Electric pedal control method, system and device, vehicle control unit and storage medium

Abstract

The invention discloses an electric pedal control method, system and device, a vehicle control unit and a storage medium. The method comprises the steps that when it is detected that a target passenger needs to get on and off a vehicle, face information of the target passenger is obtained; whether the face information of the target passenger is recorded in a pre-stored first corresponding relation table or not is judged, and the first corresponding relation table stores the corresponding relation between the user face information and electric pedal adjusting information; when the face information of the target passenger is recorded in a pre-stored first corresponding relation table, acquiring first adjustment information corresponding to the face information of the target passenger from the pre-stored first corresponding relation table; the electric pedal is controlled to stretch out, and the height of the electric pedal after stretching out is adjusted according to the first adjusting information. According to the scheme, different pedal heights can be correspondingly provided according to different target passengers, so that the getting-on requirements of different passengers are met, and different users can get on and off the bus conveniently.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an electric pedal control method, system, device, vehicle controller, and storage medium. Background Art

[0002] An electric step is a retractable step device driven by a motor, and is often used on cars with high chassis. It reduces the difficulty of getting on the car by adding steps, and increases the convenience of getting in and out of the car. The extension and retraction states of common electric step are fixed, but for different users (such as the elderly, children, etc.), the height of the step still cannot meet the needs of users to get on the car conveniently.

[0003] Therefore, it is necessary to provide an electric pedal control method to facilitate different users to get on and off the vehicle. Summary of the invention

[0004] The present application provides an electric pedal control method, system, device, vehicle controller, and storage medium to facilitate different users to get on and off the vehicle.

[0005] The present application provides an electric pedal control method, comprising:

[0006] When it is detected that the target passenger has the need to get on or off the bus, the facial information of the target passenger is obtained;

[0007] Determine whether the face information of the target passenger is recorded in a pre-stored first correspondence table, wherein the first correspondence table stores a correspondence between the user face information and the electric step adjustment information;

[0008] When the facial information of the target passenger is recorded in the pre-stored first correspondence table, obtaining first adjustment information corresponding to the facial information of the target passenger from the pre-stored first correspondence table;

[0009] The electric pedal is controlled to be extended, and the height of the electric pedal after being extended is adjusted according to the first adjustment information.

[0010] The beneficial effects of the present application are: when it is detected that the target passenger has the need to get on or off the bus, the facial information of the target passenger is obtained; it is determined whether the facial information of the target passenger is recorded in a pre-stored first correspondence table, wherein the first correspondence table stores the correspondence between the user facial information and the electric pedal adjustment information; when the facial information of the target passenger is recorded in the pre-stored first correspondence table, the first adjustment information corresponding to the facial information of the target passenger is obtained from the pre-stored first correspondence table; the electric pedal is controlled to extend, and the height of the extended electric pedal is adjusted according to the first adjustment information. Since the present solution can provide different pedal heights according to different target passengers, it can meet the needs of different passengers getting on the bus and facilitate different users to get on and off the bus.

[0011] In one embodiment, the step of obtaining facial information of a target passenger includes:

[0012] The image information of the target passenger is obtained through the camera, and the facial information is collected from the image information of the target passenger.

[0013] In one embodiment, the method further comprises:

[0014] When the face information of the target passenger is not recorded in the pre-stored first correspondence table, identifying the posture information and age information of the target passenger;

[0015] When the posture information of the target passenger indicates that the target passenger is in a standing position and the age information indicates that the age of the target passenger is less than a preset age, obtaining the height information of the target passenger;

[0016] Acquire second adjustment information corresponding to the height information of the target passenger from a second correspondence table, wherein the second correspondence table stores a correspondence between the height of the passenger and the adjustment information of the electric step;

[0017] The electric pedal is controlled to be extended, and the height of the electric pedal after being extended is adjusted according to the second adjustment information.

[0018] In one embodiment, the method further comprises:

[0019] When the target passenger's posture information indicates that the target passenger is in a sitting position and / or the target passenger's age information indicates that the target passenger is older than a preset age, the height and horizontal extension width of the electric step are adjusted through the third adjustment information, wherein the electric step height specified in the third adjustment information is the minimum value of the electric step height.

[0020] In one embodiment, when the vehicle has air springs, the method further includes:

[0021] When the height of the electric pedal is adjusted by the third adjustment information, the air spring is controlled to lower the chassis height of the vehicle to a minimum value of the chassis height.

[0022] In one embodiment, the process of generating the first correspondence table includes:

[0023] After automatically adjusting the height of the electric step after it is extended according to the second adjustment information or the third adjustment information, when an instruction to actively adjust the height of the electric step after it is extended is received, the height of the electric step after it is extended is adjusted according to the active adjustment instruction, and after adjusting the height of the electric step after it is extended according to the active adjustment instruction, a correspondence is established between the height of the electric step adjusted according to the active adjustment instruction and the facial information of the target passenger, and recorded in the first correspondence table.

