A side step control method, device, apparatus and traffic equipment

Abstract

The application provides a side pedal control method, device and equipment and a traffic equipment. First and second flag bits are pre-configured. Whether the network layer and the application layer are initialized is determined by detecting the states of the first and second flag bits. When it is detected that the network layer and the application layer are initialized, the application layer is controlled to send a side pedal opening instruction to the network layer, so that the network layer controls the opening state of the side pedal, thereby enabling the network layer to reliably acquire the side pedal opening instruction sent by the application layer.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and more specifically to a side pedal control method, device, equipment, and traffic equipment. Background Technology

[0002] Side steps, as an auxiliary device for getting in and out of a vehicle, are commonly used on large off-road vehicles and SUVs. Located on both sides of the car, traditional side steps are fixed, non-adjustable, and aesthetically unappealing. Electric side steps, on the other hand, allow for automatic extension and retraction, making it easier for users to get in and out of the car. This is especially convenient and user-friendly for women and the elderly. They do not affect the vehicle's passability and are also more in line with the vehicle's aerodynamics, increasing the vehicle's functionality, making it more technologically advanced, and enhancing the user's human-machine interaction experience.

[0003] In existing technologies, due to data transmission issues, the side steps may not deploy effectively when a user uses them to get in and out of the vehicle. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a side pedal control method, apparatus, device, and traffic equipment to reliably realize the deployment of the side pedal.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions: A side pedal control method, comprising: Obtain the door status signal; Determine whether the door needs to be opened based on the door status signal; When the car door needs to be opened, it is determined whether the first flag bit is set to 1. If it is not set to 1, an application layer wake-up signal is generated, and the first flag bit is checked again. When the first flag position 1 and the second flag position 1 are detected, the control application layer sends a side pedal opening command to the network layer, so that the network layer controls the opening state of the side pedal; The first flag bit is used to characterize the initialization completion status of the application layer, and the second flag bit is used to characterize the initialization completion status of the network layer.

[0006] Optionally, in the above side pedal control method, when the first flag position 1 and the second flag position 1 are detected, the control application layer sends a side pedal opening command to the network layer, including: When the first flag bit is set to 1, the initialization timer starts. When the initialization duration reaches the first preset duration, it is determined whether the second flag bit is set to 1. When the second flag is set to 1, the control application layer sends a side pedal opening command to the network layer; When the second flag is 0, after a delay of the first preset time, the step of determining whether the second flag is set to 1 is executed again.

[0007] Optionally, in the above side pedal control method, when the second flag position is determined to be 0, the counter count value is incremented by 1. When the counter count value is detected to reach a preset value, the application layer is directly controlled to send a side pedal opening command to the network layer.

[0008] Optionally, in the above side pedal control method, the control application layer sends a side pedal opening command to the network layer, including: Generate a side pedal opening command for the side pedal corresponding to the door that needs to be opened, and control the application layer to send the side pedal opening command to the network layer.

[0009] Optionally, in the above side pedal control method, determining whether the door needs to be opened based on the door status signal includes: Determine whether the outer door handle is triggered. When the outer door handle is triggered, it indicates that the door with the triggered handle has a need to be opened. To determine if a car door is open, if a car door is open, it indicates that the door needs to be opened. When the vehicle type is an operating vehicle, when the vehicle speed is detected to change from non-zero to zero, it indicates that the preset target door has an opening requirement. The target door is the door corresponding to the first side pedal or the second side pedal. When the vehicle type is a non-commercial vehicle, when the vehicle speed changes from non-zero to zero, the location of the user inside the vehicle is determined, indicating that the door near the user's location has a need to be opened.

[0010] Optionally, the above side pedal control method further includes: During the opening of the side pedal, the pressure value on the side of the side pedal away from the vehicle is obtained; When the pressure value is greater than the preset value, stop deploying the side pedal and maintain the current position of the side pedal. Once the door is detected to have switched from open to closed, the side step corresponding to the closed door will be retracted.

[0011] A side pedal control device, comprising: The door status detection unit is used to acquire door status signals; A door status prediction unit is used to determine whether the door needs to be opened based on the door status signal. The instruction sending unit is used to determine whether the first flag bit is set to 1 when the door is in the open state. If it is not set to 1, it generates an application layer wake-up signal and continues to detect the first flag bit. When the first flag bit is detected to be set to 1 and the second flag bit is also set to 1, it controls the application layer to send a side pedal opening instruction to the network layer so that the network layer controls the opening state of the side pedal. The first flag bit is used to characterize the initialization completion status of the application layer, and the second flag bit is used to characterize the initialization completion status of the network layer.

