Electric pedal control method, control device, control apparatus, vehicle, and medium

Abstract

The application provides an electric pedal control method, a control device, a control equipment, a vehicle and a medium, and the method comprises the following steps: acquiring working currents of N electric pedal motors as a first current array; calculating an average value of the N working currents in the first current array as a first average value; judging a data state of a first subsequent working current according to a size relationship between the first subsequent working current and the first average value; in the case that the data state of the first subsequent working current is credible, updating the first current array according to the first subsequent working current to obtain a current array as a second current array; and controlling an anti-pinch function of the electric pedal according to the first current array and the second current array. Therefore, the method improves the accuracy of the anti-pinch function control of the electric pedal, reduces the risk of false anti-pinch or no anti-pinch of the electric pedal, and improves the user experience.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to an electric pedal control method, control device, control equipment, vehicle, and medium. Background Technology

[0002] As people's living standards improve, more and more people are choosing cars as their means of transportation. Currently, because high-chassis SUVs (Sport / Suburban Utility Vehicles) and off-road vehicles have high chassis, it is necessary to install running boards on both sides of the vehicle.

[0003] Currently, the main types of pedals on the market are fixed pedals and electric pedals. Fixed pedals, because they are immobile and take up space, may cause scratches on some roads. Therefore, electric pedals with automatic retraction are now widely used. To ensure user safety, electric pedals need to have an anti-pinch function. In related technologies, a recursive average filtering method is used to control the anti-pinch function of electric pedals. However, this method has poor accuracy in controlling the anti-pinch function of electric pedals, and is prone to false alarms or failures to prevent pinching, resulting in a poor user experience. Summary of the Invention

[0004] The present invention aims to solve, to a certain extent, the technical problems in the related technologies.

[0005] Therefore, the first objective of this invention is to propose an electric pedal control method. This method improves the accuracy of the electric pedal anti-pinch function control by adding a judgment on the state of the first subsequent working current data, and updating the current array according to the first subsequent working current when the state of the first subsequent working current data is reliable, and controlling the anti-pinch function of the electric pedal according to the two current arrays before and after the update. This reduces the risk of the electric pedal falsely preventing or failing to prevent pinching, and enhances the user experience.

[0006] The second objective of this invention is to provide an electric pedal control device.

[0007] The third objective of this invention is to provide an electric pedal control device.

[0008] The fourth objective of this invention is to provide a vehicle.

[0009] The fifth objective of this invention is to provide a computer-readable storage medium.

[0010] The sixth objective of this invention is to provide a computer program product.

[0011] To achieve the above objectives, a first aspect of the present invention provides an electric pedal control method, comprising the following steps: acquiring the operating currents of N electric pedal motors as a first current array; calculating the average value of the N operating currents in the first current array as a first average value; determining the data state of a first subsequent operating current based on the magnitude relationship between at least one subsequent operating current and the first average value; updating the first current array based on the subsequent operating current if the data state of the first subsequent operating current is reliable, and obtaining the current data as a second current array; and controlling the anti-pinch function of the electric pedal based on the first current array and the second current array.

[0012] According to the electric pedal control method of this invention, N operating currents of the electric pedal motors are acquired as a first current array. The average value of the N operating currents in the first current array is then calculated as a first average value. Based on the relationship between at least one subsequent operating current and the first average value, the data state of the first subsequent operating current is determined. If the data state of the first subsequent operating current is reliable, the first current array is updated based on the first subsequent operating current, and the resulting current data is used as a second current array. Finally, the anti-pinch function of the electric pedal is controlled based on the first current array and the second current array. Therefore, this method improves the accuracy of the anti-pinch function control by adding a determination of the data state of the first subsequent operating current, updating the current array based on the first subsequent operating current when the data state is reliable, and controlling the anti-pinch function of the electric pedal based on the two current arrays before and after the update. This reduces the risk of false anti-pinch or failure to prevent pinching, thus enhancing the user experience.

[0013] In addition, the electric pedal control method proposed in the first aspect embodiment of the present invention may also have the following additional technical features:

[0014] According to an embodiment of the present invention, determining the data status of the first subsequent operating current based on the magnitude relationship between at least one subsequent operating current and the first average value includes:

[0015] Calculate the absolute difference between the first subsequent operating current and the first average value, and use it as the first absolute difference;

[0016] The data status of the first subsequent operating current is determined based on the relationship between the first absolute difference and the set threshold.

