0116] For example, controller 60 can also execute S112. Taking motor 110 as an example of the second drive component, during the execution of S112, controller 60 can determine whether the rotation angles of the output shafts of motor 110 are the same and whether the rotation directions are opposite. If the initial swing angles of the welcome pedals 600 on both sides of the vehicle body 100 are not the same, controller 60 can control the rotation angle of the output shaft of motor 110 on one side to be the same as the rotation angle of the output shaft of motor 110 on the other side, but with the rotation direction opposite. Of course, controller 60 can also directly control the output shafts of motors 110 on both sides to have the same rotation angle and opposite rotation direction.

[0117] It should be noted that if the welcome pedal 600 is directly connected and fixed to the vehicle body 100, then S111 and S112 mentioned above do not need to be considered. After executing S11, the controller 60 can directly execute S12.

[0118] S12. Control the extension and retraction of the suspension according to the ground clearance of both sides of the vehicle body.

[0119] In some embodiments, the controller 60 may execute S12. During the execution of S12, the controller 60 may include, for example... Figure 8 S121a is shown.

[0120] S121a, Determine the difference in ground clearance between the two sides of the vehicle body. △ H( △ H = H1 - H2), and control the extension and retraction of the suspension.

[0121] For example, controller 60 can execute S121a. Assume the ground clearance of the right side of vehicle 01 is H1, and the ground clearance of the left side of vehicle 01 is H2. For example... Figure 9 As shown, if the controller 60 determines the difference in ground clearance between the two sides of the vehicle body... △ If H > 0, then vehicle 01 is turning right and can execute actions such as... Figure 8 S1211 as shown. Or, as... Figure 10 As shown, if the controller 60 determines the difference in ground clearance between the two sides of the vehicle body... △ If H < 0, then vehicle 01 is turning left and can execute the following... Figure 8 S1212 is shown.

[0122] S1211, Control the extension of the suspension on the left side of the vehicle body by L2, and control the retraction of the suspension on the right side of the vehicle body by L1.

[0123] S1212, Control the suspension on the left side of the vehicle to retract by L2, and control the suspension on the right side of the vehicle to extend by L1.

[0124] At this time, the suspension 300 raises the lower side of the vehicle body 100 and pulls the higher side of the vehicle body 100 back down, thereby gradually balancing the two sides of the vehicle body 100. To detect whether the two sides of the vehicle body 100 have reached a balanced state, the controller 60 can also perform actions such as... Figure 8 S122a is shown.

[0125] S122a. Obtain the sum of the compensation amounts L of the suspensions on both sides of the vehicle body (L=L1+L2).

[0126] Wherein, L1 refers to the extension / retraction amount of the suspension 300 on the right side of the vehicle body 100. L2 refers to the extension / retraction amount of the suspension 300 on the left side of the vehicle body 100.

[0127] For example, controller 60 can also execute S122a. During the execution of S122a, if the sum L of the compensation amounts of the suspensions 300 on both sides of the vehicle body 100 acquired by controller 60 is not equal to... △ H, then can execute as follows Figure 8 S1221 is shown. Alternatively, if the sum of the compensation amounts L of the suspensions 300 on both sides of the vehicle body 100 obtained by the controller 60 is... △ H, then can execute as follows Figure 8 S1222 is shown.

[0128] S1221. Continue adjusting the suspension on both sides of the vehicle body.

[0129] At this point, it indicates that the vehicle body 100 has not yet reached a level state.

[0130] S1222, Control the suspension on both sides of the vehicle body to stop adjusting.

[0131] At this point, it indicates that the vehicle body has reached a level position.

[0132] In addition, users can also set the controller 60 to perform periodic detection. △ H and L are used to complete closed-loop detection and control. In this way, after the vehicle finishes a sharp turn, the controller 60 repeats the above S11 and S12, and can control the extension and retraction compensation of the suspension 300 on both sides of the vehicle body 100 until the vehicle body 100 is balanced again.

[0133] In other embodiments, the controller 60 may also include, during the execution of S12 described above, the following: Figure 11 S121b is shown. That is, S121b is used to replace S121a mentioned above. Among them, S121b can include S122b, S122c, S122d and S122e.

[0134] S121b, Determine the change in ground clearance on both sides of the vehicle body. △ H1( △ H1 = H1 - H) and △ H2( △ H2 = H2 - H).

[0135] Where H refers to the initial ground clearance detected by the first sensor 610. The controller 60 can execute S121b. If the controller 60 determines... △ H1 > 0 and △ If H2 > 0, then execute S122b below. Alternatively, if controller 60 determines... △ H1 > 0 and △ If H2 < 0, then execute S122c below. Alternatively, if controller 60 determines... △ H1 < 0 and △If H2 > 0, then execute S122d. Alternatively, if controller 60 determines... △ H1 < 0 and △ If H2 < 0, then execute S122e as follows.

[0136] S122b, Control the retraction of the suspension on the left side of the vehicle body. △ H2, controls the retraction of the suspension on the right side of the vehicle. △ H1.

[0137] S122c, Controlling the extension of the suspension on the left side of the vehicle body - △ H2, controls the retraction of the suspension on the right side of the vehicle. △ H1.

[0138] S122d, Controls the retraction of the suspension on the left side of the vehicle body. △ H2, controls the extension of the suspension on the right side of the vehicle body. △ H1.

[0139] S122e, Controlling the extension of the suspension on the left side of the vehicle body - △ H2, controls the extension of the suspension on the right side of the vehicle body. △ H1.

[0140] At this time, the controller 60 calculates the change in ground clearance on both sides of the vehicle body 100. △ H1 and △ H2 directly controls the extension and retraction of the suspension 300 for compensation, which also gradually balances the two sides of the vehicle body 100. The controller 60 can continue to execute... Figure 8 S122a, as shown, detects whether the two sides of the vehicle body 100 have reached a balanced state. Therefore, S121b of the above vehicle control method allows the vehicle 01 to adjust directly based on the change in the ground clearance of the two side door sills 600 when making a sharp turn, without needing to obtain the ground clearance difference between the two side door sills 600 of the vehicle body 100.

[0141] It is understandable that in S121a of the above vehicle control method, since the sum L of the compensation amounts of the suspensions 300 on both sides of the vehicle body 100 can be L1 and L2 respectively, the ground clearance of the vehicle body 100 when it is finally balanced can be adjusted. In S121b of the above vehicle control method, the extension of the suspensions 300 on both sides of the vehicle body 100 directly compensates for the change in ground clearance. △ H1 and △ H2, thus restoring the ground clearance of the vehicle body to the ground clearance before the sharp turn when it finally achieves balance.

[0142] Of course, depending on the specific type of the first sensor 610 selected, the controller 60 can control the extension and retraction of the suspension 300 through the two vehicle control methods mentioned above, thereby keeping the vehicle body 100 in balance.

[0143] Based on this, the suspension 300 may have insufficient extension and retraction to adjust the vehicle body balance due to travel limitations, jamming, or other reasons.

[0144] To solve the above problems, such as Figure 12 As shown, the vehicle 01 provided in this application may further include a seat 400 and a first drive assembly 40. The seat 400 is disposed on the floor of the vehicle body 100, and the first drive assembly 40 is disposed between the seat 400 and the vehicle body 100, for driving the seat 400 to deflect to the left and right sides of the vehicle 01 along the Y direction.

[0145] Specifically, such as Figure 12 As shown, the first drive assembly 40 may include a pivot 410, a support 420, and a telescopic cylinder 430. The pivot 410 is connected to the underside of the seat 400 in the X direction by welding or bolting. Two supports 420 are provided (one of which is covered by the seat 400), and the two supports 420 are connected to the floor of the vehicle body 100 in the X direction by welding or bolting. The support 420 has a pivot hole, and the pivot 410 passes through the pivot hole and can rotate relative to the support 420, thereby allowing the seat 400 to deflect to the left and right sides of the vehicle 01 in the Y direction.