[0024] In one embodiment, the method further comprises:

[0025] When an obstacle is detected within a first preset distance from the side of the vehicle, the extension width of the electric pedal is determined according to the actual distance between the obstacle and the side of the vehicle, so that the horizontal distance between the electric pedal and the obstacle after extension is greater than a second preset distance.

[0026] The present application also provides an electric pedal control system, comprising:

[0027] A camera, used to collect image information of the target passenger;

[0028] A vehicle controller, used to execute the electric pedal control method described in any of the above embodiments;

[0029] The electric pedal performs corresponding operations according to the control instructions of the vehicle controller.

[0030] In one embodiment, the electric pedal comprises:

[0031] The vehicle body cross beam is arranged on the side of the vehicle and is parallel to the X-axis direction of the vehicle body coordinate system;

[0032] A body connecting bracket connected to the body cross beam;

[0033] A rack is fixed on the vehicle body connecting bracket, and the direction of the rack is perpendicular to the ground;

[0034] a gear meshing with the rack and adapted to move up and down relative to the rack in meshing with the rack during rotation;

[0035] A height control motor connected to the gear to drive the gear to rotate;

[0036] The pedal body is connected to the height control motor and is used to follow the gear to move up and down relative to the rack when the height control motor drives the gear to rotate.

[0037] The present application also provides an electric pedal control device, comprising:

[0038] The first acquisition module is used to acquire the facial information of the target passenger when it is detected that the target passenger has a need to get on or off the bus;

[0039] A judgment module, used to judge whether the face information of the target passenger is recorded in a pre-stored first correspondence table, wherein the first correspondence table stores a correspondence between the user face information and the electric step adjustment information;

[0040] A second acquisition module is used to acquire first adjustment information corresponding to the facial information of the target passenger from the pre-stored first correspondence table when the facial information of the target passenger is recorded in the pre-stored first correspondence table;

[0041] The control module is used to control the extension of the electric pedal and adjust the height of the electric pedal after extension according to the first adjustment information.

[0042] In one embodiment, the first acquisition module is further used to:

[0043] The image information of the target passenger is obtained through the camera, and the facial information is collected from the image information of the target passenger.

[0044] In one embodiment, the apparatus further comprises:

[0045] A recognition module, used for recognizing the posture information and age information of the target passenger when the facial information of the target passenger is not recorded in the pre-stored first correspondence table;

[0046] A third acquisition module is used to acquire the height information of the target passenger when the posture information of the target passenger indicates that the target passenger is in a standing position and the age information indicates that the age of the target passenger is less than a preset age;

[0047] a fourth acquisition module, configured to acquire second adjustment information corresponding to the height information of the target passenger from a second correspondence table, wherein the second correspondence table stores a correspondence between the height of the passenger and the electric pedal adjustment information;

[0048] The control module is also used to control the extension of the electric pedal and adjust the height of the electric pedal after it is extended according to the second adjustment information.

[0049] In one embodiment, the apparatus further comprises:

[0050] An adjustment module is used to adjust the height and horizontal extension width of the electric step through third adjustment information when the target passenger's posture information indicates that the target passenger is in a sitting position and / or the target passenger's age information indicates that the target passenger is older than a preset age, wherein the electric step height specified in the third adjustment information is the minimum value of the electric step height.

[0051] In one embodiment, when the vehicle has air springs, the control module is further configured to:

[0052] When the height of the electric pedal is adjusted by the third adjustment information, the air spring is controlled to lower the chassis height of the vehicle to a minimum value of the chassis height.

[0053] In one embodiment, the process of generating the first correspondence table includes:

[0054] After automatically adjusting the height of the electric step after it is extended according to the second adjustment information or the third adjustment information, when an instruction to actively adjust the height of the electric step after it is extended is received, the height of the electric step after it is extended is adjusted according to the active adjustment instruction, and after adjusting the height of the electric step after it is extended according to the active adjustment instruction, a correspondence is established between the height of the electric step adjusted according to the active adjustment instruction and the facial information of the target passenger, and recorded in the first correspondence table.

[0055] In one embodiment, the apparatus further comprises:

[0056] The determination module is used to determine the extension width of the electric pedal according to the actual distance between the obstacle and the side of the vehicle when an obstacle is detected within a first preset distance from the side of the vehicle, so that the horizontal distance between the electric pedal and the obstacle after extension is greater than a second preset distance.

[0057] The present application also provides a vehicle controller, comprising:

[0058] at least one processor; and,

[0059] a memory communicatively connected to the at least one processor; wherein,

[0060] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to implement the electric pedal control method described in any of the above embodiments.

[0061] The present application also provides a computer-readable storage medium. When the instructions in the storage medium are executed by a processor corresponding to a vehicle controller, the vehicle controller can implement the electric pedal control method recorded in any of the above embodiments.

[0062] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings.