[0017] According to an embodiment of the present invention, determining the data state of the first subsequent operating current based on the magnitude relationship between the first absolute difference and a set threshold includes:

[0018] If the first absolute difference is less than or equal to the set threshold, the data status of the first subsequent operating current is determined to be reliable; or...

[0019] If the first absolute difference is greater than the set threshold, the data status of the first subsequent operating current is determined to be pending.

[0020] According to an embodiment of the present invention, determining the data state of the first subsequent operating current based on the magnitude relationship between the first absolute difference and a set threshold includes:

[0021] If the data status of the first subsequent operating current is pending, the absolute difference between the second subsequent operating current and the first average value is calculated as the second absolute difference.

[0022] Based on the relationship between the second absolute difference and the set threshold, the data status of the first subsequent operating current is determined to be either reliable or unreliable.

[0023] According to an embodiment of the present invention, determining whether the data status of the first subsequent operating current is reliable or unreliable based on the magnitude relationship between the second absolute difference and the set threshold includes:

[0024] If the second absolute difference is greater than the set threshold, the data status of the first subsequent operating current is determined to be reliable; or...

[0025] If the second absolute difference is less than or equal to the set threshold, the data status of the first subsequent operating current is determined to be unreliable.

[0026] According to one embodiment of the present invention, updating the first current array based on the first subsequent operating current, and using the resulting current array as the second current array, includes:

[0027] The first operating current is deleted from the first current array, and the first subsequent operating current is added to the end of the first current array. The resulting current array is used as the second current array.

[0028] According to one embodiment of the present invention, the method further includes:

[0029] If the data status of the first subsequent operating current is unreliable, the N operating currents in the second current array shall remain the same as the N operating currents in the first current array.

[0030] According to an embodiment of the present invention, controlling the anti-pinch function of the electric pedal based on the first current array and the second current array includes:

[0031] Calculate the average value of the N operating currents in the second current data, and use it as the second average value;

[0032] Calculate the absolute difference between the first average and the second average, and use it as the third absolute difference;

[0033] The anti-pinch function of the electric pedal is controlled based on the relationship between the third absolute difference and the current threshold.

[0034] According to one embodiment of the present invention, controlling the anti-pinch function of the electric pedal based on the relationship between the third absolute difference and the current threshold includes:

[0035] If the third absolute difference is greater than or equal to the current threshold, the anti-pinch function of the electric pedal is triggered; or,

[0036] If the third absolute difference is less than the current threshold, the anti-pinch function of the electric pedal is not triggered.

[0037] To achieve the above objectives, a second aspect of the present invention provides an electric pedal control device, comprising: an acquisition module for acquiring the operating currents of N electric pedal motors as a first current array; wherein N is a positive integer; a calculation module for calculating the average value of the N operating currents in the first current array as a first average value; a judgment module for judging the data status of a first subsequent operating current based on the relationship between at least one acquired subsequent operating current and the first average value; an update module for updating the first current array based on the first subsequent operating current if the data status of the first subsequent operating current is reliable, and the resulting current array as a second current array; and a control module for controlling the anti-pinch function of the electric pedal based on the first current array and the second current array.

[0038] According to an embodiment of the electric pedal control device of the present invention, an acquisition module acquires the operating currents of N electric pedal motors as a first current array, a calculation module calculates the average value of the N operating currents in the first current array as a first average value, a judgment module determines the data status of a first subsequent operating current based on the relationship between at least one acquired subsequent operating current and the first average value, and an update module updates the first current array based on the first subsequent operating current if the data status is reliable, resulting in a second current array. A control module controls the anti-pinch function of the electric pedal based on the first and second current arrays. Therefore, by adding the judgment of the data status of the first subsequent operating current, updating the current array based on the first subsequent operating current if the data status is reliable, and controlling the anti-pinch function of the electric pedal based on the two current arrays before and after the update, the device improves the accuracy of the anti-pinch function control, reduces the risk of false anti-pinch or failure to prevent pinching, and enhances the user experience.

[0039] In addition, the electric pedal control device proposed in the second aspect embodiment of the present invention may also have the following additional technical features:

[0040] According to an embodiment of the present invention, when the determining module determines the data status of the first subsequent operating current based on the magnitude relationship between at least one subsequent operating current and the first average value, it includes:

[0041] Calculate the absolute difference between the first subsequent operating current and the first average value, and use it as the first absolute difference;

[0042] The data status of the first subsequent operating current is determined based on the relationship between the first absolute difference and the set threshold.