[0146] Furthermore, one end of the telescopic cylinder 430 can be hinged to the bottom of either the left or right side of the seat 400, and the other end can be connected and fixed to the floor plate of the vehicle body 100. The telescopic cylinder 430 includes, but is not limited to, structures such as cylinders, hydraulic cylinders, or push rod motors. Of course, telescopic cylinders 430 can also be provided on both the left and right sides of the seat 400. The number of telescopic cylinders 430 provided on each side of the seat 400 can be one, two, or more. When the telescopic cylinder 430 extends or retracts, it can drive the seat 400 to deflect around the pivot 410 in the Y direction to the left or right sides of the vehicle 01.

[0147] In some embodiments, the first drive assembly 40 may also be designed as four telescopic cylinders 430. The four telescopic cylinders 430 are respectively located at the four corners of the seat 400. The two telescopic cylinders 430 located on the left side of the seat 400 extend or retract, and the two telescopic cylinders 430 located on the right side of the seat 400 retract or extend, which can also drive the seat 400 to deflect. Alternatively, the first drive assembly 400 may also use a servo motor and gear assembly to drive the seat 400 to deflect. This application does not specifically limit the specific structure of the first drive assembly 400.

[0148] As described above, when the extension / retraction of the suspension 300 is insufficient to adjust the balance of the vehicle body 100, the seat 400 can be adjusted to compensate via the first drive assembly 40. Therefore, in order to control the first drive assembly 40, such as... Figure 13 As shown, the vehicle control system 03 described above may further include a second sensor 440, and the controller 60 is coupled to the second sensor 440. For example... Figure 12 As shown, the second sensor 440 can be disposed between the bottom plate of the vehicle body 100 and the bottom of the seat 400. The second sensor 440 can be an angle sensor or a distance sensor of the same type as the first sensor 610, used to detect the deflection angle of the seat 400.

[0149] If the second sensor 440 is an angle sensor, it can be mounted on the pivot 410 at the bottom of the seat 400. In this case, the second sensor 440 can obtain the deflection height of both sides of the seat 400 by the rotation angle of the pivot 410. Specifically, the second sensor 440 can obtain the deflection height of both sides of the seat 400 by the rotation angle. If the second sensor 440 is a distance sensor, it can also be mounted on the floor of the vehicle body 100 or the bottom of the seat 400. In this case, the second sensor 440 can directly obtain the deflection height of both sides of the seat 400.

[0150] Based on the above-described structure of the vehicle 01 with the vehicle control system 03, the control method of the vehicle control system 03 will be illustrated below. When the extension and retraction of the suspension 300 is insufficient to adjust the balance of the vehicle body 100, the seat 400 can be adjusted to compensate through the first drive assembly 40. The control method of the vehicle control system 03 may include, for example... Figure 14 S21 and S22 are shown below:

[0151] S21, Receive the deflection angle of the seat towards either side of the door.

[0152] For example, controller 60 can execute S21. During the execution of S21, controller 60 may also include, for example... Figure 15 S211 and S212 are shown.

[0153] It should be noted that the deflection angle of seat 400 towards either door 500 refers to the difference in height between the two sides of seat 400 and the floor of vehicle body 100. If the heights of the two sides of seat 400 relative to the floor of vehicle body 100 are the same, then the deflection angle of seat 400 towards either door 500 is 0. If the heights of the two sides of seat 400 relative to the floor of vehicle body 100 are not the same, then the deflection angle of seat 400 towards either door 500 is determined by... △ S is characterized.

[0154] S211. Determine the difference in deflection height between the two sides of the seat relative to the floor of the vehicle body. △ Is S the difference in ground clearance between the two sides of the vehicle body? △ H is equal.

[0155] For example, controller 60 can also execute S211. If controller 60 determines the difference in deflection height between the two sides of seat 400 relative to the vehicle floor... △ The difference in ground clearance between S and both sides of the vehicle body 100 △ If H is equal, then execute S212 below. Alternatively, if the controller 60 determines the difference in deflection height between the two sides of the seat 400 relative to the vehicle floor... △ The difference in ground clearance between S and both sides of the vehicle body 100 △ If H is not equal, then execute S22 below.

[0156] S212, Complete the seat rotation to either side of the door.

[0157] At this point, it indicates that seat 400 has reached a level position.

[0158] S22. Control the drive stroke of the first drive component according to the deflection angle and the extension / retraction of the suspension.

[0159] For example, controller 60 can also execute S22. During the execution of S22, controller 60 may further include, for example... Figure 15 S221 is shown.

[0160] Specifically, when the first drive assembly 40 is a telescopic cylinder 430, the drive stroke of the first drive assembly 40 refers to the extension and retraction amount of the telescopic cylinder 430. When the first drive assembly 40 is a servo motor, the drive stroke of the first drive assembly 40 refers to the rotation angle of the servo motor output shaft.

[0161] S221. Determine the turning direction of the vehicle and base it on the difference in ground clearance between the two sides of the vehicle. △ H controls the drive stroke of the first drive component.

[0162] For example, the controller 60 described above can execute S221. If the controller 60 determines that... △ If H > 0, then execute S2211 below. If controller 60 determines that... △ If H < 0, then execute S2212 as follows.

[0163] S2211, The distance between the left side of the drive seat and the vehicle floor is greater than the distance between the right side of the seat and the vehicle floor.

[0164] like △ If H > 0, the vehicle is making a sharp right turn. For example... Figure 16As shown, if the first drive assembly 40 drives the seat 400 to turn to the right, the seat 400 can gradually maintain balance.

[0165] S2212, The distance between the left side of the drive seat and the vehicle floor is less than the distance between the right side of the seat and the vehicle floor.

[0166] like △ If H < 0, the vehicle is making a sharp left turn. For example... Figure 17 As shown, if the first drive assembly 40 drives the seat 400 to turn to the left, the seat 400 can gradually maintain balance.

[0167] When the difference in deflection height between the two sides of the seat 400 relative to the vehicle floor △ The difference in ground clearance between S and both sides of the vehicle body 100 △ When H is equal, it indicates that the seat 400 has achieved balance, and the controller 60 controls the first drive assembly 40 to stop adjusting. When the difference in deflection height between the two sides of the seat 400 relative to the vehicle floor... △ The difference in ground clearance between S and both sides of the vehicle body 100 △ If H is not equal, it means that the seat 400 has not yet reached a balanced state. The controller 60 controls the first drive component 40 to continue adjusting until the seat 400 is balanced.

[0168] Furthermore, the user can set a threshold H0 for the controller 60. When the controller 60 controls the extension and retraction of the suspension 300 to reach the threshold H0, it indicates that the extension and retraction of the suspension 300 is insufficient to adjust the balance of the seat 400. At this time, the controller 60 can begin executing S11 and S12 as described above to compensate and adjust the balance of the seat 400. Of course, the user can also set the controller 60 to periodically detect the deflection angle of the seat 400 to complete closed-loop detection control.

[0169] It should be noted that the second sensor 440 detects the deflection angle of the seat 400, and the first drive assembly 40 deflects the seat 400. Alternatively, the controller 60 can be used independently for control. That is, when the vehicle is making a sharp turn, if the tilt of the vehicle body 100 on both sides is relatively slight, the controller 60 can also directly control the first drive assembly 40 based on the ground clearance of the vehicle body 100 on both sides to keep the seat 400 in a level position, thereby ensuring the stability of the driver's seating posture.

[0170] Example 2:

[0171] Vehicle 01 may encounter scenarios such as passing other vehicles, navigating narrow curbs, or parking during its journey. When welcome pedals 600 are installed on both sides of the vehicle body 100, the width of the sides of the vehicle body 100 is increased, making it difficult for the vehicle to pass smoothly.