[0012] Optionally, in the aforementioned side pedal control device, when the command sending unit detects both the first flag position 1 and the second flag position 1, and controls the application layer to send a side pedal opening command to the network layer, it is specifically used for: When the first flag bit is set to 1, the initialization timer starts. When the initialization duration reaches the first preset duration, it is determined whether the second flag bit is set to 1. When the second flag is set to 1, the control application layer sends a side pedal opening command to the network layer; When the second flag is 0, after a delay of the first preset time, the step of determining whether the second flag is set to 1 is executed again.

[0013] A side pedal control device, comprising: A memory and a processor; the memory stores a program suitable for execution by the processor, the program being used for: Obtain the door status signal; Determine whether the door needs to be opened based on the door status signal; When the car door needs to be opened, it is determined whether the first flag bit is set to 1. If it is not set to 1, an application layer wake-up signal is generated, and the first flag bit is checked again. When the first flag position 1 and the second flag position 1 are detected, the control application layer sends a side pedal opening command to the network layer, so that the network layer controls the opening state of the side pedal; The first flag bit is used to characterize the initialization completion status of the application layer, and the second flag bit is used to characterize the initialization completion status of the network layer.

[0014] A transportation device that incorporates the side pedal control device described in any one of the above claims.

[0015] Based on the above technical solution, in the solution provided by the embodiments of the present invention, by adding a first flag bit and a second flag bit in the software logic of the control system, the network layer and the application layer can be determined by detecting the state of the first flag bit and the second flag bit. When the network layer and the application layer are detected to be initialized, the control application layer sends a side pedal opening command to the network layer so that the network layer controls the opening state of the side pedal, thereby enabling the network layer to reliably obtain the side pedal opening command sent by the application layer.

[0016] In summary, the technical solution disclosed in this application optimizes the data transmission strategies of the application layer and the network layer, making the data transmission between the application layer and the network layer more stable and reliable, ensuring the reliable deployment of the side pedals, and improving the user experience. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 This is a schematic flowchart of the side pedal control method disclosed in an embodiment of this application; Figure 2 This is a schematic diagram of the side pedal control device disclosed in the embodiments of this application; Figure 3 This is a schematic diagram of the side pedal control device disclosed in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] The applicant discovered through research that the reason why the side pedals fail to deploy effectively in existing technologies is that when the application layer sends the side pedal deployment command to the network layer, the network layer may not have completed initialization. Specifically, the control logic of existing electric side pedals is as follows: When the vehicle's CEM network layer is asleep and the application layer is not asleep, opening the driver's door wakes up the application layer and sends a "request to the lower layer to process the side pedal deployment signal" to the network layer (signal processing takes 20-30ms, 20ms in case of a fault); if the network layer initialization is not completed at this time (initialization takes 20-30ms, 30ms in case of a fault), the network layer is 10ms slower than the application layer, making it impossible for the network layer to receive and forward the "request to the lower layer to process the side pedal deployment signal" command to the lower layer. As a result, the CEM controller as a whole does not send a side pedal deployment signal, causing the side pedals not to deploy.

[0021] To prevent the side pedal from failing to deploy due to the network layer not receiving the side pedal deployment signal, this application discloses a side pedal control method. A first flag and a second flag are pre-configured. The first flag indicates the initialization completion status of the application layer, and the second flag indicates the initialization completion status of the network layer. When the side pedal needs to be opened, it is determined whether the first flag is set to 1. If not, an application layer wake-up signal is generated, and the first flag is continuously checked. When both the first and second flags are detected to be set to 1, the application layer is controlled to send a side pedal opening command to the network layer, enabling the network layer to control the opening state of the side pedal, thereby preventing the network layer from missing the side pedal opening command.

[0022] Specifically, this application discloses a side pedal control method, see [link to relevant documentation]. Figure 1 The method may include: Step S101: Obtain the door status signal.

[0023] The door status signal refers to a real-time status signal indicating whether the door is open or closed, or a predictive signal used to predict the next state of the door. These signals can be used to predict the next state of the door, which is either open or closed. The specific type of the door status signal can be set according to user needs, such as a vehicle unlock signal or a door hinge rotation signal.

[0024] Step S102: Determine whether the door needs to be opened based on the door status signal.