[0043] According to an embodiment of the present invention, when the determining module determines the data state of the first subsequent operating current based on the magnitude relationship between the first absolute difference and a set threshold, it includes:

[0044] If the first absolute difference is less than or equal to the set threshold, the data status of the first subsequent operating current is determined to be reliable; or...

[0045] If the first absolute difference is greater than the set threshold, the data status of the first subsequent operating current is determined to be pending.

[0046] According to an embodiment of the present invention, when the determining module determines the data state of the first subsequent operating current based on the magnitude relationship between the first absolute difference and a set threshold, it includes:

[0047] If the data status of the first subsequent operating current is pending, the absolute difference between the second subsequent operating current and the first average value is calculated as the second absolute difference.

[0048] Based on the relationship between the second absolute difference and the set threshold, the data status of the first subsequent operating current is determined to be either reliable or unreliable.

[0049] According to an embodiment of the present invention, when the determination module determines whether the data status of the first subsequent operating current is reliable or unreliable based on the magnitude relationship between the second absolute difference and the set threshold, the determination module includes:

[0050] If the second absolute difference is greater than the set threshold, the data status of the first subsequent operating current is determined to be reliable; or...

[0051] If the second absolute difference is less than or equal to the set threshold, the data status of the first subsequent operating current is determined to be unreliable.

[0052] According to an embodiment of the present invention, when the update module is used to update the first current array based on the first subsequent operating current, and the resulting current array is used as the second current array, the update module includes:

[0053] The first operating current is deleted from the first current array, and the first subsequent operating current is added to the end of the first current array. The resulting current array is used as the second current array.

[0054] According to one embodiment of the present invention, the update module is further configured to maintain the N operating currents in the second current array as the N operating currents in the first current array if the data state of the first subsequent operating current is unreliable.

[0055] According to an embodiment of the present invention, when the control module controls the anti-pinch function of the electric pedal based on the first current array and the second current array, it includes:

[0056] Calculate the average value of the N operating currents in the second current data, and use it as the second average value;

[0057] Calculate the absolute difference between the first average and the second average, and use it as the third absolute difference;

[0058] The anti-pinch function of the electric pedal is controlled based on the relationship between the third absolute difference and the current threshold.

[0059] According to an embodiment of the present invention, when the control module controls the anti-pinch function of the electric pedal based on the relationship between the third absolute difference and the current threshold, it includes:

[0060] If the third absolute difference is greater than or equal to the current threshold, the anti-pinch function of the electric pedal is triggered; or,

[0061] If the third absolute difference is less than the current threshold, the anti-pinch function of the electric pedal is not triggered.

[0062] To achieve the above objectives, a third aspect of the present invention provides an electric pedal control device, comprising: a processor and a memory; wherein the processor reads executable program code stored in the memory to run a program corresponding to the executable program code, for implementing the electric pedal control method of the first aspect embodiment.

[0063] The electric pedal control device of this invention, by executing the above-described electric pedal control method, improves the accuracy of the electric pedal anti-pinch function control by adding a judgment on the state of the first subsequent working current data, and updating the current array according to the first subsequent working current when the state of the first subsequent working current data is reliable, and controlling the electric pedal anti-pinch function according to the two current arrays before and after the update. This reduces the risk of the electric pedal falsely preventing or failing to prevent pinching, and enhances the user experience.

[0064] To achieve the above objectives, a fourth aspect of the present invention provides a vehicle that includes the electric pedal control device described above.

[0065] The vehicle of this embodiment of the invention, by using the electric pedal control device described above, increases the judgment of the first subsequent working current data status, and updates the current array according to the first subsequent working current when the first subsequent working current data status is reliable, and controls the anti-pinch function of the electric pedal according to the two current arrays before and after the update, thereby improving the accuracy of the control of the anti-pinch function of the electric pedal, reducing the risk of the electric pedal falsely preventing pinching or failing to prevent pinching, and improving the user experience.

[0066] To achieve the above objectives, a fifth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the electric pedal control method of the first aspect embodiment.

[0067] The computer-readable storage medium of this invention executes the above-described electric pedal control method. This method improves the accuracy of the electric pedal anti-pinch function control by adding a judgment on the state of the first subsequent operating current data, updating the current array according to the first subsequent operating current when the state of the first subsequent operating current data is reliable, and controlling the anti-pinch function of the electric pedal according to the two current arrays before and after the update. This reduces the risk of the electric pedal falsely preventing or failing to prevent pinching, and enhances the user experience.