[0172] To solve the above problems, such as Figure 18 As shown, the vehicle control system 03 provided in this application may further include a third sensor 620. The third sensor 620 may be a distance sensor of the same type as the first sensor 610, used to detect the obstacle avoidance distance between the welcome pedal 600 and obstacles. The controller 60 is also coupled to the third sensor 620. Obstacles refer to vehicles passing each other, narrow curbs, walls or pillars used for parking, or other vehicles, etc.

[0173] In some implementations, such as Figure 19 As shown, the third sensor 620 can be installed on the first side 61 of the welcome pedal 600 to form the aforementioned welcome pedal assembly 02. Of course, the third sensor 620 can also be installed on other sides of the welcome pedal 600 or on the side of the vehicle body 100. The number of third sensors 620 can be one, two, or more; this application does not impose any special limitations on the installation location or specific number of the third sensors 620.

[0174] Based on the aforementioned vehicle 01 structure with the welcome pedal assembly 02 and vehicle control system 03, the control method of the vehicle control system 03 is illustrated below. When the vehicle 01 encounters situations such as passing other vehicles, traversing narrow curbs, or parking, the vehicle control system 03 can retract the welcome pedal 600 to below the vehicle body 100 to reduce the width on both sides of the vehicle body 100. The control method of the vehicle control system 03 may include, for example... Figure 20 S31 and S32 are shown below:

[0175] S31, the obstacle avoidance distance between the first side of the receiving welcome pedal and the obstacle.

[0176] For example, controller 60 can execute S31. If the third sensor 620 is installed on the first side 61 of the welcome pedal 600, the third sensor 620 can directly detect the obstacle avoidance distance between the welcome pedal 600 and the obstacle. If the third sensor 620 is installed on the third side 63 or the fourth side 64 of the welcome pedal 600, the obstacle avoidance distance between the welcome pedal 600 and the obstacle detected by the third sensor 620 needs to be reduced by the distance between the third sensor 620 and the first side 61.

[0177] S32. Control the drive stroke of the second drive component according to the obstacle avoidance distance.

[0178] For example, controller 60 can execute S32. During the execution of S32, controller 60 may also include, for example... Figure 21 S320 to S322 are shown.

[0179] S320: Determine whether the obstacle avoidance distance between the first side of the welcome pedal and the obstacle is less than the preset value.

[0180] The preset value refers to the minimum obstacle avoidance distance between the first side 61 of the welcome pedal 600 and the obstacle. For example, the controller 60 can execute S320. If the controller 60 determines that the obstacle avoidance distance between the first side 61 of the welcome pedal 600 and the obstacle is not less than the preset value, it executes S321. If the controller 60 determines that the obstacle avoidance distance between the first side 61 of the welcome pedal 600 and the obstacle is less than the preset value, it executes S322.

[0181] S321, Control the second drive assembly to retract the welcome pedals to below the vehicle body.

[0182] For example, controller 60 can execute S321. As shown... Figure 22 The obstacle shown is curb 04 as an example. When the obstacle avoidance distance between the welcome pedal 600 and the obstacle is not less than the preset value, the welcome pedal 600 retracts to the bottom of the vehicle body 100 to avoid the welcome pedal 600 being scratched by the curb 04.

[0183] Wherein, when the second drive assembly 10 is a motor 110, the drive stroke of the second drive assembly 10 refers to the rotation angle of the output shaft of the motor 110. When the second drive assembly 10 is a structure such as a cylinder, hydraulic cylinder, or push rod motor, the drive stroke of the second drive assembly 10 refers to the extension and retraction of the structure such as the cylinder, hydraulic cylinder, or push rod motor.

[0184] S322, Control the second drive component to maintain the current drive stroke.

[0185] For example, controller 60 can execute S322. As shown in... Figure 23 The obstacle shown is curb 04 as an example. When the obstacle avoidance distance between the welcome pedal 600 and the obstacle is less than the preset value, the welcome pedal 600 can maintain its current position.

[0186] To provide the driver with selective operation, the central control display screen 130 and voice prompt device (not shown) located within the vehicle body 100 can be fully utilized. The controller 60 can be coupled to both the central control display screen 130 and the voice prompt device. For example... Figure 24 As shown, the central control display screen 130 displays the vehicle module and two "retract welcome pedal" buttons, which are located on the left and right sides of the vehicle module, respectively.

[0187] When the third sensor 620 detects that the obstacle avoidance distance between the first side 61 of the current welcome pedal 600 and the obstacle is less than a preset value, the voice prompt will ask "Do you need to retract the welcome pedal?" At this time, the driver can select one of the "Retract Welcome Pedal" buttons to control the extension and retraction of the welcome pedal 600 on the corresponding side of the vehicle 01.

[0188] Of course, the "Retract Welcome Pedal" button displayed on the central control display screen 130 can be either a screen button or a physical button. Furthermore, this display interface can also be accessed via a mobile application, with the phone connected to the vehicle control system via Bluetooth or a hotspot. This allows the driver to control the extension and retraction of the welcome pedal 600 from outside the vehicle, enabling the driver to anticipate situations such as passing other vehicles, narrow curbs, or parking.

[0189] It should be noted that the third sensor 620 detects the obstacle avoidance distance of the welcome pedal 600, and the second drive assembly drives the retraction of the welcome pedal 600. Alternatively, a separate controller can be used for control. The control of the retraction of the welcome pedal 600 in this example does not need to be based on the vehicle control system of the aforementioned example.

[0190] Example 3:

[0191] When a vehicle with a low chassis 01 travels on a muddy or gravelly road, protruding mud, gravel, or other hard objects on the road may scratch the chassis.

[0192] To solve the above problems, such as Figure 25 As shown, the vehicle control system 03 provided in this application may further include a fourth sensor 630. The fourth sensor 630 may be a laser transceiver used to detect protruding mud and stones on the road surface. The controller 60 is also coupled to the fourth sensor 630.

[0193] In some implementations, such as Figure 26 As shown, the fourth sensor 630 can be installed on the second side 62 of the welcome pedal 600 to form the aforementioned welcome pedal assembly 02. The fourth sensor 630 includes a light signal transmitter and a light signal receiver. The light signal transmitter and the light signal receiver are respectively installed on the second side 62 of the welcome pedals 600 on both sides of the vehicle body 100. The light signal transmitter and the light signal receiver are arranged opposite to each other, enabling the light signal receiver to receive the light signal emitted by the light signal transmitter, and both the light signal transmitter and the light signal receiver are coupled to the controller 60.

[0194] Of course, the fourth sensor 630 can also be installed on the third side 63 of the welcome pedal 600 or on the chassis of the vehicle. The number of the fourth sensor 630 can be one, two or more. This application does not impose any special restrictions on the installation location or specific number of the fourth sensor 630.

[0195] Based on the aforementioned vehicle 01 structure with welcome pedal assembly 02 and vehicle control system 03, the control method of the vehicle control system 03 is illustrated below. When the vehicle 01, with its low chassis, traverses a muddy or gravelly road surface, the vehicle control system 03 can raise the chassis height to prevent protruding mud, gravel, or other hard objects from scratching the chassis. The control method of the vehicle control system 03 may include, for example... Figure 27 S41 to S44 are shown below:

[0196] S41, Control the optical signal transmitter to transmit optical signals.

[0197] S42. Control the optical signal receiver to receive the optical signal emitted by the optical signal transmitter; if the optical signal receiver receives the optical signal emitted by the optical signal transmitter, then receive the first signal sent by the optical signal receiver; if the optical signal receiver does not receive the optical signal emitted by the optical signal transmitter, then receive the second signal sent by the optical signal receiver.

[0198] Among them, the first signal is as follows Figure 26 As shown, the protruding mud and rocks on the road surface did not exceed the height of the fourth sensor 630. Therefore, the optical signal receiver was able to receive the optical signal emitted by the optical signal transmitter. The second signal is as follows: Figure 28 As shown, the protruding mud and rocks 05 on the road surface have exceeded the height of the fourth sensor 630. Therefore, the optical signal receiver cannot receive the optical signal emitted by the optical signal transmitter.