[0025] In the technical solution disclosed in this application, when the door status signal is obtained, it is determined or predicted whether the door needs to be opened based on the door status signal. If there is a need to open, subsequent actions are performed.

[0026] Step S103: When the car door needs to be opened, determine whether the first flag bit is set to 1. If it is not set to 1, generate an application layer wake-up signal and continue to detect the first flag bit.

[0027] In this scheme, a first flag bit and a second flag bit are pre-configured in the system. The first flag bit is used to characterize the initialization completion status of the application layer, and the second flag bit is used to characterize the initialization completion status of the network layer. When the first flag bit is 0, it indicates that the initialization of the application layer is not complete. When the first flag bit is 1, it indicates that the initialization of the application layer is complete. When the second flag bit is 0, it indicates that the initialization of the network layer is not complete. When the second flag bit is 1, it indicates that the initialization of the network layer is complete.

[0028] When a door opening request is detected, if the first flag bit is 1, it indicates that the application layer has been successfully initialized. If the first flag bit is 0, it indicates that the application layer has not been successfully initialized. An application layer wake-up signal is generated, and the process continues to wait until the first flag bit is 1 before proceeding to the next step.

[0029] Step S104: Determine whether the second flag bit is set to 1; Step S105: When the first flag position 1 and the second flag position 1 are detected, the control application layer sends a side pedal opening command to the network layer so that the network layer controls the opening state of the side pedal; When the first flag position 1 and the second flag position 1 are detected, it indicates that both the application layer and the network layer have been initialized. At this time, the network layer can effectively obtain the instructions sent by the application layer. Therefore, it controls the application layer to send a side pedal opening instruction to the network layer. The side pedal opening instruction is used to control the opening of the vehicle's side pedals.

[0030] In the technical solution disclosed in the embodiments of this application, by adding a first flag bit and a second flag bit to the software logic in the control system, the status of the first flag bit and the second flag bit can be detected to determine whether the network layer and the application layer have been initialized. When the initialization of the network layer and the application layer is detected to be complete, the control application layer sends a side pedal opening command to the network layer so that the network layer controls the opening state of the side pedal, thereby enabling the network layer to reliably obtain the side pedal opening command sent by the application layer.

[0031] In summary, the technical solution disclosed in this application optimizes the data transmission strategies of the application layer and the network layer, making the data transmission between the application layer and the network layer more stable and reliable, ensuring the reliable deployment of the side pedals, and improving the user experience.

[0032] Specifically, in the technical solution disclosed in the embodiments of this application, when the first flag position 1 and the second flag position 1 are detected, the control application layer sends a side pedal opening command to the network layer, which may specifically include: When the application layer of the vehicle system completes initialization or is in a wake-up state, the first flag bit in the software logic is set to 1. When the application layer is in a sleep state or the application layer initialization is not complete, the first flag bit in the software logic is set to 0. When the first flag bit in the software logic is detected to be set to 1, the initialization timer starts. When the initialization time reaches the first preset time, it is determined whether the second flag bit is set to 1. The first preset time is the initialization time of the network layer. When the second flag bit is set to 1, the application layer sends a side pedal opening command to the network layer. When the second flag bit is set to 0, the process is delayed again for the second preset time, and the step of determining whether the second flag bit is set to 1 is executed again. The initialization time of the network layer usually requires 20ms to 30ms. Therefore, in this solution, the value of the first preset time can be 30ms. The value of the second preset time can be set by the user. For example, the value of the second preset time can be greater than the value of the first preset time, equal to the value of the first preset time, or less than the value of the first preset time. Preferably, in this solution, the value of the second preset time can be 30ms.

[0033] In another embodiment of the technical solution disclosed in this application, considering the situation where software failure or other faults cause the second flag bit to fail to be reliably set to 1 when the network layer initialization is completed, in this solution, when the second flag bit is determined to be 0, the counter count value is incremented by 1. When the counter count value is detected to reach a preset value, the application layer is directly controlled to send a side pedal opening command to the network layer. That is, when the second flag bit is detected to be 0, the second preset time is delayed, and the state of the second flag bit is detected again. When the second flag bit is detected to be 0 again, the counter count value is incremented by 1 based on the original technology. And, whenever the counter count value changes once, when the counter count value is detected to reach a preset value, the application layer is directly controlled to send a side pedal opening command to the network layer to prevent the network layer from being unable to obtain the side pedal opening command due to the second flag bit failure.