[0063] The technical solution of the present application is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0065] Figure 1 This is a flow chart of an electric pedal control method in one embodiment of the present application;

[0066] Figure 2 This is a structural schematic diagram of an electric pedal control system in one embodiment of the present application;

[0067] Figure 3 A schematic structural diagram of an electric pedal in one embodiment of the present application;

[0068] Figure 4 This is a structural schematic diagram of an electric pedal control device in one embodiment of the present application;

[0069] Figure 5 This is a schematic diagram of the hardware structure of a vehicle controller in one embodiment of the present application. DETAILED DESCRIPTION

[0070] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application.

[0071] Figure 1 Flow chart of an electric pedal control method in one embodiment of the present application. Figure 1 As shown, the method can be implemented as the following steps S101-S104:

[0072] In step S101, when it is detected that the target passenger has a need to get on or off the bus, the face information of the target passenger is obtained;

[0073] In step S102, it is determined whether the facial information of the target passenger is recorded in a pre-stored first correspondence table, wherein the first correspondence table stores a correspondence between the user's facial information and the electric step adjustment information;

[0074] In step S103, when the facial information of the target passenger is recorded in the pre-stored first correspondence table, first adjustment information corresponding to the facial information of the target passenger is obtained from the pre-stored first correspondence table;

[0075] In step S104, the electric pedal is controlled to be extended, and the height of the electric pedal after being extended is adjusted according to the first adjustment information.

[0076] In the present application, when it is detected that the target passenger has a need to get on or off the vehicle, the facial information of the target passenger is obtained. First, when a door opening signal is received by a sensor arranged on the vehicle, such as receiving an operation instruction to unlock the door or open the door, or receiving a voice instruction to open the door, the target passenger is determined. In one embodiment, an image of a user whose distance from the door is less than a preset distance can be collected, and the target passenger is determined by a target detection algorithm. The target detection algorithm can be based on the relative position change between the collected user and the door, and determine the moving direction of the user in the image. When the moving direction of the user is approaching the door, the user is determined to be the target passenger. In another embodiment, the boarding and alighting scene is first determined based on the number and position of passengers in the vehicle, and then the target user is determined. For example, if the bus is full, then the door opening corresponds to the getting off scene, and the user closest to the door that receives the door opening signal is the target passenger; for another example, if there is no one in the bus, then it corresponds to the getting on scene, and the user closest to the door that receives the door opening signal is the target passenger; if there are people in the bus, but it is not full, the getting on and off scene cannot be identified, and then when the door is opened, it will be determined whether there is a passenger in the seat closest to the door that is opened. If there is, it means it is a getting off scene, and if not, it means it is a getting on scene. After that, the face information of the target passenger is obtained from the collected image information of the target passenger.

[0077] Determine whether the facial information of the target passenger is recorded in a pre-stored first correspondence table, wherein the first correspondence table stores the correspondence between the user facial information and the electric pedal adjustment information, and the first correspondence table may be a database table, a spreadsheet or other forms of data storage. In order to compare with the pre-stored first correspondence table, key facial features may be extracted from the detected facial information by a feature extraction algorithm, and the facial features of the target passenger may be compared with the facial features of the pre-stored facial information. The specific comparison process may be to calculate the similarity between the facial features of the target passenger and the facial features of the pre-stored facial information. When the similarity is greater than a preset value, it is determined that the facial information of the target passenger is recorded in the pre-stored first correspondence table. Furthermore, by identifying family members (or old users of the vehicle), the stored personalized height may be matched.

[0078] When the facial information of the target passenger is recorded in the pre-stored first correspondence table, the first adjustment information corresponding to the facial information of the target passenger is obtained from the pre-stored first correspondence table. It should be noted that in the first correspondence table, different electric pedal adjustment information can be set according to different scenarios of users getting on and off the bus. In addition, when multiple target passengers get on and off the bus from different doors, the first adjustment information corresponding to the facial information of the target passengers corresponding to different doors can be obtained from the pre-stored first correspondence table to support independent adjustment of the electric pedals of different doors.

[0079] The electric pedal is controlled to extend, and the height of the electric pedal after extension is adjusted according to the first adjustment information. Therefore, for different users, the height of the pedal is adjusted by issuing instructions through the built-in chip of the car to provide a more convenient way of getting on the car. In addition, the built-in chip of the car can also store the pedal height data adjusted by the owner, so as to automatically adjust the desired height the next time it is used.

[0080] It should be noted that when the face information of the target passenger is not recorded in the pre-stored first correspondence table, the posture information and age information of the target passenger are identified; for example, the image information of the target passenger is analyzed through computer vision related technologies or algorithms to obtain the current posture classification of the target passenger, such as standing, sitting or lying, and the approximate age range of the target passenger. When the posture information of the target passenger indicates that the target passenger is in a standing position and the age information indicates that the age of the target passenger is less than the preset age, it means that the target passenger is a healthy young person, and the height information of the target passenger is further obtained. And the second adjustment information corresponding to the height information of the target passenger is obtained from the second correspondence table, wherein the second correspondence table stores the correspondence between the height of the passenger and the adjustment information of the electric pedal, such as the height of the electric pedal, the extension width of the electric pedal or the inclination of the electric pedal. Finally, the electric pedal is controlled to extend, and the height of the extended electric pedal is adjusted according to the second adjustment information to facilitate passengers of different heights to get on and off the bus.