[0199] S43. Based on the first signal, control the suspension to maintain the current extension / retraction amount.

[0200] This indicates that the mud and rocks will not scratch the vehicle's chassis.

[0201] S44. Based on the second signal, control the suspension to increase the elongation.

[0202] At this time, the chassis of the vehicle is raised to prevent hard objects such as mud and stones protruding from the road surface from scratching the chassis.

[0203] Similarly, in order to provide the driver with selective operation, such as Figure 29 As shown, the central control display screen 130 also displays a "Raise chassis" button. When the fourth sensor 630 (such as...) Figure 28When a protruding boulder is detected on the current road surface (as shown), the voice prompt will ask, "Do you need to raise the vehicle chassis?" At this time, the driver can select the "Raise Vehicle Chassis" button to control the height at which the vehicle chassis is raised.

[0204] Of course, the "Raise Chassis" button displayed on the central control display screen 130 can be either a screen button or a physical button. Furthermore, this display interface can also be accessed via a mobile application, with the phone connected to the vehicle control system via Bluetooth or a hotspot. This allows the driver to control the raising of the chassis from outside the vehicle, enabling them to anticipate potential mud and gravel protrusions on muddy roads.

[0205] It should be noted that the fourth sensor 630 detects whether there are protruding mud or stones on the road surface, and the suspension 300 raises the vehicle chassis. This can also be controlled by a separate controller. The vehicle chassis raising control in this example does not need to be based on the vehicle control system of the aforementioned example.

[0206] Example 4:

[0207] When vehicle 01 is not started, there may be small animals around the wheels 200. Once vehicle 01 is started, it may easily run over the small animals.

[0208] To address the aforementioned issues, the vehicle 01 provided in this application may include, for example: Figure 30 The water spray assembly 70 is shown. The water spray assembly 70 may include a water tank 710, a water pump 720, a spray pipe 760, and a nozzle 640. The water tank 710 may be located inside the armrest box 700 of the vehicle. Alternatively, the water tank 710 may be installed in other parts of the vehicle, such as the trunk. The water pump 720 is installed inside the water tank 710, and the nozzle 640 is connected to the water pump 720 via the spray pipe 760. The aforementioned controller is also coupled to the water pump 720.

[0209] As described above, when vehicle 01 is not started, if there are small animals around wheel 200, water can be sprayed onto them through the water spray assembly 70 to drive them away. Therefore, in order to control the water spray assembly 70, such as... Figure 31 As shown, the vehicle control system 03 provided in this application may further include a fifth sensor 650. The controller 60 is also coupled to the fifth sensor 650.

[0210] The controller 60 can control the water pump 720 to draw water from the water tank 710, and then deliver the drawn water to the nozzle 640 through the spray pipe 760. Of course, the nozzle 640 can also spray water as the welcome pedal 600 extends and retracts, thereby expanding the spray range of the water spray assembly 70.

[0211] In some implementations, such as Figure 32 As shown, both the nozzle 640 and the fifth sensor 650 can be installed at the end of the welcome pedal 600 to form the aforementioned welcome pedal assembly 02. A water spray nozzle 761 can also be installed on the third side 63 of the welcome pedal 600, with the water spray pipe 760 installed inside to enhance the appearance of the welcome pedal assembly 02. Alternatively, a cavity can be directly created within the welcome pedal 600, allowing the water spray pipe 760 to pass directly through it. Furthermore, the nozzle 640 and the fifth sensor 650 can also be installed on the vehicle body 100 near the wheels.

[0212] The nozzle 640 can be a flat nozzle with a certain spray range. The fifth sensor 650 can be an infrared sensor or a thermal sensor with a certain detection range, used to detect vital signs. The spray range of the nozzle 640 and the detection range of the fifth sensor 650 can be directed towards the inside of the wheel 200, the outside of the wheel 200, or both. The inside of the wheel 200 refers to the area between the two wheels 200 on both sides of the vehicle body 100, and the outside of the wheel 200 refers to the side opposite to the inside of the wheel 200.

[0213] Of course, such as Figure 32 As shown, two nozzles 640 can be installed on a welcome pedal 600, with the two nozzles 640 respectively installed at the two ends of the welcome pedal 600 (the other nozzle 640 is obscured by the welcome pedal 600). Simultaneously, two fifth sensors 650 can also be installed, with the two fifth sensors 650 also respectively installed at the two ends of the welcome pedal 600 (the other fifth sensor 650 is obscured by the welcome pedal 600). Furthermore, the number of nozzles 640 and fifth sensors 650 can be increased; this application does not impose any specific limitations on the installation location or number of nozzles 640 and fifth sensors 650.

[0214] Based on the aforementioned vehicle 01 structure with the welcome pedal assembly 02 and vehicle control system 03, the control method of the vehicle control system 03 is described below as an example. If a small animal is present around the wheels 200, the vehicle control system 03 can control the water spray assembly 70 to spray water at the small animal to drive it away. The control method of the vehicle control system 03 may include, for example... Figure 33 S51 and S52 are shown below:

[0215] S51. Obtain vital sign information within the preset range of the wheel.

[0216] The preset range of wheel 200 refers to the inner side between the two wheels 200 on both sides of vehicle 01, and the outer side relative to the inner side of wheel 200. For example, controller 60 can execute S51. During the execution of S51, controller 60 may also include, for example... Figure 34 S510 to S512 are shown.

[0217] S510: Control the drive stroke of the second drive assembly to drive the fifth sensors on the left and right welcome pedals of the vehicle to detect whether there are small animals around the wheels.

[0218] For example, controller 60 can also execute S510. If controller 60 does not detect the presence of a small animal around wheel 200, then execute S511. Or, if controller 60 detects the presence of a small animal around wheel 200, then execute S512.

[0219] The second drive assembly 10 drives the welcome pedal 600 to extend and retract, and the fifth sensor 650 scans in tandem with the extension and retraction of the welcome pedal 600.

[0220] S511, Control the water spray assembly to spray water while stationary.

[0221] At this point, it indicates that there are no small animals around wheel 200, and vehicle 01 can start normally.

[0222] S512, Obtain the location of the fifth sensor that detected vital signs.

[0223] For example, controller 60 can also execute S512. Controller 60 can acquire vital sign information detected by the fifth sensor 650 at the left front of vehicle 01. Alternatively, controller 60 can acquire vital sign information detected by the fifth sensor 650 at the left rear of vehicle 01. Alternatively, controller 60 can acquire vital sign information detected by the fifth sensor 650 at the right front of vehicle 01. Alternatively, controller 60 can acquire vital sign information detected by the fifth sensor 650 at the right rear of vehicle 01. After acquiring the vital sign information detected by the fifth sensor 650, controller 60 can execute the following S52.

[0224] S52. Control the water spraying components to spray water based on vital signs information.

[0225] For example, controller 60 can also execute S52. During the execution of S52, controller 60 may also include, for example... Figure 35 S521 and S522 are shown.

[0226] S521, The second drive component that controls the position of the fifth sensor that has detected the characteristic information of the living organism maintains the current drive stroke.

[0227] At this time, the welcome pedal 600 enables the water spray assembly 70 to be aimed at the small animal to be sprayed with water.

[0228] S522, control the water spray assembly at the location of the fifth sensor that detects the characteristics of the living organism to spray water.

[0229] For example, controller 60 can also execute S522. If controller 60 receives vital sign information detected by the fifth sensor 650 at the left front of vehicle 01, it controls the water spray assembly 70 at the left front of vehicle 01 to spray water.

[0230] If the controller 60 receives vital sign information detected by the fifth sensor 650 at the left rear of vehicle 01, it controls the water spray assembly 70 at the left rear of vehicle 01 to spray water.

[0231] If the controller 60 receives vital sign information detected by the fifth sensor 650 at the right front of the vehicle 01, it controls the water spray assembly 70 at the right front of the vehicle 01 to spray water.