[0034] To facilitate troubleshooting, in the above scheme, when the counter's count reaches the preset value, a network layer fault code is synchronously recorded at the application layer. This fault code is stored in the EEPROM of the CEM controller and can be read using diagnostic equipment.

[0035] In the technical solution disclosed in this application embodiment, when a car door needs to be opened, the user can control the deployment strategy of the side pedals according to their own needs. For example, in this solution, the deployment strategy may include: when any car door needs to be opened, both side pedals are deployed simultaneously. In addition, in this solution, an opening command for the corresponding side pedal can be generated based on the car door requiring opening. Specifically, the application layer is controlled to send the side pedal opening command to the network layer, including: generating an opening command for the corresponding side pedal of the car door requiring opening, and controlling the application layer to send the side pedal opening command to the network layer. That is, in this solution, by determining which car door requires opening, when the car door requiring opening is determined, the side pedal matching that car door is determined, a side pedal opening command adapted to that side pedal is generated, and the application layer is controlled to send the side pedal opening command to the network layer. The side pedal adapted to the car door requiring opening is opened through this side pedal opening command. Through this solution, side pedals requiring deployment can be deployed, while side pedals not requiring deployment can remain unchanged. For example, when a user needs to open the right side door, they only need to unfold the right side step, without having to unfold the left side step, thus meeting different user needs and improving the user experience.

[0036] In the technical solutions disclosed in the embodiments of this application, corresponding judgment strategies can be configured according to design requirements to determine whether the door needs to be opened based on the door status signal. Specifically, these strategies may include any one or more of the following combinations: Strategy 1: Determine if the exterior door handle is triggered. When the exterior door handle is triggered, it indicates that the door requires opening. When a user needs to open the car door from the outside, they need to pull the door using the exterior door handle. When the exterior door handle is detected to be triggered, it indicates that the door requires opening.

[0037] Strategy 2: When a user is detected unlocking the vehicle with the car key, it indicates a need to open the driver's side door. When a user needs to use the car, they need to unlock it with the car key. When the unlocking is detected, it can be considered that the vehicle needs to be used, indicating a need to open the driver's side door.

[0038] Strategy 3: Determine if the car door is open. When the car door is open, it indicates that the door has a need to be opened. At this time, the opening of the car door can refer to obtaining a control command to open the car door, or the car door being in an open state when detected.

[0039] Strategy 4: When the vehicle type is an operational vehicle, when the vehicle speed changes from non-zero to zero, it indicates that the preset target door has an opening requirement. The target door is the door corresponding to the first side pedal or the second side pedal.

[0040] Considering that taxis or other operating vehicles only allow users to get on and off from one side of the vehicle, when the speed of these operating vehicles changes from 0 to non-zero, it indicates that there are passengers who need to get on or off. At this time, it indicates that the target door of the vehicle has a demand to be opened. The target door refers to the door of the operating vehicle where users get on and off.

[0041] Strategy 5: When the vehicle type is a non-commercial vehicle, determine the location of the user inside the vehicle. When the vehicle speed changes from non-zero to zero, it indicates that the door near the user's location needs to be opened.

[0042] When the vehicle is a non-commercial vehicle, when the vehicle speed changes from non-zero to zero, the system detects the position of the user inside the vehicle to determine which door needs to be opened. When a user is detected inside the vehicle, the system determines the user's position in the vehicle and marks the door closest to the user as the door that needs to be opened.

[0043] In another embodiment of this application, if the vehicle is too close to an obstacle, and the side pedal touches the obstacle during its extension, continuing to extend the side pedal could cause deformation or other malfunctions. Therefore, in this solution, the pressure value on the side of the side pedal away from the vehicle during the opening process is obtained; when the pressure value is greater than a preset value, the extension of the side pedal is stopped, and the current position of the side pedal is maintained, i.e., the current position of the side pedal is maintained, and the extension of the side pedal is stopped; when the door is detected to switch from an open state to a closed state, the side pedal corresponding to the closed door is retracted.

[0044] In another embodiment of the present application, after the side pedal is deployed, the side pedal can be retracted according to a preset side pedal retraction logic. For example, when the door corresponding to the deployed side pedal is detected to be closed, the side pedal is retracted; or, when the vehicle is detected to be starting, or when the vehicle speed is greater than the rated vehicle speed, the deployed side pedal is retracted.