[0068] To achieve the above objectives, a sixth aspect of the present invention provides a computer program product that, when an instruction processor in the computer program product is executed, performs the electric pedal control method of the first aspect embodiment.

[0069] The computer program product of this invention executes the above-described electric pedal control method. This method improves the accuracy of the electric pedal anti-pinch function control by adding a judgment on the state of the first subsequent working current data, updating the current array according to the first subsequent working current when the state of the first subsequent working current data is reliable, and controlling the electric pedal anti-pinch function according to the two current arrays before and after the update. This reduces the risk of the electric pedal falsely preventing or failing to prevent pinching, and enhances the user experience.

[0070] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0071] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0072] Figure 1 This is a flowchart of an electric pedal control method according to an embodiment of the present invention;

[0073] Figure 2 This is a flowchart of an electric pedal control method according to an embodiment of the present invention;

[0074] Figure 3 This is a block diagram of an electric pedal control device according to an embodiment of the present invention. Detailed Implementation

[0075] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0076] The electric pedal control method, electric pedal control device, electric pedal control equipment, vehicle, and computer-readable storage medium of the present invention are described below with reference to the accompanying drawings.

[0077] As people's living standards improve, more and more people are choosing cars as their means of transportation. Currently, because high-chassis SUVs and off-road vehicles have high chassis, running boards need to be installed on both sides of the vehicle. The main types of running boards on the market are fixed running boards and electric running boards. Fixed running boards, because they cannot move and take up space, may be scratched on some roads. Therefore, electric running boards that can automatically extend and retract are now more commonly used.

[0078] To ensure user safety, electric pedals have an anti-pinch function. In related technologies, the electric pedal control method is implemented using a recursive average filtering method. This method, also known as the moving average filtering method, works by treating N consecutive sampled values ​​as a queue of fixed length N. Each time a new sampled value is sampled, it is placed at the end of the queue, and the first sampled value in the previous queue is discarded, following a first-in, first-out (FIFO) principle. The N sampled values ​​in the queue are then averaged, and the triggering of the anti-pinch function is determined based on the average of two adjacent queues. The recursive average filtering method in related technologies has good suppression of periodic interference and high smoothness, making it suitable for general electric pedal operating conditions (current ripple generated by carbon brushes and commutators). However, it is less effective at suppressing occasional pulse interference, making it difficult to eliminate interference values ​​caused by pulse interference. This can lead to a risk that the electric pedal may fail to activate or disactivate the anti-pinch function when an occasional abnormal interference pulse occurs.

[0079] To address this, the present invention proposes an electric pedal control method. This method improves the accuracy of the electric pedal anti-pinch function control by adding a judgment on the state of the first subsequent working current data, and updating the current array based on the first subsequent working current when the state of the first subsequent working current data is reliable. The method then controls the anti-pinch function of the electric pedal based on the two current arrays before and after the update, thereby reducing the risk of the electric pedal falsely preventing or failing to prevent pinching, and enhancing the user experience.

[0080] Figure 1 This is a flowchart of an electric pedal control method according to an embodiment of the present invention.

[0081] like Figure 1 As shown, the electric pedal control method of this invention includes the following steps:

[0082] S101: Obtain the operating current of N electric pedal motors as the first current array. Where N is a positive integer.

[0083] For example, the operating current of the electric pedal motor can be collected at set intervals using a current sensor installed on the electric pedal motor.

[0084] S102, calculate the average value of N working currents in the first current array, and use it as the first average value.

[0085] In this step, the sum of the N working currents is obtained by adding the sum of the N working currents, and then dividing by N, the average value of the N working currents in the first current array can be obtained.

[0086] S103, determine the data status of the first subsequent operating current based on the magnitude relationship between the acquired at least one subsequent operating current and the first average value.

[0087] S104, if the data status of the first subsequent operating current is reliable, update the first current array according to the first subsequent operating current, and use the resulting current array as the second current array.

[0088] In steps S103 and S104, when the (N+1)th operating current is obtained, it is necessary to determine whether the data status of the (N+1)th operating current is reliable or pending.