[0232] If the controller 60 receives vital sign information detected by the fifth sensor 650 at the right rear of vehicle 01, it controls the water spray assembly 70 at the right rear of vehicle 01 to spray water.

[0233] Similarly, in order to provide the driver with selective operation, such as Figure 36 As shown, the central control display screen 130 also displays a "spray water" button. When the fifth sensor 650 (such as...) Figure 32 (As shown) When a small animal is detected around the wheel, the voice prompt will ask, "Do you need water spraying?" At this time, the driver can select to spray water around the wheel where the small animal is located, according to their needs.

[0234] Of course, the "spray water" button displayed on the central control display screen 130 can be either a screen button or a physical button. Furthermore, this display interface can also be accessed via a mobile application, with the phone connected to the vehicle control system via Bluetooth or a hotspot. This allows the driver to control the water spray system from outside the vehicle.

[0235] It should be noted that the fifth sensor 650 detects the presence of small animals around the wheel 200, and the water spray assembly sprays water to repel the animals. Alternatively, this can be controlled by a separate controller. The water spraying control in this example does not need to be based on the vehicle control system described in the previous example.

[0236] Example 5:

[0237] In conditions such as flooded roads and heavy rain, water can easily accumulate inside the vehicle body, causing damage to the electronic circuit components.

[0238] To address the aforementioned issues, the vehicle 01 provided in this application may include, for example: Figure 37 The drainage assembly 71 is shown. The drainage assembly 71 may include the aforementioned water spray assembly 70 and a drain valve 750. Specifically, the water tank 710 can be installed at the lowest position within the vehicle body 100, and a drain outlet 730 is provided on the side wall of the water tank 710. The drain outlet 730 is located at the lowest position of the water tank 710, allowing accumulated water within the vehicle body 100 to collect at the drain outlet 730. The drain valve 750 is installed inside the water tank 710, and the inlet of the drain valve 750 communicates with the drain outlet 730. The aforementioned controller is also coupled to the drain valve 750.

[0239] As described above, when water accumulates inside the vehicle body 100, the drainage component 71 can drain the water from the vehicle body 100 to the outside. Therefore, in order to control the drainage component 71, such as... Figure 38 As shown, the vehicle control system 03 provided in this application may further include a sixth sensor 740, which may be a liquid level sensor or a water immersion sensor. The controller 60 is also coupled to the sixth sensor 740.

[0240] In some embodiments, the sixth sensor 740 can be installed at the drain outlet 730 to detect whether there is water accumulation inside the vehicle body 100. If the sixth sensor 740 is a liquid level sensor, it can detect the water level inside the vehicle body 100. If the sixth sensor 740 is a water immersion sensor, it can sense whether there is water accumulation inside the vehicle body 100.

[0241] According to the specific structural design of the vehicle body 100, multiple drain ports 730 can be opened on the side wall of the water tank 710. The drain valve 750 can be a multi-way solenoid valve, so that multiple inlets of the drain valve 750 are connected to multiple drain ports 730 respectively. Of course, multiple drain valves 750 can also be installed in the water tank 710. This application does not impose any special limitations on the specific structure and number of drain valves 750.

[0242] Based on the above-described structure of the vehicle 01 with the vehicle control system 03, the control method of the vehicle control system 03 will be described below with an example. When water accumulates inside the vehicle body 100, the vehicle control system 03 can control the drainage assembly 71 to drain the water from the vehicle body 100 to the outside of the vehicle body 100. Figure 39 S61 and S62 are shown below:

[0243] S61, Obtain information on water accumulation inside the vehicle body.

[0244] For example, controller 60 can execute S61. During the execution of S61, controller 60 may also include, for example... Figure 40 S610 to S614 are shown.

[0245] The suspension 300 of the aforementioned vehicle 01 is also equipped with a pressure sensor (not shown in the figure) to detect the pressure transmitted from the vehicle body 100 to the suspension 300. If the pressure sensor has pressure information, it indicates that vehicle 01 has not fallen into the water, but only that water has accumulated inside the vehicle body 100. If the pressure sensor does not have pressure information, it indicates that vehicle 01 may have fallen into the water, and further testing is needed to determine whether vehicle 01 has sunk.

[0246] S610: Obtain whether the suspension pressure sensor has pressure information.

[0247] For example, controller 60 can execute S610. If controller 60 obtains that the pressure sensor of suspension 300 does not have pressure information, then execute S611. If controller 60 obtains that the pressure sensor of suspension 300 has pressure information, then execute S612.

[0248] The vehicle 01 is equipped with a sunroof, inside which is a water sensor (not shown in the figure) to detect whether the sunroof of vehicle 01 has water information. If the water sensor does not have water information, it means that vehicle 01 has not sunk, but only water has accumulated inside the body 100. If the pressure sensor has water information, it means that vehicle 01 may have sunk.

[0249] S611. Obtain whether the sunroof's water sensor has water measurement information.

[0250] For example, controller 60 can execute S611. If controller 60 obtains that the sunroof's water sensor does not have water measurement information, then execute S613. If controller 60 obtains that the sunroof's water sensor has water measurement information, then execute S614.

[0251] S612, Control the opening of the car window via the door.

[0252] If the pressure sensor of suspension 300 has pressure information, and the sixth sensor 740 detects water accumulation inside the vehicle body 100, then it indicates that only the vehicle body 100 has water accumulation. The controller 60 controls the opening of the window of door 500 to facilitate the drainage of water from inside the vehicle body 100.

[0253] S613, Control the opening of the vehicle's sunroof.

[0254] If the sunroof's water sensor does not detect any water level, it means that vehicle 01 has not yet sunk. At this time, controller 60 controls the sunroof of vehicle 01 to open, allowing passengers to escape through the sunroof.

[0255] S614, Escape prompt.

[0256] If the sunroof's water sensor detects water level, it indicates that vehicle 01 has sunk. At this point, controller 60 activates the voice prompt system to alert passengers to evacuate.

[0257] S62. Based on the water accumulation information, control the drainage components to drain the water inside the vehicle body.

[0258] For example, controller 60 can execute S62. During the execution of S62, controller 60 may also include, for example... Figure 41 S621 and S622 are shown.

[0259] S621, Control the water pump to discharge water from the water tank.

[0260] Upon receiving information about accumulated water, controller 60 activates water pump 720. Water pump 720 first discharges water from water tank 710 used for spraying small animals.

[0261] S622, Control the drain valve to open.

[0262] Since the drain outlet 730 is located at the lowest point inside the vehicle body 100, after the drain valve 750 opens, the water accumulated inside the vehicle body 100 flows into the water tank 710. The controller 60 continues to control the water pump 720 to drain the water from the water tank 710. All the nozzles 640 on the welcome pedal 600 can spray water simultaneously to improve drainage efficiency.

[0263] In other embodiments, the drainage assembly 71 can also be provided separately. For example, a drainage tank can be provided inside the vehicle body 100, and a drainage pump can be provided inside the drainage tank. Similarly, the drainage tank and the sixth sensor 740 are located at the lowest position inside the vehicle body 100, and a drainage outlet 730 is also provided at the lowest position of the drainage tank. When the sixth sensor 740 detects water accumulation inside the vehicle body 100, the water flows into the drainage tank through the drainage outlet 730, and the drainage pump directly discharges the water outside the vehicle body 100. In this case, the drainage valve 750 can also be omitted.

[0264] It should be noted that the sixth sensor 740 detects whether there is water accumulation inside the vehicle body 100, and the drainage assembly drains the water from the vehicle body 100. This can also be controlled by a separate controller. The control of the drainage assembly to drain the water from the vehicle body 100 in this example does not need to be based on the vehicle control system of the aforementioned example.

[0265] Example 6:

[0266] Vehicle 01 may experience insufficient tire pressure in its 200 tires after prolonged parking or driving.