[0081] When the target passenger's posture information indicates that the target passenger is in a sitting position and / or the target passenger's age information indicates that the target passenger is older than a preset age, it means that the target passenger has certain difficulties in getting on and off the vehicle. Therefore, the height and horizontal extension width of the electric step are adjusted through the third adjustment information, wherein the electric step height specified in the third adjustment information is the minimum value of the electric step height to facilitate the target passenger to get on and off the vehicle.

[0082] Furthermore, when the vehicle has air springs, in order to further facilitate passengers getting on and off the vehicle, when the height of the electric pedal is adjusted through the third adjustment information, the air spring is controlled to lower the chassis height of the vehicle to the minimum value of the chassis height. Specifically, the minimum value of the distance between the vehicle chassis and the road surface is obtained; then, the minimum value between the minimum value of the distance between the vehicle chassis and the road surface and the minimum value preset by the vehicle is determined as the minimum value of the chassis height. Furthermore, by coordinating the air springs, in certain specific scenarios, the pedals and air springs act simultaneously to lower the height of the vehicle chassis, thereby obtaining a lower chassis and a more convenient boarding experience.

[0083] In addition, when the target passenger is in a sitting position and sitting in a wheelchair, the movement trend of the wheelchair and the distance between the wheelchair and the electric pedal are monitored; when the movement trend of the wheelchair is to move toward the electric pedal and the distance between the wheelchair and the electric pedal is less than a first preset value, it means that the current passenger needs to get on the bus with the wheelchair. At this time, the inclination of the electric pedal is adjusted to make it more convenient for the target passenger to get on and off the bus.

[0084] When the target passenger carries a large object, such as a suitcase, the movement trend of the large object and the distance between the large object and the electric pedal can be monitored; when the movement trend of the large object is to move toward the electric pedal and the distance between the large object and the electric pedal is less than a second preset value, it means that the current passenger needs to bring the large object on board. At this time, the inclination of the electric pedal is adjusted to facilitate the target passenger to carry the large object on and off the bus.

[0085] In order to prevent the vehicle's electric pedal from colliding with external objects, such as curbstones, when an obstacle is detected within a first preset distance from the vehicle's side, the extension width of the electric pedal is determined according to the actual distance between the obstacle and the vehicle's side, so that the horizontal distance between the electric pedal and the obstacle after the electric pedal is extended is greater than a second preset distance; then, the extension width of the electric pedal is adjusted according to the extension width of the electric pedal determined based on the actual distance between the obstacle and the vehicle's side.

[0086] In addition, the pedal is quickly retracted after the door is closed to give the vehicle better passability.

[0087] The beneficial effects of the present application are: when it is detected that the target passenger has the need to get on or off the bus, the facial information of the target passenger is obtained; it is determined whether the facial information of the target passenger is recorded in a pre-stored first correspondence table, wherein the first correspondence table stores the correspondence between the user facial information and the electric pedal adjustment information; when the facial information of the target passenger is recorded in the pre-stored first correspondence table, the first adjustment information corresponding to the facial information of the target passenger is obtained from the pre-stored first correspondence table; the electric pedal is controlled to extend, and the height of the extended electric pedal is adjusted according to the first adjustment information. Since the present solution can provide different pedal heights according to different target passengers, it can meet the needs of different passengers getting on the bus and facilitate different users to get on and off the bus.

[0088] In one embodiment, the above step S101 may be implemented as the following step A1:

[0089] In step A1, image information of the target passenger is acquired through a camera, and facial information is collected from the image information of the target passenger.

[0090] In this embodiment, the image information of the target passenger can be obtained by a camera installed on the vehicle, and the face information can be collected from the image information of the target passenger based on a face detection algorithm. The face detection algorithm can be a Haar cascade classifier, a face detector based on deep learning, etc. This application does not limit this.

[0091] In one embodiment, the method can also be implemented as the following steps B1-B4:

[0092] In step B1, when the face information of the target passenger is not recorded in the pre-stored first correspondence table, the posture information and age information of the target passenger are identified;

[0093] In step B2, when the posture information of the target passenger indicates that the target passenger is in a standing position and the age information indicates that the age of the target passenger is less than a preset age, the height information of the target passenger is obtained;

[0094] In step B3, second adjustment information corresponding to the height information of the target passenger is obtained from a second correspondence table, wherein the second correspondence table stores a correspondence between the passenger height and the electric step adjustment information;

[0095] In step B4, the electric pedal is controlled to be extended, and the height of the electric pedal after being extended is adjusted according to the second adjustment information.

[0096] In this embodiment, when the facial information of the target passenger is not recorded in the pre-stored first correspondence table, the posture information and age information of the target passenger are identified; specifically, the image information of the target passenger can be analyzed by computer vision-related technologies or algorithms, such as posture estimation algorithms and age estimation algorithms, to obtain the posture information and age information of the target passenger. For example, the posture information can obtain the current posture classification of the target passenger, such as standing, sitting or lying, based on the posture estimation algorithm; the age information can be based on the inference of the approximate age range of the target passenger through facial features. The posture estimation algorithm and age estimation algorithm can use the models that have been trained in the prior art, which is not limited in this application.