[0045] This embodiment discloses a side pedal control device. For the specific working content of each unit in the device, please refer to the content of the above method embodiment.

[0046] The side pedal control device provided in the embodiments of the present invention is described below. The side pedal control device described below can be referred to in correspondence with the side pedal control method described above.

[0047] See Figure 2 The side pedal control device disclosed in this application embodiment may include: The door status detection unit A, which corresponds to step S101 in the above method, is used to acquire the door status signal; The door status prediction unit B, which corresponds to step S102 in the above method, is used to determine whether the door needs to be opened based on the door status signal. The instruction sending unit C is used to determine whether the first flag bit is set to 1 when the door is in the open state. If it is not set to 1, an application layer wake-up signal is generated and the first flag bit is detected again. When the first flag bit is set to 1 and the second flag bit is set to 1, the application layer is controlled to send a side pedal opening instruction to the network layer so that the network layer controls the opening state of the side pedal. The first flag bit is used to characterize the initialization completion status of the application layer, and the second flag bit is used to characterize the initialization completion status of the network layer.

[0048] Corresponding to the above method, when the instruction sending unit C detects both the first flag position 1 and the second flag position 1, and controls the application layer to send a side pedal opening instruction to the network layer, it is specifically used for: When the first flag bit is set to 1, the initialization timer starts. When the initialization duration reaches the first preset duration, it is determined whether the second flag bit is set to 1. When the second flag is set to 1, the control application layer sends a side pedal opening command to the network layer; When the second flag is 0, after a delay of the first preset time, the step of determining whether the second flag is set to 1 is executed again.

[0049] For details on the specific workings of the door status detection unit A, door status prediction unit B, and instruction sending unit C, please refer to the above method embodiments, which will not be repeated here.

[0050] As can be seen from the above scheme, in the side pedal control device disclosed in this application embodiment, by adding a first flag bit and a second flag bit in the software logic of the control system, during the operation of the device, the door status signal is obtained by the door status detection unit A, and then the door status prediction unit B determines whether the door has an opening requirement based on the door status signal. When the door has an opening requirement is detected, the state of the first flag bit and the second flag bit is judged by the instruction sending unit C to determine whether the network layer and the application layer have been initialized. When the initialization of the network layer and the application layer is detected to be complete, the control application layer sends a side pedal opening command to the network layer, so that the network layer controls the opening state of the side pedal, thereby enabling the network layer to reliably obtain the side pedal opening command sent by the application layer.

[0051] Corresponding to the above method, this application also discloses a side pedal control device. Figure 3 The hardware structure diagram of the side pedal control device provided in the embodiment of the present invention is shown below. Figure 3 As shown, it may include: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400; In this embodiment of the invention, the number of processor 100, communication interface 200, memory 300, and communication bus 400 is at least one, and the processor 100, communication interface 200, and memory 300 communicate with each other through communication bus 400; obviously, Figure 3 The communication connections shown for the processor 100, communication interface 200, memory 300, and communication bus 400 are optional. Optionally, the communication interface 200 can be an interface of a communication module, such as the interface of a GSM module; Processor 100 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0052] The memory 300 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0053] Specifically, processor 100 is used for: Obtain the door status signal; Determine whether the door needs to be opened based on the door status signal; When the car door needs to be opened, it is determined whether the first flag bit is set to 1. If it is not set to 1, an application layer wake-up signal is generated, and the first flag bit is checked again. When the first flag position 1 and the second flag position 1 are detected, the control application layer sends a side pedal opening command to the network layer, so that the network layer controls the opening state of the side pedal; The first flag bit is used to characterize the initialization completion status of the application layer, and the second flag bit is used to characterize the initialization completion status of the network layer.

[0054] The processor 100 is also used to execute various steps of the methods disclosed in other embodiments of the methods described above in this application, which will not be repeated here.

[0055] Corresponding to the above-mentioned device, this application also discloses a transportation device that applies the side pedal control device described in any one of the above-mentioned devices. The transportation device can be a vehicle, an airplane, or other transportation device with pedals.

[0056] For ease of description, the above system is described by dividing it into various modules based on their functions. Of course, in implementing this invention, the functions of each module can be implemented in one or more software and / or hardware components.