[0267] To address the aforementioned issues, the vehicle 01 provided in this application may include, for example: Figure 42 The inflation assembly 66 is shown. The inflation assembly 66 may include an inflation head 662, an air pump 663, and an inflation hose 664. The air pump 663 can be installed in the trunk of the vehicle. Alternatively, the air pump 663 can be installed in other parts of the vehicle, such as the engine compartment. The inflation head 662 is connected to the air pump 663 via the inflation hose 664. The aforementioned controller is also coupled to the air pump 663.

[0268] In some embodiments, the air pump 663 may be a pressure air pump with multiple inflation outlets, with each inflation hose 664 connected to one inflation outlet of the air pump 663. Alternatively, the air pump 663 may be a single-outlet pressure air pump, with four single-outlet pressure air pumps equipped on the vehicle body 100. Furthermore, the air pump 663 may be installed in the engine compartment or armrest box 700 of the vehicle body 100. Alternatively, a reversing valve may be installed in the chassis of the vehicle body 100, with each inflation head 662 connected to the reversing valve via an inflation hose 664, and the reversing valve then connected to the air pump 663 via an inflation hose 664. This application does not impose specific limitations on the specific structure and number of the inflation assembly 66.

[0269] As described above, when vehicle 01 has been parked for a long period or driven for a period of time, the wheels 200 can be inflated via the inflation assembly 66. Therefore, in order to control the inflation assembly 66, such as... Figure 43 As shown, the vehicle control system 03 provided in this application may further include a seventh sensor 661. The controller 60 is also coupled to the seventh sensor 661. The controller 60 can control the operation of the air pump 663, which delivers gas through the inflation pipe 664 to the inflation head 662 for inflation.

[0270] In some implementations, such as Figure 42 As shown, the seventh sensor 661 can be installed inside the inflation tube 664. The seventh sensor 661 can be a pressure sensor used to detect tire pressure. Of course, the seventh sensor 661 can also be installed inside the wheel or the air pump 663. This application does not impose any special limitations on the specific structure and installation location of the seventh sensor 661.

[0271] In addition, such as Figure 44 As shown, the inflation head 662 can be disposed on the third side 63 of the welcome pedal 600. An inflation cylinder 660 can be disposed on the third side 63 of the welcome pedal 600, and the inflation tube 664 is housed within the inflation cylinder 660, allowing the inflation head 662 to be pulled out from the inflation cylinder 660 to connect to the inflation port of the wheel 200. This constitutes the aforementioned welcome pedal assembly 02.

[0272] Of course, the air pump 660 can also be installed on the fourth side 64 of the welcome pedal 600 or on the vehicle body 100 near the wheel 200. Two air pumps 660 can be provided, with the two air pumps 660 installed at both ends of the welcome pedal 600 respectively, for inflating the front and rear wheels 200 of the vehicle 01 respectively.

[0273] Based on the vehicle 01 structure described above, which includes the welcome pedal assembly 02 and the vehicle control system 03, the control method of the vehicle control system 03 is illustrated below. When the tire pressure of the wheel 200 is insufficient, the vehicle control system 03 can control the inflation assembly 66 to inflate the wheel 200. Figure 45 S71 and S72 are shown below:

[0274] S71. Obtain the tire pressure of the wheels.

[0275] For example, controller 60 can execute S71. Before executing S71, the driver can connect the left front inflator 662 to the inflation port of the left front wheel 200, connect the left rear inflator 662 to the inflation port of the left rear wheel 200, connect the right front inflator 662 to the inflation port of the right front wheel 200, and connect the right rear inflator 662 to the inflation port of the right rear wheel 200.

[0276] At this time, the air pressure inside the wheel 200 and the air in the inflation tube 664 is the same. The seventh sensor 661 can detect the air pressure inside the wheel 200, and the controller 60 can obtain the tire pressure from the seventh sensor 661. If the seventh sensor 661 is installed on the wheel 200, the controller 60 can directly obtain the tire pressure from the seventh sensor 661.

[0277] S72. Generate inflation instructions based on the user's inflation operation; if the tire pressure is less than or equal to the preset tire pressure threshold, control the inflation component to inflate the wheels.

[0278] The user's inflation operation refers to the ability to set the required inflation pressure for each wheel 200. Alternatively, the user can select the inflation component 66 to inflate wheels 200 with insufficient tire pressure.

[0279] For example, controller 60 can execute S72. During the execution of S72, controller 60 may also include, for example... Figure 46 S721 and S722 are shown.

[0280] S721, Control the air pump to inflate.

[0281] For example, controller 60 can execute S721. If controller 60 detects that the tire pressure of the left front wheel 200 is insufficient, it controls air pump 663 to inflate the left front wheel 200. Alternatively, if controller 60 detects that the tire pressure of the left rear wheel 200 is insufficient, it controls air pump 663 to inflate the left rear wheel 200. Alternatively, if controller 60 detects that the tire pressure of the right front wheel 200 is insufficient, it controls air pump 663 to inflate the right front wheel 200. Alternatively, if controller 60 detects that the tire pressure of the right rear wheel 200 is insufficient, it controls air pump 663 to inflate the right rear wheel 200.

[0282] S722. Once the preset tire pressure threshold is reached, control the air pump to stop inflating.

[0283] The preset tire pressure threshold refers to the tire pressure required for wheel 200 to meet driving requirements. Based on the user's inflation command, controller 60 controls air pump 663 to operate, and air pump 663 inflates wheel 200 through inflation hose 664. When the tire pressure of wheel 200 reaches the preset tire pressure threshold, controller 60 controls air pump 663 to stop inflation. The driver then retracts the inflation head 662 and inflation hose 664 into the inflation cylinder 660, thus completing the inflation operation of wheel 200.

[0284] Similarly, in order to provide the driver with selective operation, such as Figure 47 As shown, the central control display screen 130 also displays an "Inflate" button. When the seventh sensor detects that a wheel has insufficient tire pressure, a voice prompt will ask, "Do you need to inflate?" At this time, the driver can select the inflation component to inflate the wheel with insufficient tire pressure according to the actual tire pressure of the wheel.

[0285] Of course, the "inflate" button displayed on the central control display screen 130 can be either a screen button or a physical button. Furthermore, this display interface can also be accessed via a mobile application, with the phone connected to the vehicle control system via Bluetooth or a hotspot. This allows the driver to control the inflation components to inflate the wheels 200 from outside the vehicle.

[0286] It should be noted that the seventh sensor 661 detects the tire pressure of the wheel 200, and the inflation assembly inflates the wheel 200. Alternatively, it can be controlled by a separate controller. This example of controlling the inflation assembly to inflate the wheel 200 does not need to be based on the vehicle control system of the aforementioned example.

[0287] Example 7:

[0288] After the vehicle is parked, there may be a problem of small animals defecating on the wheels, causing dirt and corrosion to the wheel hubs or brake discs.

[0289] To address the aforementioned issues, the vehicle 01 provided in this application may include, for example: Figure 48 The folding bracket 690 and the cover cloth 800 are shown. The folding bracket 690 includes a first folding rod 691 and a second folding rod 692. The first end of the first folding rod 691 is hinged to the end of the welcome pedal 600 near the wheel 200, allowing the first folding rod 691 to rotate freely relative to the welcome pedal 600. The second end of the first folding rod 691 is hinged to the first end of the second folding rod 692 to achieve the function of folding the first folding rod 691 and the second folding rod 692 together.

[0290] The first folding rod 691 can be designed as a groove structure so that the second folding rod 692 can be stored in the groove of the first folding rod 691 after folding.

[0291] In some implementations, such as Figure 49 As shown, a first storage slot 670 and a second storage slot 680 are provided on the fourth side 64 of the welcome pedal 600. The first storage slot 670 is used to store the cover cloth 800, and the second storage slot 680 is used to store the folding bracket 690. The first end of the first folding rod 691 can be hinged to the groove wall of the second storage slot 680 near the wheel 200. Alternatively, the first storage slot 670 and the second storage slot 680 can also be located in the trunk of the vehicle body 100, allowing the folding bracket 690 and the cover cloth 800 to be stored within the trunk of the vehicle body 100.