[0097] When the target passenger's posture information indicates that the target passenger is in a standing position and the age information indicates that the target passenger is younger than the preset age, it means that the target passenger is a healthy young person, and the height information of the target passenger is further obtained. Similarly, the height information of the target passenger can also be analyzed based on the image information of the target passenger, such as obtaining the distance and height ratio between the target passenger and the target object in the image, wherein the height of the target object is known, such as the vehicle itself or the window, and then the height information of the target passenger can be calculated.

[0098] The second adjustment information corresponding to the height information of the target passenger is obtained from the second correspondence table, wherein the correspondence between the height of the passenger and the adjustment information of the electric step is stored in the second correspondence table, and the second correspondence table can be a database table, a spreadsheet or other forms of data storage. The second correspondence table is queried using the height information of the target passenger to find the entry corresponding to the height of the target passenger. The second adjustment information stored in the entry is obtained from the second correspondence table, for example, the adjustment information can be the height of the electric step, the extension width of the electric step or the inclination of the electric step, etc.

[0099] After obtaining the second adjustment information, the electric pedal is controlled to be extended, and the height of the electric pedal after being extended is adjusted according to the second adjustment information to facilitate passengers of different heights to get on and off the vehicle.

[0100] Therefore, this embodiment can automatically identify the height of the target passenger and determine the height of the step based on the height information.

[0101] In one embodiment, the method can also be implemented as the following step B5:

[0102] In step B5, when the target passenger's posture information indicates that the target passenger is in a sitting position and / or the target passenger's age information indicates that the target passenger is older than a preset age, the height and horizontal extension width of the electric step are adjusted through the third adjustment information, wherein the electric step height specified in the third adjustment information is the minimum value of the electric step height.

[0103] In this embodiment, when the target passenger's posture information indicates that the target passenger is in a sitting position and / or the target passenger's age information indicates that the target passenger is older than a preset age, it means that the target passenger has certain difficulties in getting on and off the vehicle. Therefore, the height and horizontal extension width of the electric step are adjusted through the third adjustment information, wherein the electric step height specified in the third adjustment information is the minimum value of the electric step height to facilitate the target passenger to get on and off the vehicle.

[0104] Furthermore, when the target passenger is in a sitting position and sitting on a wheelchair, the movement trend of the wheelchair and the distance between the wheelchair and the electric pedal are monitored; when the movement trend of the wheelchair is to move toward the electric pedal and the distance between the wheelchair and the electric pedal is less than a first preset value, it means that the current passenger needs to get on the bus with the wheelchair. At this time, the inclination of the electric pedal is adjusted to make it more convenient for the target passenger to get on and off the bus.

[0105] In one embodiment, when the vehicle has air springs, the method may also be implemented as the following step B6:

[0106] In step B6, when the height of the electric pedal is adjusted by the third adjustment information, the air spring is controlled to lower the chassis height of the vehicle to the lowest value of the chassis height.

[0107] In this embodiment, when the vehicle has an air spring, in order to further facilitate passengers getting on and off the vehicle, when the height of the electric step is adjusted by the third adjustment information, the air spring is controlled to lower the chassis height of the vehicle to the minimum value of the chassis height. Specifically, the minimum value of the distance between the chassis of the vehicle and the road surface is obtained; then, the minimum value between the minimum value of the distance between the chassis of the vehicle and the road surface and the minimum value preset by the vehicle is determined as the minimum value of the chassis height.

[0108] In one embodiment, the generation process of the first correspondence table, the method can also be implemented as the following steps C1-C2:

[0109] In step C1, after the height of the electric pedal after being extended is automatically adjusted according to the second adjustment information or the third adjustment information, when an instruction to actively adjust the height of the electric pedal after being extended is received, the height of the electric pedal after being extended is adjusted according to the instruction to actively adjust;

[0110] In step C2, after adjusting the height of the electric step after being extended according to the active adjustment instruction, a correspondence is established between the height of the electric step adjusted according to the active adjustment instruction and the facial information of the target passenger, and recorded in the first correspondence table.

[0111] In this embodiment, a method for generating a first corresponding relationship is provided. Specifically, after the height of the electric pedal after being extended is automatically adjusted according to the second adjustment information or the third adjustment information, when an instruction to actively adjust the height of the electric pedal after being extended is received, the height of the electric pedal after being extended is adjusted according to the instruction to actively adjust. In the user getting on and off mode, after the electric pedal is extended, the user will directly perform the getting on and off operation. Therefore, if an adjustment instruction for the electric pedal is received after the electric pedal is extended, it means that the setting mode is entered at this time, and at this time, the height of the electric pedal after being extended is adjusted according to the user's instruction.