[0089] If the data status of the (N+1)th operating current is pending, it is necessary to continue to determine whether the data status of the (N+1)th operating current is reliable or unreliable based on the obtained (N+2)th operating current.

[0090] If the data status of the (N+1)th operating current is reliable, then delete the first operating current in the first current array, add the (N+1)th operating current to the end of the first current array, and use the resulting current array as the second current array.

[0091] If the data status of the (N+1)th operating current is unreliable, it indicates that the (N+1)th operating current is an interference current. In this case, the (N+1)th operating current is discarded, and the second current array remains the same as the first current array. Then, the data status of the (N+2)th operating current is determined based on the obtained (N+3)th operating current.

[0092] S105 controls the anti-pinch function of the electric pedal based on the first current array and the second current array.

[0093] In this step, after obtaining the first current array and the second current array, the average value of N working currents in the second current array is calculated. The absolute value of the difference between the average value of the N working currents in the second current array and the average value of the N working currents in the first current array is taken. If the absolute value of the difference is greater than or equal to the current threshold (which can be obtained according to the actual situation, such as by obtaining a table of the correspondence between temperature and current threshold at different temperatures in advance, and obtaining the current threshold at the current temperature by looking up the table), the anti-pinch function of the electric pedal is triggered; if the absolute value of the difference is less than the current threshold, the anti-pinch function of the electric pedal is not triggered.

[0094] Therefore, the electric pedal control method of this embodiment of the invention improves the accuracy of the control of the electric pedal anti-pinch function by adding a judgment on the state of the first subsequent working current data, and updating the current array according to the first subsequent working current when the state of the first subsequent working current data is reliable, and controlling the anti-pinch function of the electric pedal according to the two current arrays before and after the update, thereby reducing the risk of the electric pedal falsely preventing pinching or failing to prevent pinching, and improving the user experience.

[0095] Figure 2 This is a flowchart of an electric pedal control method according to an embodiment of the present invention.

[0096] like Figure 2 As shown, the electric pedal control method of this invention includes the following steps:

[0097] S201, obtain the operating current of N electric pedal motors as the first current array.

[0098] S202, calculate the average value of N working currents in the first current array, and use it as the first average value.

[0099] S203, calculate the absolute difference between the first subsequent operating current and the first average value, and use it as the first absolute difference.

[0100] S204, determine the data status of the first subsequent operating current based on the relationship between the first absolute difference and the set threshold.

[0101] It should be noted that step S204 includes either step S205 or step S206.

[0102] S205, if the first absolute difference is less than or equal to a set threshold, determine the data status of the first subsequent operating current as reliable.

[0103] S206, if the first absolute difference is greater than the set threshold, determine the data status of the first subsequent operating current as pending.

[0104] S207, calculate the absolute difference between the second subsequent operating current and the first average value, and use it as the second absolute difference.

[0105] S208, based on the relationship between the second absolute difference and the set threshold, determine whether the data status of the first subsequent working current is reliable or unreliable.

[0106] S209, if the second absolute difference is greater than a set threshold, determine the data status of the first subsequent operating current as reliable.

[0107] S210, remove the first working current from the first current array and add the first subsequent working current to the end of the first current array, and use the resulting current array as the second current array.

[0108] S211, if the second absolute difference is less than or equal to a set threshold, determine that the data status of the first subsequent operating current is unreliable.

[0109] S212, the N operating currents in the second current array are maintained as the N operating currents in the first current array.

[0110] S213, calculate the average value of N operating currents in the second current data, and use it as the second average value;

[0111] S214, calculate the absolute difference between the first average and the second average as the third absolute difference;

[0112] S215, based on the relationship between the third absolute difference and the current threshold, determines whether to trigger the anti-pinch function of the electric pedal.

[0113] S216, when the third absolute difference is greater than or equal to the current threshold, controls the anti-pinch function of the electric pedal to be triggered.

[0114] S217, when the third absolute difference is less than the current threshold, the anti-pinch function of the electric pedal is not triggered.

[0115] Therefore, the electric pedal control method of this embodiment of the invention improves the accuracy of the control of the electric pedal anti-pinch function by adding a judgment on the state of the first subsequent working current data, updating the current array according to the first subsequent working current when the state of the first subsequent working current data is reliable, and controlling the anti-pinch function of the electric pedal according to the two current arrays before and after the update, and keeping the N working currents in the second current array unchanged when the state of the first subsequent working current data is unreliable, that is, keeping the electric pedal anti-pinch function unchanged.