[0292] In use, the second end of the second folding rod 692 is rotated and unfolded away from the first folding rod 691. The covering cloth 800 is then attached to the first folding rod 691 and the second folding rod 692 by hanging or pasting, so that the covering cloth 800 can at least partially cover the wheel 200. When a small animal defecates on the wheel 200, the covering cloth 800 can prevent the excrement from directly contacting the wheel hub or brake disc, thereby avoiding dirt and corrosion from the excrement.

[0293] The covering cloth 800 can be designed as a roll to facilitate storage in the first storage slot 670. Each time it is used, a sheet of covering cloth 800 is torn off and installed on the folding bracket 690. After a small animal defecates on the covering cloth 800, it can be directly torn off and discarded. The folding bracket 690 is then folded and stored in the second storage slot 680.

[0294] Furthermore, two second storage slots 680 can be provided, one at each end of the welcome pedal 600, so that both the front and rear wheels 200 of the vehicle have folding brackets 690 available for use. A first storage slot 670 is positioned between the two second storage slots 680 of the welcome pedal 600, allowing the front and rear folding brackets 690 to share the covering cloth 800 within the first storage slot 670. Alternatively, the first end of the first folding rod 691 can be designed to be detachably connected to the welcome pedal 600. In this case, only one second storage slot 680 is needed, which can simultaneously accommodate two folding brackets 690, allowing the folding brackets 690 to be installed as needed.

[0295] In summary, the vehicle 01 provided in this application, in conjunction with the vehicle control system 03, can achieve the following functions: body balance adjustment (100), seat yaw adjustment (400), welcome pedal extension adjustment (600), chassis lifting adjustment, water spray to repel small animals, drainage of water accumulated inside the body (100), and tire inflation (200). Each subsystem can cooperate with each other or operate independently, improving the intelligent control of the vehicle 01. The vehicle control system 03 provided in this application can be applied not only to passenger cars but also to off-road vehicles, motorcycles, or tricycles.

[0296] The first sensor 610, the third sensor 620, the fourth sensor 630, and the fifth sensor 650 in the vehicle control system 03 can all be installed on the welcome pedal 600, allowing the welcome pedal 600, which originally only had a decorative function, to be fully utilized to achieve the various functions of the aforementioned vehicle 01. In addition, a nozzle 640, an inflation head 662, a folding bracket 690, and a shielding cloth 800 are also installed on the welcome pedal 600 to form the welcome pedal assembly 02, which greatly improves the integration of the welcome pedal 600.

[0297] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks, SSDs).

[0298] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle, characterized in that, include: Body; The wheels are connected to the vehicle body and are located below the vehicle body; The suspension connects the wheels to the vehicle body; A welcome pedal assembly includes a welcome pedal and a first sensor. The welcome pedal is connected to the vehicle body and is located below the vehicle body. The first sensor is installed on the side of the welcome pedal away from the vehicle body and is used to detect the ground clearance of both sides of the vehicle body. as well as, The controller, coupled to the suspension and the first sensor, is used to control the extension and retraction of the suspension according to the ground clearance of the two sides of the vehicle body, so as to adjust the distance between the wheel and the vehicle body; The two welcome pedals are respectively located on both sides of the vehicle body; and, The fourth sensor includes an optical signal transmitter and an optical signal receiver, which are respectively coupled to the controller. The optical signal transmitter is used to transmit an optical signal under the control of the controller. The optical signal receiver is used to send a first signal to the controller if it receives an optical signal transmitted from the optical signal transmitter, and to send a second signal to the controller if it does not receive an optical signal transmitted from the optical signal transmitter. The light signal transmitter is installed on the second side of one of the welcome pedals, and the light signal receiver is installed on the second side of the other welcome pedal. The second side is the surface of the welcome pedal that is close to the side of the vehicle body. The controller is further configured to control the suspension to maintain the current extension amount according to the first signal, and the controller is further configured to control the suspension to increase the extension amount according to the second signal.

2. The vehicle according to claim 1, characterized in that, The vehicle also includes: Seats are installed inside the vehicle body; A first drive assembly, connected between the vehicle body and the seat, is used to drive the horizontal deflection of the seat; and... The second sensor is installed between the vehicle body and the seat and is coupled to the controller to detect the deflection angle of the seat in horizontal rotation. The controller is also coupled to the first drive component and is used to control the drive stroke of the first drive component according to the deflection angle and the extension / retraction of the suspension.

3. The vehicle according to claim 2, characterized in that, The first driving component includes: A pivot shaft is connected to the seat. A support, connected to the vehicle body, having a pivot hole, the pivot passing through the pivot hole and deflected relative to the support towards either side of the vehicle body; and... The telescopic cylinder is connected at one end to the bottom of the seat and at the other end to the vehicle body.

4. The vehicle according to claim 1, characterized in that, The vehicle also includes: The second drive assembly is connected between the vehicle body and the welcome pedal, and is used to drive the welcome pedal to extend out of the outside of the vehicle body or retract to the underside of the vehicle body; The welcome pedal assembly also includes: The third sensor is installed on the first side of the welcome pedal and coupled to the controller. It is used to detect the obstacle avoidance distance between the first side of the welcome pedal and the obstacle. The first side of the welcome pedal is the surface of the welcome pedal away from the side of the vehicle body. The controller is also coupled to the second drive component and is used to control the drive stroke of the second drive component according to the obstacle avoidance distance.

5. The vehicle according to claim 4, characterized in that, The second driving component includes: The motor is connected to the vehicle body, and, At least two parallel links, one end of which is hinged to the welcome pedal and the other end of which is hinged to the vehicle body, and one of the links is also fixedly connected to the output shaft of the motor.

6. The vehicle according to claim 1, characterized in that, The vehicle also includes: A water spray assembly is mounted on the vehicle body, and the water spray direction of the water spray assembly is towards the wheels; The welcome pedal assembly also includes: The fifth sensor is installed on the welcome pedal near the wheel and coupled to the controller to acquire vital sign information within a preset range of the wheel. The controller is also coupled to the water spray assembly and is used to control the water spray assembly to spray water based on the vital signs information.

7. The vehicle according to claim 6, characterized in that, The water spray assembly includes: A water tank, connected to the vehicle body, wherein a water pump is installed inside the water tank; and, A nozzle is mounted on the welcome pedal with its nozzle facing the wheel, and the nozzle is connected to the water pump via a drain pipe.

8. The vehicle according to claim 7, characterized in that, The vehicle also includes: A drain valve is provided, wherein the water tank is installed at the lowest position within the vehicle body, and a drain outlet is provided at the lowest position of the water tank, and the drain valve is installed at the drain outlet; and, The sixth sensor, installed at the lowest position inside the vehicle body and coupled to the controller, is used to acquire information about water accumulation inside the vehicle body. The controller is also used to control the water spray assembly to discharge the water inside the vehicle body based on the water accumulation information.

9. The vehicle according to claim 1, characterized in that, The vehicle also includes: An inflatable assembly is mounted on the vehicle body and positioned facing the wheels; The welcome pedal assembly also includes: The seventh sensor, installed inside the inflation assembly and coupled to the controller, is used to detect the tire pressure of the wheel according to the inflation command; The controller is also coupled to the inflation assembly and is used to generate the inflation command based on the user's inflation operation; the controller is also used to control the inflation assembly to inflate the wheel if the tire pressure is less than or equal to a preset tire pressure threshold; the user's inflation operation is used to instruct the inflation assembly to connect with the wheel.

10. The vehicle according to claim 9, characterized in that, The inflation assembly includes: An air pump is mounted on the vehicle body; and, An inflation head is connected to the side of the welcome pedal away from the vehicle body. The inflation head is connected to the air pump through an inflation tube and is used to inflate the wheels.