[0112] Then, after adjusting the height of the electric step after being extended according to the active adjustment instruction, a correspondence is established between the height of the electric step adjusted according to the active adjustment instruction and the facial information of the target passenger, and recorded in the first correspondence table.

[0113] It can be understood that this method is also applicable to the adjustment of the extension width of the electric pedal and the inclination of the electric pedal after extension, and this application will not elaborate on this.

[0114] In one embodiment, the method can also be implemented as the following steps D1-D2:

[0115] In step D1, when an obstacle is detected within a first preset distance from the side of the vehicle, the extension width of the electric pedal is determined according to the actual distance between the obstacle and the side of the vehicle, so that the horizontal distance between the electric pedal and the obstacle after the electric pedal is extended is greater than a second preset distance;

[0116] In step D2, the extension width of the electric pedal is adjusted according to the extension width of the electric pedal determined according to the actual distance between the obstacle and the side of the vehicle.

[0117] In one embodiment, in order to prevent the electric pedal of the vehicle from colliding with external objects, such as curbstones, when an obstacle is detected within a first preset distance from the side of the vehicle, the extension width of the electric pedal is determined according to the actual distance between the obstacle and the side of the vehicle, so that the horizontal distance between the electric pedal and the obstacle after the electric pedal is extended is greater than a second preset distance; then, the extension width of the electric pedal is adjusted according to the extension width of the electric pedal determined according to the actual distance between the obstacle and the side of the vehicle.

[0118] Figure 2 FIG. 1 is a schematic diagram of the structure of an electric pedal control system in one embodiment of the present application. Figure 2 As shown, the system includes:

[0119] Camera 201, used to collect image information of target passengers;

[0120] A vehicle controller 202, used to execute the electric pedal control method described in any of the above embodiments;

[0121] The electric pedal 203 performs corresponding operations according to the control instructions of the vehicle controller.

[0122] In one embodiment, Figure 3 As shown, the electric pedal 203 includes:

[0123] The body cross beam 301 is arranged on the side of the vehicle and is parallel to the X-axis direction of the body coordinate system; wherein the body coordinate system is a coordinate system established with the car or other means of transportation as a reference object, and is used to describe the direction, position and posture of the vehicle in motion. In the body coordinate system, the X-axis coincides with the direction of the vehicle's forward movement, pointing to the front of the vehicle, the positive direction is the vehicle's forward direction, and the negative direction is the vehicle's backward direction. The Y-axis is perpendicular to the X-axis, pointing to the right side of the vehicle, the positive direction is the right side of the vehicle, and the negative direction is the left side of the vehicle. The Z-axis is perpendicular to the vehicle chassis plane, pointing to the top of the vehicle, the positive direction is the top of the vehicle, and the negative direction is the bottom of the vehicle.

[0124] A body connecting bracket 302 connected to the body cross beam;

[0125] A rack 303 is fixed on the vehicle body connecting bracket, and the direction of the rack is perpendicular to the ground;

[0126] a gear 304 meshing with the rack and adapted to move up and down relative to the rack in meshing with the rack during rotation;

[0127] A height control motor 305 is connected to the gear and is used to drive the gear to rotate;

[0128] The pedal body 306 is connected to the height control motor and is used to follow the gear to move up and down relative to the rack when the height control motor drives the gear to rotate.

[0129] In addition, the electric pedal may further include a width control motor 307 , a connecting beam 308 , a pedal connecting bracket 309 and a connecting rod mechanism 310 .

[0130] Specifically, when the width control motor 307 receives an instruction to adjust the extension length, the motor rotates and drives the connecting rod mechanism 310 to move. The connecting rod mechanism 310 is fixedly connected to the pedal body 306 through the pedal connecting bracket 309 and drives the pedal body 306 to move along the Y-axis direction of the vehicle coordinate system, thereby realizing the function of adjusting the width extension of the electric pedal.

[0131] When the height control motor 305 receives the height adjustment command from the control system, the motor rotates and drives the gear 304 to rotate synchronously. Since the rack 303 is fixed to the vehicle body cross beam 301, the height control motor 305 will move along the Z-axis direction of the vehicle body coordinate system relative to the vehicle body cross beam 301. The width control motor 307 is fixedly connected to the height control motor 305 through the connecting cross beam 308 and will move synchronously with the height control motor 305, and the pedal body 306 is fixedly connected to the width control motor 307 through the connecting rod mechanism 310, thereby realizing the adjustment of the pedal height.

[0132] Figure 4 FIG. 1 is a schematic diagram of the structure of an electric pedal control device in one embodiment of the present application. Figure 4 As shown, including:

[0133] The first acquisition module 401 is used to acquire the face information of the target passenger when it is detected that the target passenger has a need to get on or off the bus;

[0134] A determination module 402 is used to determine whether the face information of the target passenger is recorded in a pre-stored first correspondence table, wherein the first correspondence table stores a correspondence between the user face information and the electric step adjustment information;

[0135] The second acquisition module 403 is used to acquire first adjustment information corresponding to the facial information of the target passenger from the pre-stored first correspondence table when the facial information of the target passenger is recorded in the pre-stored first correspondence table;

[0136] The control module 404 is used to control the extension of the electric pedal and adjust the height of the electric pedal after extension according to the first adjustment information.