[0057] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0058] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0059] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0060] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0061] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A side pedal control method, characterized in that, include: Obtain the door status signal; Determine whether the door needs to be opened based on the door status signal; When the car door needs to be opened, it is determined whether the first flag bit is set to 1. If it is not set to 1, an application layer wake-up signal is generated, and the first flag bit is checked again. When the first flag bit is detected to be 1, the initialization timer starts. When the initialization duration reaches the first preset duration, it is determined whether the second flag bit is set to 1. When the second flag is in position 1, the control application layer sends a side pedal opening command to the network layer so that the network layer controls the opening state of the side pedal, wherein the side pedal is the side pedal corresponding to the door that has the opening requirement. When the second flag is set to 0, after a second preset time delay, it is determined again whether the second flag is set to 1. When it is determined that the second flag is set to 0, the counter count value is incremented by 1. When the counter count value is detected to reach the preset value, the application layer is directly controlled to send the side pedal opening command to the network layer, and a network layer fault code is recorded synchronously in the application layer. The first flag bit is used to characterize the initialization completion status of the application layer, and the second flag bit is used to characterize the initialization completion status of the network layer. Determining whether a door needs to be opened based on the door status signal includes: when the vehicle type is an operating vehicle, when the vehicle speed is detected to change from non-zero to zero, it indicates that the preset target door needs to be opened, and the target door is the door corresponding to the first side pedal or the second side pedal. The method further includes: During the opening of the side pedal, the pressure value on the side of the side pedal away from the vehicle is obtained; When the pressure value is greater than the preset value, stop deploying the side pedal and maintain the current position of the side pedal. Once the door is detected to have switched from open to closed, the side step corresponding to the closed door will be retracted.

2. The side pedal control method according to claim 1, characterized in that, The control application layer sends a side pedal opening command to the network layer, including: Generate a side pedal opening command for the side pedal corresponding to the door that needs to be opened, and control the application layer to send the side pedal opening command to the network layer.

3. The side pedal control method according to claim 2, characterized in that, Determining whether a door needs to be opened based on the door status signal also includes: Determine whether the outer door handle is triggered. When the outer door handle is triggered, it indicates that the door with the triggered handle has a need to be opened. To determine if a car door is open, if a car door is open, it indicates that the door needs to be opened. When the vehicle type is a non-commercial vehicle, the location of the user inside the vehicle is determined. When the vehicle speed changes from non-zero to zero, it indicates that the door near the user's location needs to be opened.

4. A side pedal control device for executing the side pedal control method according to any one of claims 1-3, characterized in that, include: The door status detection unit is used to acquire door status signals; A door status prediction unit is used to determine whether the door needs to be opened based on the door status signal. The instruction sending unit is used to determine whether the first flag bit is set to 1 when the car door is in the open state. If it is not set to 1, an application layer wake-up signal is generated and the first flag bit is detected again. When the first flag bit is set to 1 and the second flag bit is set to 1, the application layer is controlled to send a side pedal opening instruction to the network layer so that the network layer controls the opening state of the side pedal, wherein the side pedal is the side pedal corresponding to the car door that has the opening requirement. The first flag bit is used to characterize the initialization completion status of the application layer, and the second flag bit is used to characterize the initialization completion status of the network layer. Determining whether a door needs to be opened based on the door status signal includes: When the vehicle type is an operational vehicle, when the vehicle speed is detected to change from non-zero to zero, it indicates that the preset target door has an opening requirement. The target door is the door corresponding to the first side pedal or the second side pedal.

5. A side pedal control device for executing the side pedal control method according to any one of claims 1-3, characterized in that, include: Memory and processor; The memory stores a program suitable for execution by the processor, the program being used for: Obtain the door status signal; Determine whether the door needs to be opened based on the door status signal; When the car door needs to be opened, it is determined whether the first flag bit is set to 1. If it is not set to 1, an application layer wake-up signal is generated, and the first flag bit is checked again. When the first flag position 1 and the second flag position 1 are detected, the control application layer sends a side pedal opening command to the network layer so that the network layer controls the opening state of the side pedal, wherein the side pedal is the side pedal corresponding to the door that has the opening requirement. The first flag bit is used to characterize the initialization completion status of the application layer, and the second flag bit is used to characterize the initialization completion status of the network layer. Determining whether a door needs to be opened based on the door status signal includes: When the vehicle type is an operational vehicle, when the vehicle speed is detected to change from non-zero to zero, it indicates that the preset target door has an opening requirement. The target door is the door corresponding to the first side pedal or the second side pedal.

6. A transportation device, characterized in that, The application includes the side pedal control device as described in claim 5.

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