11. The vehicle according to claim 1, characterized in that, The welcome pedal assembly also includes: Covering cloth; and, The folding bracket includes a first folding rod and a second folding rod. A first end of the first folding rod is connected to the welcome pedal, and a second end of the first folding rod is hinged to the first end of the second folding rod. Both the first folding rod and the second folding rod are used to connect to the cover cloth. The second end of the second folding rod rotates in a direction away from the first folding rod. The cover cloth is used to unfold and cover at least part of the wheel.

12. The vehicle according to claim 11, characterized in that, The welcome pedal assembly also includes: A first storage slot is provided on the side of the welcome pedal near the vehicle body, and the cover cloth is installed in the first storage slot; and, The second storage slot is located on the side of the welcome pedal near the vehicle body. The first end of the first folding rod is hinged to the wall of the second storage slot. The folding bracket is folded and placed inside the second storage slot.

13. A welcome pedal assembly, characterized in that, Applied to vehicles, wherein the vehicle includes a body; The welcome pedal assembly includes: A welcome pedal, connected to the vehicle body and located below the vehicle body; and, The first sensor is installed on the side of the welcome pedal away from the vehicle body and is used to detect the ground clearance of both sides of the vehicle body; The welcome pedal assembly also includes: Two welcome pedals are respectively located on both sides of the vehicle body; and, The fourth sensor includes an optical signal transmitter and an optical signal receiver, which are respectively coupled to a controller; the optical signal transmitter is used to transmit optical signals under the control of the controller, and the optical signal receiver is used to receive optical signals transmitted from the optical signal transmitter. The light signal transmitter is installed on the second side of one of the welcome pedals, and the light signal receiver is installed on the second side of the other welcome pedal. The second side is the surface of the welcome pedal that is close to the side of the vehicle body.

14. The welcome pedal assembly according to claim 13, characterized in that, The welcome pedal assembly also includes: The third sensor is installed on the first side of the welcome pedal and is used to detect the obstacle avoidance distance between the first side of the welcome pedal and the obstacle. The first side is the surface of the welcome pedal away from the side of the vehicle body.

15. The welcome pedal assembly according to claim 13, characterized in that, The vehicle also includes wheels, a water tank, and a water pump installed in the water tank; The welcome pedal assembly also includes: A nozzle, mounted on the welcome pedal with its nozzle facing the wheel, is connected to the water pump via a drain pipe; and... The fifth sensor is installed on the welcome pedal near the wheel and is used to acquire vital sign information within a preset range of the wheel.

16. The welcome pedal assembly according to claim 13, characterized in that, The vehicle also includes wheels and an air pump; The welcome pedal assembly also includes: An inflation head, connected to the side of the welcome pedal away from the vehicle body, is connected to the air pump via an inflation hose for inflating the wheels; and, The seventh sensor, installed inside the inflation tube, is used to detect the tire pressure of the wheel.

17. A vehicle control method, characterized in that, In a controller for a vehicle, the vehicle includes a body, wheels, suspension, door sills, and a first sensor. The suspension is connected between the wheels and the body. The door sills are connected to the body and located below the body. The first sensor is installed on the side of the welcome pedal away from the vehicle body, and is used to detect the ground clearance of both sides of the vehicle body; The vehicle control method includes: Receive the ground clearance of both sides of the vehicle body; The extension and retraction of the suspension are controlled according to the ground clearance of both sides of the vehicle body to adjust the distance between the wheels and the vehicle body; The vehicle also includes welcome pedals disposed on both sides of the vehicle body and a fourth sensor. The fourth sensor includes a light signal transmitter and a light signal receiver. The light signal transmitter is mounted on the second side of one of the welcome pedals, and the light signal receiver is mounted on the second side of the other welcome pedal. The second side is the surface of the welcome pedal closest to the side of the vehicle body. The vehicle control method further includes: Control the optical signal transmitter to emit optical signals; The system controls the optical signal receiver to receive optical signals emitted by the optical signal transmitter; if the optical signal receiver receives an optical signal emitted by the optical signal transmitter, it receives a first signal sent by the optical signal receiver; if the optical signal receiver does not receive an optical signal emitted by the optical signal transmitter, it receives a second signal sent by the optical signal receiver. Based on the first signal, control the suspension to maintain the current extension / retraction amount; Based on the second signal, the suspension is controlled to increase its elongation.

18. The vehicle control method according to claim 17, characterized in that, The method of controlling the extension and retraction of the suspension based on the ground clearance of both sides of the vehicle body includes: Obtain the difference in ground clearance between the two sides of the vehicle body; Based on the difference, the extension and retraction of the suspension located on both sides of the vehicle body are controlled respectively to adjust the distance between the wheel and the vehicle body.

19. The vehicle control method according to claim 18, characterized in that, The vehicle also includes a seat, a first drive assembly, and a second sensor disposed within the vehicle body. The first drive assembly is connected between the vehicle body and the seat and is used to drive the horizontal deflection of the seat. The second sensor is installed between the vehicle body and the seat to detect the deflection angle of the seat in a horizontal position; The vehicle control method further includes: Receive the deflection angle of the horizontal deflection of the seat; The drive stroke of the first drive assembly is controlled based on the deflection angle and the extension / retraction of the suspension.

20. The vehicle control method according to claim 17, characterized in that, The vehicle also includes a second drive assembly and a third sensor. The second drive assembly is connected between the vehicle body and the welcome pedal and is used to drive the welcome pedal to extend out of the outside of the vehicle body or retract to the underside of the vehicle body. The third sensor is installed on the first side of the welcome pedal and is used to detect the obstacle avoidance distance between the first side of the welcome pedal and an obstacle. The first side of the welcome pedal is the surface of the welcome pedal away from the side of the vehicle body. The vehicle control method further includes: Receive the obstacle avoidance distance between the first side of the welcome pedal and the obstacle; The drive stroke of the second drive component is controlled according to the obstacle avoidance distance.

21. The vehicle control method according to claim 17, characterized in that, The vehicle also includes a water spray assembly and a fifth sensor. The water spray assembly includes a water tank, a nozzle, and a water pump installed in the water tank. The nozzle is installed on the welcome pedal with the nozzle facing the wheel. The nozzle is connected to the water pump through a drain pipe. The fifth sensor is installed on the welcome pedal near the wheel and is used to acquire vital sign information within a preset range of the wheel. The vehicle control method further includes: Obtain vital sign information within a preset range of the wheels; The water spraying component is controlled to spray water based on the vital signs information.

22. The vehicle control method according to claim 21, characterized in that, The vehicle also includes a drain valve and a sixth sensor; the water tank is installed at the lowest position inside the vehicle body, and a drain outlet is provided at the lowest position of the water tank, with the drain valve installed at the drain outlet; the sixth sensor is installed at the lowest position inside the vehicle body to obtain information about water accumulation inside the vehicle body; The vehicle control method further includes: Obtain information on water accumulation inside the vehicle body; Based on the water accumulation information, the water spray assembly is controlled to discharge the water inside the vehicle body.

23. The vehicle control method according to claim 17, characterized in that, The vehicle also includes an inflation assembly and a seventh sensor. The inflation assembly is mounted on the vehicle body and is positioned facing the wheel. The seventh sensor is installed inside the inflation assembly and is used to detect the tire pressure of the wheel according to the inflation command. The vehicle control method further includes: Obtain the tire pressure of the wheel; The inflation command is generated based on the user's inflation operation; if the tire pressure is less than or equal to a preset tire pressure threshold, the inflation assembly is controlled to inflate the wheel; the user's inflation operation is used to instruct the inflation assembly to connect with the wheel.

24. A computer-readable storage medium, characterized in that, Includes computer instructions that, when executed on a controller, cause the controller to perform the vehicle control method as described in any one of claims 17-23.

25. A computer program product, characterized in that, Includes computer instructions that, when executed on a controller, cause the controller to perform the vehicle control method as described in any one of claims 17-23.

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