[0137] In one embodiment, the first acquisition module is further used to:

[0138] The image information of the target passenger is obtained through the camera, and the facial information is collected from the image information of the target passenger.

[0139] In one embodiment, the apparatus further comprises:

[0140] A recognition module, used for recognizing the posture information and age information of the target passenger when the facial information of the target passenger is not recorded in the pre-stored first correspondence table;

[0141] A third acquisition module is used to acquire the height information of the target passenger when the posture information of the target passenger indicates that the target passenger is in a standing position and the age information indicates that the age of the target passenger is less than a preset age;

[0142] a fourth acquisition module, configured to acquire second adjustment information corresponding to the height information of the target passenger from a second correspondence table, wherein the second correspondence table stores a correspondence between the height of the passenger and the electric pedal adjustment information;

[0143] The control module is also used to control the extension of the electric pedal and adjust the height of the electric pedal after it is extended according to the second adjustment information.

[0144] In one embodiment, the apparatus further comprises:

[0145] An adjustment module is used to adjust the height and horizontal extension width of the electric step through third adjustment information when the target passenger's posture information indicates that the target passenger is in a sitting position and / or the target passenger's age information indicates that the target passenger is older than a preset age, wherein the electric step height specified in the third adjustment information is the minimum value of the electric step height.

[0146] In one embodiment, when the vehicle has air springs, the control module is further configured to:

[0147] When the height of the electric pedal is adjusted by the third adjustment information, the air spring is controlled to lower the chassis height of the vehicle to a minimum value of the chassis height.

[0148] In one embodiment, the process of generating the first correspondence table includes:

[0149] After automatically adjusting the height of the electric step after it is extended according to the second adjustment information or the third adjustment information, when an instruction to actively adjust the height of the electric step after it is extended is received, the height of the electric step after it is extended is adjusted according to the active adjustment instruction, and after adjusting the height of the electric step after it is extended according to the active adjustment instruction, a correspondence is established between the height of the electric step adjusted according to the active adjustment instruction and the facial information of the target passenger, and recorded in the first correspondence table.

[0150] In one embodiment, the apparatus further comprises:

[0151] The determination module is used to determine the extension width of the electric pedal according to the actual distance between the obstacle and the side of the vehicle when an obstacle is detected within a first preset distance from the side of the vehicle, so that the horizontal distance between the electric pedal and the obstacle after extension is greater than a second preset distance.

[0152] The present application also provides a vehicle controller, comprising:

[0153] at least one processor; and,

[0154] a memory communicatively connected to the at least one processor; wherein,

[0155] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to implement the electric pedal control method described in any of the above embodiments.

[0156] Figure 5 FIG. 1 is a schematic diagram of the hardware structure of a vehicle controller in an embodiment of the present application. Figure 5 As shown, the vehicle controller includes:

[0157] at least one processor 520; and,

[0158] A memory 504 in communication with the at least one processor 520; wherein,

[0159] The memory 504 stores instructions that can be executed by the at least one processor 520, and the instructions are executed by the at least one processor 520 to implement the electric pedal control method described in any of the above embodiments.

[0160] Reference Figure 5 The vehicle controller 500 may include one or more of the following components: a processing component 502 , a memory 504 , a power component 506 , a multimedia component 508 , an audio component 510 , an input / output (I / O) interface 512 , a sensor component 514 , and a communication component 516 .

[0161] The processing component 502 generally controls the overall operation of the vehicle controller 500. The processing component 502 may include one or more processors 520 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 502 may include one or more modules to facilitate the interaction between the processing component 502 and other components. For example, the processing component 502 may include a multimedia module to facilitate the interaction between the multimedia component 508 and the processing component 502.

[0162] The memory 504 is configured to store various types of data to support the operation of the vehicle controller 500. Examples of such data include instructions for any application or method operating on the vehicle controller 500, such as text, pictures, videos, etc. The memory 504 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0163] The power component 506 provides power to various components of the vehicle controller 500. The power component 506 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the vehicle controller 500.

[0164] The multimedia component 508 includes a screen that provides an output interface between the vehicle controller 500 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 508 may also include a front camera and / or a rear camera. When the vehicle controller 500 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0165] The audio component 510 is configured to output and / or input audio signals. For example, the audio component 510 includes a microphone (MIC), and when the vehicle controller 500 is in an operating mode, such as an alarm mode, a recording mode, a voice recognition mode, and a voice output mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 504 or sent via the communication component 516. In some embodiments, the audio component 510 also includes a speaker for outputting audio signals.