[0116] In summary, the electric pedal control method according to embodiments of the present invention obtains the operating currents of N electric pedal motors as a first current array, then calculates the average value of the N operating currents in the first current array as a first average value, determines the data state of the first subsequent operating current based on the relationship between at least one subsequent operating current and the first average value, and updates the first current array based on the first subsequent operating current if the data state is reliable, obtaining the current data as a second current array, and finally controls the anti-pinch function of the electric pedal based on the first and second current arrays. Therefore, this method improves the accuracy of the anti-pinch function control by adding the determination of the data state of the first subsequent operating current, updating the current array based on the first subsequent operating current if the data state is reliable, and controlling the anti-pinch function of the electric pedal based on the two current arrays before and after the update, thereby reducing the risk of false anti-pinch or non-anti-pinch operation and enhancing the user experience.

[0117] Figure 3 This is a block diagram of an electric pedal control device according to an embodiment of the present invention.

[0118] like Figure 3 As shown, the electric pedal control device 300 of this embodiment includes: an acquisition module 310, a calculation module 320, a judgment module 330, an update module 340, and a control module 350.

[0119] The system comprises the following modules: Acquisition module 310 acquires the operating currents of N electric pedal motors, forming a first current array where N is a positive integer. Calculation module 320 calculates the average value of the N operating currents in the first current array, forming a first average value. Judgment module 330 determines the data status of a first subsequent operating current based on its relationship with the first average value. Update module 340 updates the first current array based on the first subsequent operating current if its data status is reliable, and the resulting current array forms a second current array. Control module 350 controls the anti-pinch function of the electric pedal based on the first and second current arrays.

[0120] According to an embodiment of the present invention, when the determining module 330 determines the data status of the first subsequent operating current based on the magnitude relationship between at least one subsequent operating current and a first average value, it includes:

[0121] Calculate the absolute difference between the first subsequent operating current and the first average value, and use it as the first absolute difference;

[0122] The data status of the first subsequent operating current is determined based on the relationship between the first absolute difference and the set threshold.

[0123] According to an embodiment of the present invention, when the determination module 330 determines the data state of the first subsequent operating current based on the magnitude relationship between the first absolute difference and a set threshold, it includes:

[0124] If the first absolute difference is less than or equal to a set threshold, the data state of the first subsequent operating current is determined to be reliable; or,

[0125] If the first absolute difference is greater than a set threshold, the data status of the first subsequent operating current is determined to be pending.

[0126] According to an embodiment of the present invention, when the determination module 330 determines the data state of the first subsequent operating current based on the magnitude relationship between the first absolute difference and a set threshold, it includes:

[0127] If the data status of the first subsequent operating current is pending, calculate the absolute difference between the second subsequent operating current and the first average value, and use it as the second absolute difference.

[0128] Based on the relationship between the second absolute difference and the set threshold, the data status of the first subsequent operating current is determined to be either reliable or unreliable.

[0129] According to an embodiment of the present invention, when determining whether the data status of the first subsequent operating current is reliable or unreliable based on the relationship between the second absolute difference and a set threshold, the determination module 330 includes:

[0130] If the second absolute difference is greater than a set threshold, the data status of the first subsequent operating current is determined to be reliable; or,

[0131] If the second absolute difference is less than or equal to a set threshold, the data status of the first subsequent operating current is determined to be unreliable.

[0132] According to one embodiment of the present invention, the update module 340 is used to update the first current array based on the first subsequent operating current, and when the obtained current array is used as the second current array, it includes:

[0133] Remove the first operating current from the first current array and add the first subsequent operating current to the end of the first current array. The resulting current array is the second current array.

[0134] According to one embodiment of the present invention, the update module 340 is further configured to maintain the N operating currents in the second current array as the N operating currents in the first current array when the data state of the first subsequent operating current is unreliable.

[0135] According to one embodiment of the present invention, when the control module 350 controls the anti-pinch function of the electric pedal based on a first current array and a second current array, it includes:

[0136] Calculate the average value of N operating currents in the second current data, and use it as the second average value;

[0137] Calculate the absolute difference between the first average and the second average, and use it as the third absolute difference;

[0138] The anti-pinch function of the electric pedal is controlled based on the relationship between the third absolute difference and the current threshold.

[0139] According to one embodiment of the present invention, when the control module 350 controls the anti-pinch function of the electric pedal based on the relationship between the third absolute difference and the current threshold, it includes:

[0140] If the third absolute difference is greater than or equal to the current threshold, the anti-pinch function of the electric pedal is triggered; or,

[0141] If the third absolute difference is less than the current threshold, the anti-pinch function of the electric pedal will not be triggered.

[0142] It should be noted that for details not disclosed in the electric pedal control device of the present invention, please refer to the details disclosed in the electric pedal control method of the present invention, which will not be repeated here.

[0143] According to an embodiment of the electric pedal control device of the present invention, an acquisition module acquires the operating currents of N electric pedal motors as a first current array, a calculation module calculates the average value of the N operating currents in the first current array as a first average value, a judgment module determines the data status of a first subsequent operating current based on the relationship between at least one acquired subsequent operating current and the first average value, and an update module updates the first current array based on the first subsequent operating current if the data status is reliable, resulting in a second current array. A control module controls the anti-pinch function of the electric pedal based on the first and second current arrays. Therefore, by adding the judgment of the data status of the first subsequent operating current, updating the current array based on the first subsequent operating current if the data status is reliable, and controlling the anti-pinch function of the electric pedal based on the two current arrays before and after the update, the device improves the accuracy of the anti-pinch function control, reduces the risk of false anti-pinch or failure to prevent pinching, and enhances the user experience.

[0144] Based on the above embodiments, the present invention also proposes an electric pedal control device.

[0145] The electric pedal control device of this invention includes a processor and a memory; wherein the processor runs a program corresponding to the executable program code by reading executable program code stored in the memory, so as to implement the above-described electric pedal control method.

[0146] The electric pedal control device of this invention, by executing the above-described electric pedal control method, improves the accuracy of the electric pedal anti-pinch function control by adding a judgment on the state of the first subsequent working current data, and updating the current array according to the first subsequent working current when the state of the first subsequent working current data is reliable, and controlling the electric pedal anti-pinch function according to the two current arrays before and after the update. This reduces the risk of the electric pedal falsely preventing or failing to prevent pinching, and enhances the user experience.

[0147] Based on the above embodiments, the present invention also proposes a vehicle.

[0148] The vehicle of this invention includes: the electric pedal control device described in the above embodiments.

[0149] The vehicle of this embodiment of the invention, by using the electric pedal control device described above, increases the judgment of the first subsequent working current data status, and updates the current array according to the first subsequent working current when the first subsequent working current data status is reliable, and controls the anti-pinch function of the electric pedal according to the two current arrays before and after the update, thereby improving the accuracy of the control of the anti-pinch function of the electric pedal, reducing the risk of the electric pedal falsely preventing pinching or failing to prevent pinching, and improving the user experience.

[0150] Based on the above embodiments, the present invention also proposes a computer-readable storage medium.

[0151] The computer-readable storage medium of the present invention stores a computer program that, when executed by a processor, implements the electric pedal control method of the first aspect embodiment.

[0152] The computer-readable storage medium of this invention executes the above-described electric pedal control method. This method improves the accuracy of the electric pedal anti-pinch function control by adding a judgment on the state of the first subsequent operating current data, updating the current array according to the first subsequent operating current when the state of the first subsequent operating current data is reliable, and controlling the anti-pinch function of the electric pedal according to the two current arrays before and after the update. This reduces the risk of the electric pedal falsely preventing or failing to prevent pinching, and enhances the user experience.

[0153] Based on the above embodiments, the present invention also proposes a computer program product.

[0154] When the instruction processor in the computer program product of this embodiment of the invention executes, it performs the above-described electric pedal control method.

[0155] The computer program product of this invention executes the above-described electric pedal control method. This method improves the accuracy of the electric pedal anti-pinch function control by adding a judgment on the state of the first subsequent working current data, updating the current array according to the first subsequent working current when the state of the first subsequent working current data is reliable, and controlling the electric pedal anti-pinch function according to the two current arrays before and after the update. This reduces the risk of the electric pedal falsely preventing or failing to prevent pinching, and enhances the user experience.