[0166] I / O interface 512 provides an interface between processing component 502 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0167] The sensor assembly 514 includes one or more sensors for providing various aspects of status assessment for the vehicle controller 500. For example, the sensor assembly 514 may include a sound sensor. In addition, the sensor assembly 514 may detect the on / off state of the vehicle controller 500, the relative positioning of the components, such as the display and keypad of the vehicle controller 500, and the sensor assembly 514 may also detect the operating state of the vehicle controller 500 or a component of the vehicle controller 500, such as the operating state of the air distribution plate, the structural state, the operating state of the discharge scraper, etc., the orientation or acceleration / deceleration of the vehicle controller 500 and the temperature change of the vehicle controller 500. The sensor assembly 514 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 514 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 514 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, a material accumulation thickness sensor or a temperature sensor.

[0168] The communication component 516 is configured to enable the vehicle controller 500 to provide the ability to communicate with other devices and cloud platforms in a wired or wireless manner. The vehicle controller 500 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 516 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 516 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0169] In an exemplary embodiment, the vehicle controller 500 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to execute the electric pedal control method described in any of the above embodiments.

[0170] The present application also provides a computer-readable storage medium. When the instructions in the storage medium are executed by a processor corresponding to a vehicle controller, the vehicle controller can implement the electric pedal control method recorded in any of the above embodiments.

[0171] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0172] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0173] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0174] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0175] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for controlling an electric pedal, characterized in that: include: When it is detected that the target passenger has the need to get on or off the bus, the facial information of the target passenger is obtained; Determine whether the face information of the target passenger is recorded in a pre-stored first correspondence table, wherein the first correspondence table stores a correspondence between the user face information and the electric step adjustment information; When the facial information of the target passenger is recorded in the pre-stored first correspondence table, obtaining first adjustment information corresponding to the facial information of the target passenger from the pre-stored first correspondence table; The electric pedal is controlled to be extended, and the height of the electric pedal after being extended is adjusted according to the first adjustment information.

2. The method according to claim 1, characterized in that Also includes: When the face information of the target passenger is not recorded in the pre-stored first correspondence table, identifying the posture information and age information of the target passenger; When the posture information of the target passenger indicates that the target passenger is in a standing position and the age information indicates that the age of the target passenger is less than a preset age, obtaining the height information of the target passenger; Acquire second adjustment information corresponding to the height information of the target passenger from a second correspondence table, wherein the second correspondence table stores a correspondence between the height of the passenger and the adjustment information of the electric step; The electric pedal is controlled to be extended, and the height of the electric pedal after being extended is adjusted according to the second adjustment information.

3. The method according to claim 2, characterized in that Also includes: When the target passenger's posture information indicates that the target passenger is in a sitting position and / or the target passenger's age information indicates that the target passenger is older than a preset age, the height and horizontal extension width of the electric step are adjusted through the third adjustment information, wherein the electric step height specified in the third adjustment information is the minimum value of the electric step height.

4. The method according to claim 3, when the vehicle has air springs, is characterized in that: Also includes: When the height of the electric pedal is adjusted by the third adjustment information, the air spring is controlled to lower the chassis height of the vehicle to a minimum value of the chassis height.

5. The method according to claim 1, characterized in that Also includes: When an obstacle is detected within a first preset distance from the side of the vehicle, the extension width of the electric pedal is determined according to the actual distance between the obstacle and the side of the vehicle, so that the horizontal distance between the electric pedal and the obstacle after extension is greater than a second preset distance.

6. An electric pedal control system, characterized in that: include: A camera, used to collect image information of the target passenger; A vehicle controller, used to execute the electric pedal control method according to any one of claims 1 to 5; The electric pedal performs corresponding operations according to the control instructions of the vehicle controller.

7. The electric pedal control system according to claim 6, characterized in that: The electric pedal comprises: The vehicle body cross beam is arranged on the side of the vehicle and is parallel to the X-axis direction of the vehicle body coordinate system; A body connecting bracket connected to the body crossbeam; A rack is fixed on the vehicle body connecting bracket, and the direction of the rack is perpendicular to the ground; a gear meshing with the rack and adapted to move up and down relative to the rack in meshing with the rack during rotation; A height control motor connected to the gear to drive the gear to rotate; The pedal body is connected to the height control motor and is used to follow the gear to move up and down relative to the rack when the height control motor drives the gear to rotate.

8. An electric pedal control device, characterized in that: include: The first acquisition module is used to acquire the facial information of the target passenger when it is detected that the target passenger has a need to get on or off the bus; A judgment module, used to judge whether the face information of the target passenger is recorded in a pre-stored first correspondence table, wherein the first correspondence table stores a correspondence between the user face information and the electric step adjustment information; A second acquisition module is used to acquire first adjustment information corresponding to the facial information of the target passenger from the pre-stored first correspondence table when the facial information of the target passenger is recorded in the pre-stored first correspondence table; The control module is used to control the extension of the electric pedal and adjust the height of the electric pedal after extension according to the first adjustment information.

9. A vehicle controller, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to implement the electric pedal control method as described in any one of claims 1-5.

10. A computer-readable storage medium, characterized in that: When the instructions in the storage medium are executed by the processor corresponding to the vehicle controller, the vehicle controller can implement the electric pedal control method as described in any one of claims 1-5.

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