[0156] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0157] Furthermore, the terms "first" and "second" 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0158] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0159] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0160] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0161] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0162] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a single module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0163] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An electric pedal control method, characterized by, Includes the following steps: Obtain N operating currents of the electric pedal motor as the first current array; where N is a positive integer; Calculate the average value of the N operating currents in the first current array, and use it as the first average value; Based on the relationship between the first subsequent operating current and the first average value, determine whether the data status of the first subsequent operating current is reliable or pending. If the data status of the first subsequent operating current is pending, the data status of the first subsequent operating current is determined to be reliable or unreliable based on the relationship between the second subsequent operating current and the first average value. If the data status of the first subsequent operating current is reliable, the first current array is updated according to the first subsequent operating current, and the resulting current array is used as the second current array. The anti-pinch function of the electric pedal is controlled based on the first current array and the second current array.

2. The method of claim 1, wherein, The step of determining whether the data status of the first subsequent operating current is reliable or pending based on the relationship between the first subsequent operating current and the first average value includes: Calculate the absolute difference between the first subsequent operating current and the first average value, and use it as the first absolute difference; Based on the relationship between the first absolute difference and the set threshold, the data status of the first subsequent operating current is determined to be either reliable or pending.

3. The method of claim 2, wherein, The step of determining whether the data status of the first subsequent operating current is reliable or pending based on the relationship between the first absolute difference and a set threshold includes: If the first absolute difference is less than or equal to the set threshold, the data status of the first subsequent operating current is determined to be reliable; or... If the first absolute difference is greater than the set threshold, the data status of the first subsequent operating current is determined to be pending.

4. The method of claim 3, wherein, When the data status of the first subsequent operating current is pending, determining whether the data status of the first subsequent operating current is reliable or unreliable based on the relationship between the second subsequent operating current and the first average value includes: If the data status of the first subsequent operating current is pending, the absolute difference between the second subsequent operating current and the first average value is calculated as the second absolute difference. Based on the relationship between the second absolute difference and the set threshold, the data status of the first subsequent operating current is determined to be either reliable or unreliable.

5. The method of claim 4, wherein, The step of determining whether the data status of the first subsequent operating current is reliable or unreliable based on the relationship between the second absolute difference and the set threshold includes: If the second absolute difference is greater than the set threshold, the data status of the first subsequent operating current is determined to be reliable; or... If the second absolute difference is less than or equal to the set threshold, the data status of the first subsequent operating current is determined to be unreliable.

6. The method of claim 1, wherein, The step of updating the first current array based on the first subsequent operating current, and using the resulting current array as the second current array, includes: The first operating current is deleted from the first current array, and the first subsequent operating current is added to the end of the first current array. The resulting current array is used as the second current array.

7. The method of claim 1, wherein, The method further includes: If the data status of the first subsequent operating current is unreliable, the N operating currents in the second current array shall remain the same as the N operating currents in the first current array.

8. The method of claim 1, wherein, The step of controlling the anti-pinch function of the electric pedal based on the first current array and the second current array includes: Calculate the average value of the N operating currents in the second current array, and use it as the second average value; Calculate the absolute difference between the first average and the second average, and use it as the third absolute difference; The anti-pinch function of the electric pedal is controlled based on the relationship between the third absolute difference and the current threshold.

9. The method according to claim 8, characterized in that, The step of controlling the anti-pinch function of the electric pedal based on the relationship between the third absolute difference and the current threshold includes: If the third absolute difference is greater than or equal to the current threshold, the anti-pinch function of the electric pedal is triggered; or, If the third absolute difference is less than the current threshold, the anti-pinch function of the electric pedal is not triggered.

10. An electric pedal control device, characterized in that, include: The acquisition module is used to acquire N operating currents of the electric pedal motor as the first current array; where N is a positive integer. The calculation module is used to calculate the average value of the N operating currents in the first current array, as the first average value; The judgment module is used to determine whether the data status of the first subsequent operating current is reliable or unreliable based on the relationship between the first subsequent operating current and the first average value; if the data status of the first subsequent operating current is unreliable, the module determines whether the data status of the first subsequent operating current is reliable or unreliable based on the relationship between the second subsequent operating current and the first average value. The update module is used to update the first current array according to the first subsequent operating current when the data status of the first subsequent operating current is reliable, and the resulting current array is used as the second current array. The control module is used to control the anti-pinch function of the electric pedal according to the first current array and the second current array.

11. An electric pedal control device, characterized in that, include: Processor and memory; The processor reads executable program code stored in the memory to run a program corresponding to the executable program code, so as to implement the electric pedal control method as described in any one of claims 1-9.

12. A vehicle, characterized in that, include: The electric pedal control device as described in claim 11.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the electric pedal control method as described in any one of claims 1-9.

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